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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
82589bfc
Commit
82589bfc
authored
6 years ago
by
Joan Vallvé Navarro
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optimized factor and new test
parent
967da9b6
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2 merge requests
!258
Apriltag: some improvements/changes
,
!233
WIP: Apriltag
Pipeline
#2722
passed
6 years ago
Changes
2
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2 changed files
include/base/factor/factor_autodiff_apriltag.h
+32
-3
32 additions, 3 deletions
include/base/factor/factor_autodiff_apriltag.h
test/gtest_factor_autodiff_apriltag.cpp
+84
-0
84 additions, 0 deletions
test/gtest_factor_autodiff_apriltag.cpp
with
116 additions
and
3 deletions
include/base/factor/factor_autodiff_apriltag.h
+
32
−
3
View file @
82589bfc
...
@@ -101,7 +101,36 @@ FactorAutodiffApriltag::~FactorAutodiffApriltag()
...
@@ -101,7 +101,36 @@ FactorAutodiffApriltag::~FactorAutodiffApriltag()
template
<
typename
T
>
bool
FactorAutodiffApriltag
::
operator
()(
const
T
*
const
_p_camera
,
const
T
*
const
_o_camera
,
const
T
*
const
_p_keyframe
,
const
T
*
const
_o_keyframe
,
const
T
*
const
_p_landmark
,
const
T
*
const
_o_landmark
,
T
*
_residuals
)
const
template
<
typename
T
>
bool
FactorAutodiffApriltag
::
operator
()(
const
T
*
const
_p_camera
,
const
T
*
const
_o_camera
,
const
T
*
const
_p_keyframe
,
const
T
*
const
_o_keyframe
,
const
T
*
const
_p_landmark
,
const
T
*
const
_o_landmark
,
T
*
_residuals
)
const
{
{
//states
// Maps
Eigen
::
Map
<
const
Eigen
::
Matrix
<
T
,
3
,
1
>>
p_r_c
(
_p_camera
);
Eigen
::
Map
<
const
Eigen
::
Quaternion
<
T
>>
q_r_c
(
_o_camera
);
Eigen
::
Map
<
const
Eigen
::
Matrix
<
T
,
3
,
1
>>
p_w_r
(
_p_keyframe
);
Eigen
::
Map
<
const
Eigen
::
Quaternion
<
T
>>
q_w_r
(
_o_keyframe
);
Eigen
::
Map
<
const
Eigen
::
Matrix
<
T
,
3
,
1
>>
p_w_l
(
_p_landmark
);
Eigen
::
Map
<
const
Eigen
::
Quaternion
<
T
>>
q_w_l
(
_o_landmark
);
Eigen
::
Map
<
Eigen
::
Matrix
<
T
,
6
,
1
>>
residuals
(
_residuals
);
// Expected measurement
Eigen
::
Quaternion
<
T
>
q_c_w
=
(
q_w_r
*
q_r_c
).
conjugate
();
Eigen
::
Quaternion
<
T
>
q_c_l
=
q_c_w
*
q_w_l
;
Eigen
::
Matrix
<
T
,
3
,
1
>
p_c_l
=
q_c_w
*
(
-
(
p_w_r
+
q_w_r
*
p_r_c
)
+
p_w_l
);
// Measurement
Eigen
::
Vector3s
p_c_l_meas
(
getMeasurement
().
head
<
3
>
());
Eigen
::
Quaternions
q_c_l_meas
(
getMeasurement
().
data
()
+
3
);
Eigen
::
Quaternion
<
T
>
q_l_c_meas
=
q_c_l_meas
.
conjugate
().
cast
<
T
>
();
//Eigen::Matrix<T,3,1> p_l_c_meas = -q_l_c_meas * p_c_l_meas.cast<T>();
// Error
Eigen
::
Matrix
<
T
,
6
,
1
>
err
;
err
.
head
(
3
)
=
q_l_c_meas
*
(
p_c_l_meas
.
cast
<
T
>
()
-
p_c_l
);
//err.tail(3) = wolf::log_q(q_l_c_meas * q_c_l);
err
.
tail
(
3
)
=
T
(
2
)
*
(
q_l_c_meas
*
q_c_l
).
vec
();
// Residual
residuals
=
getMeasurementSquareRootInformationUpper
().
cast
<
T
>
()
*
err
;
/*//states
Eigen::Translation<T,3> p_camera (_p_camera[0] , _p_camera[1] , _p_camera[2]),
Eigen::Translation<T,3> p_camera (_p_camera[0] , _p_camera[1] , _p_camera[2]),
p_keyframe (_p_keyframe[0], _p_keyframe[1], _p_keyframe[2]),
p_keyframe (_p_keyframe[0], _p_keyframe[1], _p_keyframe[2]),
p_landmark (_p_landmark[0], _p_landmark[1], _p_landmark[2]);
p_landmark (_p_landmark[0], _p_landmark[1], _p_landmark[2]);
...
