Repository: gtrll/gpslam Branch: master Commit: 2c56dbac000a Files: 64 Total size: 1.6 MB Directory structure: gitextract_xmqbx817/ ├── .gitignore ├── CHANGELOG ├── CMakeLists.txt ├── LICENSE ├── README.md ├── gpslam/ │ ├── CMakeLists.txt │ ├── gp/ │ │ ├── CMakeLists.txt │ │ ├── GPutils.cpp │ │ ├── GPutils.h │ │ ├── GaussianProcessInterpolatorLinear.h │ │ ├── GaussianProcessInterpolatorPose2.h │ │ ├── GaussianProcessInterpolatorPose3.h │ │ ├── GaussianProcessInterpolatorPose3VW.h │ │ ├── GaussianProcessInterpolatorRot3.h │ │ ├── GaussianProcessPriorLinear.h │ │ ├── GaussianProcessPriorPose2.h │ │ ├── GaussianProcessPriorPose3.h │ │ ├── GaussianProcessPriorPose3VW.h │ │ ├── GaussianProcessPriorRot3.h │ │ ├── Pose3utils.cpp │ │ ├── Pose3utils.h │ │ └── tests/ │ │ ├── testGaussianProcessInterpolatorLinear.cpp │ │ ├── testGaussianProcessInterpolatorPose2.cpp │ │ ├── testGaussianProcessInterpolatorPose3.cpp │ │ ├── testGaussianProcessInterpolatorPose3VW.cpp │ │ ├── testGaussianProcessInterpolatorRot3.cpp │ │ ├── testGaussianProcessPriorLinear.cpp │ │ ├── testGaussianProcessPriorPose2.cpp │ │ ├── testGaussianProcessPriorPose3.cpp │ │ ├── testGaussianProcessPriorPose3VW.cpp │ │ ├── testGaussianProcessPriorRot3.cpp │ │ ├── testPose3Utils.cpp │ │ └── testSerializationGP.cpp │ └── slam/ │ ├── CMakeLists.txt │ ├── GPInterpolatedAttitudeFactorRot3.h │ ├── GPInterpolatedGPSFactorPose3.h │ ├── GPInterpolatedGPSFactorPose3VW.h │ ├── GPInterpolatedProjectionFactorPose3.h │ ├── GPInterpolatedRangeFactor2DLinear.h │ ├── GPInterpolatedRangeFactorPose2.h │ ├── GPInterpolatedRangeFactorPose3.h │ ├── OdometryFactor2DLinear.h │ ├── RangeBearingFactor2DLinear.h │ ├── RangeFactor2DLinear.h │ ├── RangeFactorPose2.h │ └── tests/ │ ├── testGPInterpolatedGPSFactorPose3.cpp │ ├── testGPInterpolatedGPSFactorPose3VW.cpp │ ├── testGPInterpolatedProjectionFactorPose3.cpp │ ├── testGPInterpolatedRangeFactor2DLinear.cpp │ ├── testGPInterpolatedRangeFactorPose2.cpp │ ├── testGPInterpolatedRangeFactorPose3.cpp │ ├── testOdometryFactor2DLinear.cpp │ ├── testRangeBearingFactor2DLinear.cpp │ ├── testRangeFactor2DLinear.cpp │ └── testSerializationSLAM.cpp ├── gpslam.h └── matlab/ ├── AHRSexample.m ├── GPAHRSexample.m ├── PlazaPose2.m ├── data/ │ ├── MOCAP_POSE_DATA_matlab.txt │ ├── Plaza1.mat │ ├── Plaza2.mat │ └── RAW_IMU_DATA_matlab.txt └── range_measure_fit.m ================================================ FILE CONTENTS ================================================ ================================================ FILE: .gitignore ================================================ *.DS_Store build* ================================================ FILE: CHANGELOG ================================================ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for GP-SLAM ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 0.1.0 (2017-08-25) ------------------ * Initial release * Contributors: Jing Dong, Xinyan Yan ================================================ FILE: CMakeLists.txt ================================================ cmake_minimum_required(VERSION 2.6) enable_testing() project(gpslam CXX C) # version indicator set(GPSLAM_VERSION_MAJOR 0) set(GPSLAM_VERSION_MINOR 1) set(GPSLAM_VERSION_PATCH 0) set(GPSLAM_VERSION_STRING "${GPSLAM_VERSION_MAJOR}.