@@ -113,7 +142,7 @@ template<typename T> bool FactorAutodiffApriltag::operator ()( const T* const _p
...
@@ -113,7 +142,7 @@ template<typename T> bool FactorAutodiffApriltag::operator ()( const T* const _p
Eigen::Translation3ds p_measured(getMeasurement().head(3));
Eigen::Translation3ds p_measured(getMeasurement().head(3));
Eigen::Quaternions q_measured(getMeasurement().data() + 3 );
Eigen::Quaternions q_measured(getMeasurement().data() + 3 );
// landmark wrt camera, measure
// landmark wrt camera, measure
Eigen
::
Transform
<
T
,
3
,
Eigen
::
Affine
>
c_M_l_meas
=
p_meas
ured
.
cast
<
T
>
()
*
q_measured
.
cast
<
T
>
();
Eigen::Transform<T, 3, Eigen::Affine> c_M_l_meas = p_
c_l_
meas.cast<T>() * q_measured.cast<T>();
// Create transformation matrices to compose
// Create transformation matrices to compose
// robot wrt world
// robot wrt world
...
@@ -152,7 +181,7 @@ template<typename T> bool FactorAutodiffApriltag::operator ()( const T* const _p
...
@@ -152,7 +181,7 @@ template<typename T> bool FactorAutodiffApriltag::operator ()( const T* const _p
Eigen::Map<Eigen::Matrix<T, 6, 1>> res(_residuals);
Eigen::Map<Eigen::Matrix<T, 6, 1>> res(_residuals);
res = getFeature()->getMeasurementSquareRootInformationUpper().cast<T>() * err;
res = getFeature()->getMeasurementSquareRootInformationUpper().cast<T>() * err;
*/
return
true
;
return
true
;
}
}
...
...
This diff is collapsed.
Click to expand it.
test/gtest_factor_autodiff_apriltag.cpp
+
84
−
0
View file @
82589bfc
...
@@ -403,6 +403,90 @@ TEST_F(FactorAutodiffApriltag_class, solve_L1_O_perturbated)
...
@@ -403,6 +403,90 @@ TEST_F(FactorAutodiffApriltag_class, solve_L1_O_perturbated)
}
}
TEST_F
(
FactorAutodiffApriltag_class
,
solve_L1_PO_perturbated
)
{
FactorAutodiffApriltagPtr
constraint
=
std
::
make_shared
<
FactorAutodiffApriltag
>
(
S
,
F1
,
lmk1
,
f1
,
false
,
CTR_ACTIVE
);
FactorAutodiffApriltagPtr
ctr0
=
std
::
static_pointer_cast
<
FactorAutodiffApriltag
>
(
f1
->
addFactor
(
constraint
));
lmk1
->
addConstrainedBy
(
constraint
);
F1
->
addConstrainedBy
(
constraint
);
f1
->
addConstrainedBy
(
constraint
);
// Change setup
Vector3s
p_w_r
,
p_r_c
,
p_c_l
,
p_w_l
;
Quaternions
q_w_r
,
q_r_c
,
q_c_l
,
q_w_l
;
p_w_r
<<
1
,
2
,
3
;
p_r_c
<<
4
,
5
,
6
;
p_c_l
<<
7
,
8
,
9
;
q_w_r
.
coeffs
()
<<
1
,
2
,
3
,
4
;
q_w_r
.
normalize
();
q_r_c
.
coeffs
()
<<
4
,
5
,
6
,
7
;
q_r_c
.
normalize
();
q_c_l
.
coeffs
()
<<
7
,
8
,
9
,
0
;
q_c_l
.
normalize
();
q_w_l
=
q_w_r
*
q_r_c
*
q_c_l
;
p_w_l
=
p_w_r
+
q_w_r
*
(
p_r_c
+
q_r_c
*
p_c_l
);
// Change feature
Vector7s
meas
;
meas
<<
p_c_l
,
q_c_l
.