${GPSLAM_VERSION_MINOR}.${GPSLAM_VERSION_PATCH}") # Find dependent libraries # Find GTSAM components find_package(GTSAM REQUIRED) # Uses installed package include_directories(${GTSAM_INCLUDE_DIR}) set(GTSAM_LIBS gtsam) find_package(GTSAMCMakeTools) include(GtsamMakeConfigFile) include(GtsamBuildTypes) include(GtsamTesting) # options option(GPSLAM_BUILD_MATLAB_TOOLBOX "whether build matlab toolbox" OFF) # for unittest scripts set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${GTSAM_DIR}/../GTSAMCMakeTools") # Boost - same requirement as gtsam find_package(Boost 1.46 REQUIRED) find_package(Boost COMPONENTS filesystem REQUIRED) find_package(Boost COMPONENTS system REQUIRED) find_package(Boost COMPONENTS thread REQUIRED) find_package(Boost COMPONENTS serialization REQUIRED) include_directories(${Boost_INCLUDE_DIR}) # include current source folder, at the very beginning include_directories(BEFORE ${CMAKE_CURRENT_SOURCE_DIR}) # Process source subdirs add_subdirectory(gpslam) # Wrapping to MATLAB if(GPSLAM_BUILD_MATLAB_TOOLBOX) include(GtsamMatlabWrap) include_directories(${CMAKE_CURRENT_SOURCE_DIR}) wrap_and_install_library(gpslam.h ${PROJECT_NAME} "${CMAKE_CURRENT_SOURCE_DIR}" "") endif() # Install config and export files GtsamMakeConfigFile(gpslam) export(TARGETS ${gpslam_EXPORTED_TARGETS} FILE gpslam-exports.cmake) ================================================ FILE: LICENSE ================================================ Copyright (c) 2016, Georgia Tech Research Corporation Atlanta, Georgia 30332-0415 All Rights Reserved Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ================================================ FILE: README.md ================================================ GP-SLAM =================================================== GP-SLAM is a library implenmenting sparse Gaussian process (GP) regression for continuous-time trajectory estimation and mapping. The core library is developed by C++ language, and an optional Matlab toolbox is also provided. Examples are provided in Matlab scripts. GP-SLAM is being developed by [Jing Dong](mailto:thu.dongjing@gmail.com) and [Xinyan Yan](mailto:voidpointeryan@gmail.com) as part of their work at Georgia Tech Robot Learning Lab. Prerequisites ------ - CMake >= 2.6 (Ubuntu: `sudo apt-get install cmake`), compilation configuration tool. - [Boost](http://www.boost.org/) >= 1.46 (Ubuntu: `sudo apt-get install libboost-all-dev`), portable C++ source libraries. - [GTSAM](https://bitbucket.org/gtborg/gtsam) >= 4.0 alpha, a C++ library that implement smoothing and mapping (SAM) in robotics and vision. Compilation & Installation ------ In the library folder excute: ``` $ mkdir build $ cd build $ cmake .. $ make check # optonal, run unit tests $ make install ``` Matlab Toolbox ----- An optional Matlab toolbox is provided to use our library in Matlab. To enable Matlab toolbox during compilation: ``` $ cmake -DGPSLAM_BUILD_MATLAB_TOOLBOX:OPTION=ON -DGTSAM_TOOLBOX_INSTALL_PATH:PATH=/path/install/toolbox .. $ make install ``` After you install the Matlab toolbox, don't forget to add your `/path/install/toolbox` to your Matlab path. Compatibility ----- The GP-SLAM library is designed to be cross-platform, but it has been only tested on Ubuntu Linux for now. Tested Compilers: - GCC 4.8, 5.4 Tested Boost version: 1.48-1.61 Linking to External Projects ----- We provide easy linking to external **CMake** projects. Add following lines to your CMakeLists.txt ``` find_package(gpslam REQUIRED) include_directories(${gpslam_INCLUDE_DIR}) ``` Questions & Bug reporting ----- Please use Github issue tracker to report bugs. For other questions please contact [Jing Dong](mailto:thu.dongjing@gmail.com). Citing ----- If you use GP-SLAM in an academic context, please cite following publications: ``` @inproceedings{Yan17ras, Author = "Xinyan Yan and Vadim Indelman and Byron Boots", journal = " Robotics and Autonomous Systems", Title = "Incremental Sparse {GP} Regression for Continuous-time Trajectory Estimation and Mapping", Year = {2017}, pages="120-132", volume = {87} } @article{Dong17arxiv, author = {Jing Dong and Byron Boots and Frank Dellaert}, title = {Sparse Gaussian Processes for Continuous-Time Trajectory Estimation on Matrix Lie Groups}, journal = {Arxiv}, volume = {abs/1705.06020}, year = {2017}, url = {http://arxiv.org/abs/1705.06020} } ``` License ----- GP-SLAM is released under the BSD license, reproduced in the file LICENSE in this directory. ================================================ FILE: gpslam/CMakeLists.txt ================================================ # We split the library in to separate subfolders, each containing # tests, timing, and an optional convenience library. # The following variable is the master list of subdirs to add set(gpslam_subdirs gp slam ) set(gpslam_srcs) # files want to be excluded set(excluded_sources "") # Library sources foreach(subdir ${gpslam_subdirs}) file(GLOB subdir_srcs "${subdir}/*.cpp" "${subdir}/*.h") list(REMOVE_ITEM subdir_srcs "${excluded_sources}") file(GLOB subdir_test_files "${subdir}/tests/*") list(APPEND gpslam_srcs ${subdir_srcs}) message(STATUS "Building Module: ${subdir}") # local and tests add_subdirectory(${subdir}) endforeach(subdir) # build shared lib add_library(${PROJECT_NAME} SHARED ${gpslam_srcs}) target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES} ${GTSAM_LIBS}) # Install library install(TARGETS ${PROJECT_NAME} EXPORT gpslam-exports LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin) ================================================ FILE: gpslam/gp/CMakeLists.txt ================================================ # Install headers file(GLOB gp_headers "*.h") install(FILES ${gp_headers} DESTINATION include/gpslam/gp) # Build tests gtsamAddTestsGlob(gp "tests/*.cpp" "" ${PROJECT_NAME}) ================================================ FILE: gpslam/gp/GPutils.cpp ================================================ /** * @file GPutils.cpp * @brief GP utils, calculation of Qc, Q, Lamda matrices etc. * @author Xinyan Yan, Jing Dong * @date Qct 26, 2015 **/ #include using namespace gtsam; namespace gpslam { /* ************************************************************************** */ Matrix getQc(const SharedNoiseModel& Qc_model) { noiseModel::Gaussian *Gassian_model = dynamic_cast(Qc_model.get()); return (Gassian_model->R().transpose() * Gassian_model->R()).inverse(); } } // namespace