coeffs
();
f1
->
setMeasurement
(
meas
);
// Change Landmark
lmk1
->
getP
()
->
setState
(
p_w_l
);
lmk1
->
getO
()
->
setState
(
q_w_l
.
coeffs
());
ASSERT_TRUE
(
std
::
find
(
problem
->
getStateBlockPtrList
().
begin
(),
problem
->
getStateBlockPtrList
().
end
(),
lmk1
->
getP
())
!=
problem
->
getStateBlockPtrList
().
end
());
ASSERT_TRUE
(
std
::
find
(
problem
->
getStateBlockPtrList
().
begin
(),
problem
->
getStateBlockPtrList
().
end
(),
lmk1
->
getO
())
!=
problem
->
getStateBlockPtrList
().
end
());
ASSERT_TRUE
(
lmk1
->
getP
()
->
stateUpdated
());
ASSERT_TRUE
(
lmk1
->
getO
()
->
stateUpdated
());
// Change Frame
F1
->
getP
()
->
setState
(
p_w_r
);
F1
->
getO
()
->
setState
(
q_w_r
.
coeffs
());
ASSERT_TRUE
(
std
::
find
(
problem
->
getStateBlockPtrList
().
begin
(),
problem
->
getStateBlockPtrList
().
end
(),
F1
->
getP
())
!=
problem
->
getStateBlockPtrList
().
end
());
ASSERT_TRUE
(
std
::
find
(
problem
->
getStateBlockPtrList
().
begin
(),
problem
->
getStateBlockPtrList
().
end
(),
F1
->
getO
())
!=
problem
->
getStateBlockPtrList
().
end
());
ASSERT_TRUE
(
F1
->
getP
()
->
stateUpdated
());
ASSERT_TRUE
(
F1
->
getO
()
->
stateUpdated
());
// Change sensor extrinsics
S
->
getP
()
->
setState
(
p_r_c
);
S
->
getO
()
->
setState
(
q_r_c
.
coeffs
());
ASSERT_TRUE
(
std
::
find
(
problem
->
getStateBlockPtrList
().
begin
(),
problem
->
getStateBlockPtrList
().
end
(),
S
->
getP
())
!=
problem
->
getStateBlockPtrList
().
end
());
ASSERT_TRUE
(
std
::
find
(
problem
->
getStateBlockPtrList
().
begin
(),
problem
->
getStateBlockPtrList
().
end
(),
S
->
getO
())
!=
problem
->
getStateBlockPtrList
().
end
());
ASSERT_TRUE
(
S
->
getP
()
->
stateUpdated
());
ASSERT_TRUE
(
S
->
getO
()
->
stateUpdated
());
Vector7s
t_w_r
,
t_w_l
;
t_w_r
<<
p_w_r
,
q_w_r
.
coeffs
();
t_w_l
<<
p_w_l
,
q_w_l
.
coeffs
();
ASSERT_MATRIX_APPROX
(
F1
->
getState
(),
t_w_r
,
1e-6
);
ASSERT_MATRIX_APPROX
(
lmk1
->
getState
(),
t_w_l
,
1e-6
);
// unfix LMK, perturbate state
lmk1
->
unfix
();
Vector3s
e0_pos
=
p_w_l
+
Vector3s
::
Random
()
*
0.25
;
Quaternions
e0_quat
=
q_w_l
*
exp_q
(
Vector3s
::
Random
()
*
0.1
);
lmk1
->
getP
()
->
setState
(
e0_pos
);
lmk1
->
getO
()
->
setState
(
e0_quat
.
coeffs
());
F1
->
fix
();
S
->
fixExtrinsics
();
// solve
std
::
string
report
=
ceres_manager
->
solve
(
SolverManager
::
ReportVerbosity
::
QUIET
);
// 0: nothing, 1: BriefReport, 2: FullReport
//WOLF_DEBUG("Landmark state after solve: ");
//WOLF_DEBUG(lmk1->getState().transpose());
t_w_r
<<
p_w_r
,
q_w_r
.
coeffs
();
t_w_l
<<
p_w_l
,
q_w_l
.
coeffs
();
ASSERT_MATRIX_APPROX
(
F1
->
getState
(),
t_w_r
,
1e-6
);
ASSERT_MATRIX_APPROX
(
lmk1
->
getState
(),
t_w_l
,
1e-6
);
}
//[Class methods]
//[Class methods]
int
main
(
int
argc
,
char
**
argv
)
int
main
(
int
argc
,
char
**
argv
)
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