gtsam ================================================ FILE: gpslam/gp/GPutils.h ================================================ /** * @file GPutils.h * @brief GP utils, calculation of Qc, Q, Lamda matrices etc. * @author Xinyan Yan, Jing Dong * @date Qct 26, 2015 **/ #pragma once #include #include #include #include namespace gpslam { /// get Qc covariance matrix from noise model gtsam::Matrix getQc(const gtsam::SharedNoiseModel& Qc_model); /// calculate Q template Eigen::Matrix calcQ(const Eigen::Matrix& Qc, double tau) { Eigen::Matrix Q = (Eigen::Matrix() << 1.0 / 3 * pow(tau, 3.0) * Qc, 1.0 / 2 * pow(tau, 2.0) * Qc, 1.0 / 2 * pow(tau, 2.0) * Qc, tau * Qc).finished(); return Q; } /// calculate Q_inv template Eigen::Matrix calcQ_inv(const Eigen::Matrix& Qc, double tau) { Eigen::Matrix Qc_inv = Qc.inverse(); Eigen::Matrix Q_inv = (Eigen::Matrix() << 12.0 * pow(tau, -3.0) * Qc_inv, (-6.0) * pow(tau, -2.0) * Qc_inv, (-6.0) * pow(tau, -2.0) * Qc_inv, 4.0 * pow(tau, -1.0) * Qc_inv).finished(); return Q_inv; } /// calculate Phi template Eigen::Matrix calcPhi(double tau) { Eigen::Matrix Phi = (Eigen::Matrix() << Eigen::Matrix::Identity(), tau * Eigen::Matrix::Identity(), Eigen::Matrix::Zero(), Eigen::Matrix::Identity()).finished(); return Phi; } /// calculate Lambda template Eigen::Matrix calcLambda(const Eigen::Matrix& Qc, double delta_t, const double tau) { Eigen::Matrix Lambda = calcPhi(tau) - calcQ(Qc, tau) * (calcPhi(delta_t - tau).transpose()) * calcQ_inv(Qc, delta_t) * calcPhi(delta_t); return Lambda; } /// calculate Psi template Eigen::Matrix calcPsi(const Eigen::Matrix& Qc, double delta_t, double tau) { Eigen::Matrix Psi = calcQ(Qc, tau) * (calcPhi(delta_t - tau).transpose()) * calcQ_inv(Qc, delta_t); return Psi; } } // namespace gtsam ================================================ FILE: gpslam/gp/GaussianProcessInterpolatorLinear.h ================================================ /** * @file GaussianProcessInterpolatorLinear.h * @brief Base and utils for Gaussian Process Interpolated measurement factor, linear version * @author Jing Dong, Xinyan Yan * @date Oct 26, 2015 */ #pragma once #include #include #include #include namespace gpslam { /** * 4-way factor for Gaussian Process interpolator, linear version * interpolate pose and velocity given consecutive poses and velocities */ template class GaussianProcessInterpolatorLinear { private: typedef GaussianProcessInterpolatorLinear This; typedef Eigen::Matrix VectorDim; typedef Eigen::Matrix Vector2Dim; typedef Eigen::Matrix MatrixDim; typedef Eigen::Matrix Matrix2Dim; double delta_t_; // t_{i+1} - t_i double tau_; // tau - t_i. we use tau as time interval from t_i instead of from t_0 as in Barfoot papers MatrixDim Qc_; Matrix2Dim Lambda_; Matrix2Dim Psi_; public: /// Default constructor: only for serialization GaussianProcessInterpolatorLinear() {} /** * Constructor * @param Qc noise model of Qc * @param delta_t the time between the two states * @param tau the time of interval status */ GaussianProcessInterpolatorLinear(const gtsam::SharedNoiseModel& Qc_model, double delta_t, double tau) : delta_t_(delta_t), tau_(tau) { // check noise model dim assert(Qc_model->dim() == Dim); // Calcuate Lambda and Psi Qc_ = getQc(Qc_model); Lambda_ = calcLambda(Qc_, delta_t_, tau_); Psi_ = calcPsi(Qc_, delta_t_, tau_); } /** Virtual destructor */ virtual ~GaussianProcessInterpolatorLinear() {} /// interpolate pose with Jacobians VectorDim interpolatePose( const VectorDim& pose1, const VectorDim& vel1, const VectorDim& pose2, const VectorDim& vel2, gtsam::OptionalJacobian H1 = boost::none, gtsam::OptionalJacobian H2 = boost::none, gtsam::OptionalJacobian H3 = boost::none, gtsam::OptionalJacobian H4 = boost::none) const { // state vector Vector2Dim x1 = (Vector2Dim() << pose1, vel1).finished(); Vector2Dim x2 = (Vector2Dim() << pose2, vel2).finished(); // jacobians if (H1) *H1 = Lambda_.template block(0, 0); if (H2) *H2 = Lambda_.template block(0, Dim); if (H3) *H3 = Psi_.template block(0, 0); if (H4) *H4 = Psi_.template block(0, Dim); // interpolate pose (just calculate upper part of the interpolated state vector to save time) return Lambda_.template block(0, 0) * x1 + Psi_.template block(0, 0) * x2; } /// update jacobian based on interpolated jacobians static void updatePoseJacobians(const gtsam::Matrix& Hpose, const gtsam::Matrix& Hint1, const gtsam::Matrix& Hint2, const gtsam::Matrix& Hint3, const gtsam::Matrix& Hint4, boost::optional H1, boost::optional H2, boost::optional H3, boost::optional H4) { if (H1) *H1 = Hpose * Hint1; if (H2) *H2 = Hpose * Hint2; if (H3) *H3 = Hpose * Hint3; if (H4) *H4 = Hpose * Hint4; } /// interpolate velocity with Jacobians VectorDim interpolateVelocity( const VectorDim& pose1, const VectorDim& vel1, const VectorDim& pose2, const VectorDim& vel2, gtsam::OptionalJacobian H1 = boost::none, gtsam::OptionalJacobian H2 = boost::none, gtsam::OptionalJacobian H3 = boost::none, gtsam::OptionalJacobian H4 = boost::none) const { // state vector Vector2Dim x1 = (Vector2Dim() << pose1, vel1).finished(); Vector2Dim x2 = (Vector2Dim() << pose2, vel2).finished(); // jacobians if (H1) *H1 = Lambda_.template block(Dim, 0); if (H2) *H2 = Lambda_.template block(Dim, Dim); if (H3) *H3 = Psi_.template block(Dim, 0); if (H4) *H4 = Psi_.template block(Dim, Dim); // interpolate pose (just calculate lower part of the interpolated state vector to save time) return Lambda_.template block(Dim, 0) * x1 + Psi_.template block(Dim, 0) * x2; } /** demensions */ size_t dim() const { return Dim; } /** * Testables */ /** equals specialized to this factor */ virtual bool equals(const This& expected, double tol=1e-9) const { return fabs(this->delta_t_ - expected.delta_t_) < tol && fabs(this->tau_ - expected.tau_) < tol && gtsam::equal_with_abs_tol(this->Qc_, expected.Qc_, tol) && gtsam::equal_with_abs_tol(this->Lambda_, expected.Lambda_, tol) && gtsam::equal_with_abs_tol(this->Psi_, expected.Psi_, tol); } /** print contents */ void print(const std::string& s="") const { std::cout << s << "GaussianProcessInterpolatorLinear<" << Dim << ">" << std::endl; std::cout << "delta_t = " << delta_t_ << ", tau = " << tau_ << std::endl; //std::cout << "Qc = " << Qc_ << std::endl; } private: /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_NVP(delta_t_); ar & BOOST_SERIALIZATION_NVP(tau_); using namespace boost::serialization; ar & make_nvp("Qc", make_array(Qc_.data(), Qc_.size())); ar & make_nvp("Lambda", make_array(Lambda_.data(), Lambda_.size())); ar & make_nvp("Psi", make_array(Psi_.data(), Psi_.size())); } }; } // \ namespace gpslam /// traits namespace gtsam { template struct traits > : public Testable< gpslam::GaussianProcessInterpolatorLinear > {}; } ================================================ FILE: gpslam/gp/GaussianProcessInterpolatorPose2.h ================================================ /** * @file GaussianProcessInterpolatorPose2.h * @brief Base and utils for Gaussian Process Interpolated measurement factor, works only in SE(2) * @author Jing Dong */ #pragma once #include #include #include namespace gpslam { /** * 4-way factor for Gaussian Process interpolator, SE(2) version * interpolate pose and velocity given consecutive poses and velocities */ class GaussianProcessInterpolatorPose2 { private: typedef GaussianProcessInterpolatorPose2 This; double delta_t_; // t_{i+1} - t_i double tau_; // tau - t_i. we use tau as time interval from t_i instead of from t_0 as in Barfoot papers gtsam::Matrix3 Qc_; gtsam::Matrix6 Lambda_; gtsam::Matrix6 Psi_; public: /// Default constructor: only for serialization GaussianProcessInterpolatorPose2() {} /** * Constructor * @param Qc noise model of Qc * @param delta_t the time between the two states * @param tau the time of interval status */ GaussianProcessInterpolatorPose2(const gtsam::SharedNoiseModel& Qc_model, double delta_t, double tau) : delta_t_(delta_t), tau_(tau) { // Calcuate Lambda and Psi Qc_ = getQc(Qc_model); Lambda_ = calcLambda(Qc_, delta_t_, tau_); Psi_ = calcPsi(Qc_, delta_t_, tau_); } /** Virtual destructor */ virtual ~GaussianProcessInterpolatorPose2() {} /// interpolate pose with Jacobians gtsam::Pose2 interpolatePose( const gtsam::Pose2& pose1, const gtsam::Vector3& vel1, const gtsam::Pose2& pose2, const gtsam::Vector3& vel2, gtsam::OptionalJacobian<3, 3> H1 = boost::none, gtsam::OptionalJacobian<3, 3> H2 = boost::none, gtsam::OptionalJacobian<3, 3> H3 = boost::none, gtsam::OptionalJacobian<3, 3> H4 = boost::none) const { using namespace gtsam; const Vector6 r1 = (Vector6() << Vector3::Zero(), vel1).finished(); Matrix3 Hinv, Hcomp11, Hcomp12, Hlogmap; Vector3 r; if (H1 || H2 || H3 || H4) r = Pose2::Logmap(pose1.inverse(Hinv).compose(pose2, Hcomp11, Hcomp12), Hlogmap); else r = Pose2::Logmap(pose1.inverse().compose(pose2)); const Vector6 r2 = (Vector6() << r, vel2).finished(); Pose2 pose; if (H1 || H2 || H3 || H4) { Matrix3 Hcomp21, Hcomp22, Hexp; pose = pose1.compose(Pose2::Expmap(Lambda_.block<3, 6>(0, 0) * r1 + Psi_.block<3, 6>(0, 0) * r2, Hexp), Hcomp21, Hcomp22); Matrix3 Hexpr1 = Hcomp22*Hexp; if (H1) *H1 = Hcomp21 + Hexpr1*Psi_.block<3, 3>(0, 0)*Hlogmap*Hcomp11*Hinv; if (H2) *H2 = Hexpr1*Lambda_.block<3, 3>(0, 3); if (H3) *H3 = Hexpr1*Psi_.block<3, 3>(0, 0)*Hlogmap*Hcomp12; if (H4) *H4 = Hexpr1*Psi_.block<3, 3>(0, 3); } else { pose = pose1.compose(Pose2::Expmap(Lambda_.block<3, 6>(0, 0) * r1 + Psi_.block<3, 6>(0, 0) * r2)); } return pose; } /// update jacobian based on interpolated jacobians static void updatePoseJacobians(const gtsam::Matrix& Hpose, const gtsam::Matrix& Hint1, const gtsam::Matrix& Hint2, const gtsam::Matrix& Hint3, const gtsam::Matrix& Hint4, boost::optional H1, boost::optional H2, boost::optional H3, boost::optional H4) { if (H1) *H1 = Hpose * Hint1; if (H2) *H2 = Hpose * Hint2; if (H3) *H3 = Hpose * Hint3; if (H4) *H4 = Hpose * Hint4; } /// interpolate velocity with Jacobians /// TODO: implementation gtsam::Vector3 interpolateVelocity( const gtsam::Pose2& pose1, const gtsam::Vector3& vel1, const gtsam::Pose2& pose2, const gtsam::Vector3& vel2, gtsam::OptionalJacobian<3, 3> H1 = boost::none, gtsam::OptionalJacobian<3, 3> H2 = boost::none, gtsam::OptionalJacobian<3, 3> H3 = boost::none, gtsam::OptionalJacobian<3, 3> H4 = boost::none) const ; /** * Testables */ /** equals specialized to this factor */ virtual bool equals(const This& expected, double tol=1e-9) const { return fabs(this->delta_t_ - expected.delta_t_) < tol && fabs(this->tau_ - expected.tau_) < tol && gtsam::equal_with_abs_tol(this->Qc_, expected.Qc_, tol) && gtsam::equal_with_abs_tol(this->Lambda_, expected.Lambda_, tol) && gtsam::equal_with_abs_tol(this->Psi_, expected.Psi_, tol); } /** print contents */ void print(const std::string& s="") const { std::cout << s << "GaussianProcessInterpolatorPose2" << std::endl; std::cout << "delta_t = " << delta_t_ << ", tau = " << tau_ << std::endl; //std::cout << "Qc = " << Qc_ << std::endl; } private: /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_NVP(delta_t_); ar & BOOST_SERIALIZATION_NVP(tau_); using namespace boost::serialization; ar & make_nvp("Qc", make_array(Qc_.data(), Qc_.size())); ar & make_nvp("Lambda", make_array(Lambda_.data(), Lambda_.size())); ar & make_nvp("Psi", make_array(Psi_.data(), Psi_.size())); } }; } // \ namespace gpslam /// traits namespace gtsam { template<> struct traits : public Testable< gpslam::GaussianProcessInterpolatorPose2> {}; } ================================================ FILE: gpslam/gp/GaussianProcessInterpolatorPose3.h ================================================ /** * @file GaussianProcessInterpolatorPose3.h * @brief Base and utils for Gaussian Process Interpolated measurement factor, SE(3) version * @author Jing Dong, Xinyan Yan */ #pragma once #include #include #include #include namespace gpslam { /** * 4-way factor for Gaussian Process interpolator, SE(3) version * interpolate pose and velocity given consecutive poses and velocities */ class GaussianProcessInterpolatorPose3 { private: typedef GaussianProcessInterpolatorPose3 This; double delta_t_; // t_{i+1} - t_i double tau_; // tau - t_i. we use tau as time interval from t_i instead of from t_0 as in Barfoot papers gtsam::Matrix6 Qc_; Matrix_12 Lambda_; Matrix_12 Psi_; public: /// Default constructor: only for serialization GaussianProcessInterpolatorPose3() {} /** * Constructor * @param Qc noise model of Qc * @param delta_t the time between the two states * @param tau the time of interval status */ GaussianProcessInterpolatorPose3(const gtsam::SharedNoiseModel& Qc_model, double delta_t, double tau) : delta_t_(delta_t), tau_(tau) { // Calcuate Lambda and Psi Qc_ = getQc(Qc_model); Lambda_ = calcLambda(Qc_, delta_t_, tau_); Psi_ = calcPsi(Qc_, delta_t_, tau_); } /** Virtual destructor */ virtual ~GaussianProcessInterpolatorPose3() {} /// interpolate pose with Jacobians gtsam::Pose3 interpolatePose(const gtsam::Pose3& pose1, const gtsam::Vector6& vel1, const gtsam::Pose3& pose2, const gtsam::Vector6& vel2, gtsam::OptionalJacobian<6, 6> H1 = boost::none, gtsam::OptionalJacobian<6, 6> H2 = boost::none, gtsam::OptionalJacobian<6, 6> H3 = boost::none, gtsam::OptionalJacobian<6, 6> H4 = boost::none) const { using namespace gtsam; const Vector_12 r1 = (Vector_12() << Vector6::Zero(), vel1).finished(); Matrix6 Hinv, Hcomp11, Hcomp12, Hlogmap; Vector6 r; if (H1 || H2 || H3 || H4) r = Pose3::Logmap(pose1.inverse(Hinv).compose(pose2, Hcomp11, Hcomp12), Hlogmap); else r = Pose3::Logmap(pose1.inverse().compose(pose2)); const Matrix6 Jinv = rightJacobianPose3inv(r); const Vector_12 r2 = (Vector_12() << r, Jinv * vel2).finished(); Pose3 pose; if (H1 || H2 || H3 || H4) { Matrix6 Hcomp21, Hcomp22, Hexp; pose = pose1.compose(Pose3::Expmap(Lambda_.block<6, 12>(0, 0) * r1 + Psi_.block<6, 12>(0, 0) * r2, Hexp), Hcomp21, Hcomp22); Matrix6 Hexpr1 = Hcomp22*Hexp; if (H1) { const Matrix6 tmp = Hlogmap * Hcomp11 * Hinv; const Matrix_12_6 dr2_dT1 = (Matrix_12_6() << tmp, jacobianMethodNumercialDiff( rightJacobianPose3inv, r, vel2) * tmp).finished(); *H1 = Hcomp21 + Hexpr1*Psi_.block<6, 12>(0, 0)*dr2_dT1; } if (H2) *H2 = Hexpr1*Lambda_.block<6, 6>(0, 6); if (H3) { const Matrix6 tmp = Hlogmap * Hcomp12; const Matrix_12_6 dr2_dT2 = (Matrix_12_6() << tmp, jacobianMethodNumercialDiff( rightJacobianPose3inv, r, vel2) * tmp).finished(); *H3 = Hexpr1*Psi_.block<6, 12>(0, 0)*dr2_dT2; } if (H4) *H4 = Hexpr1*Psi_.block<6, 6>(0, 6) * Jinv; } else { pose = pose1.compose(Pose3::Expmap(Lambda_.block<6, 12>(0, 0) * r1 + Psi_.block<6, 12>(0, 0) * r2)); } return pose; } /// update jacobian based on interpolated jacobians static void updatePoseJacobians(const gtsam::Matrix& Hpose, const gtsam::Matrix& Hint1, const gtsam::Matrix& Hint2, const gtsam::Matrix& Hint3, const gtsam::Matrix& Hint4, boost::optional H1, boost::optional H2, boost::optional H3, boost::optional H4) { if (H1) *H1 = Hpose * Hint1; if (H2) *H2 = Hpose * Hint2; if (H3) *H3 = Hpose * Hint3; if (H4) *H4 = Hpose * Hint4; } /// interpolate velocity with Jacobians /// TODO: implementation gtsam::Pose3 interpolateVelocity(const gtsam::Pose3& pose1, const gtsam::Vector6& vel1, const gtsam::Pose3& pose2, const gtsam::Vector6& vel2, gtsam::OptionalJacobian<6, 6> H1 = boost::none, gtsam::OptionalJacobian<6, 6> H2 = boost::none, gtsam::OptionalJacobian<6, 6> H3 = boost::none, gtsam::OptionalJacobian<6, 6> H4 = boost::none) const ; /** * Testables */ /** equals specialized to this factor */ virtual bool equals(const This& expected, double tol=1e-9) const { return fabs(this->delta_t_ - expected.delta_t_) < tol && fabs(this->tau_ - expected.tau_) < tol && gtsam::equal_with_abs_tol(this->Qc_, expected.Qc_, tol) && gtsam::equal_with_abs_tol(this->Lambda_, expected.Lambda_, tol) && gtsam::equal_with_abs_tol(this->Psi_, expected.Psi_, tol); } /** print contents */ void print(const std::string& s="") const { std::cout << s << "GaussianProcessInterpolatorPose3" << std::endl; std::cout << "delta_t = " << delta_t_ << ", tau = " << tau_ << std::endl; //std::cout << "Qc = " << Qc_ << std::endl; } private: /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_NVP(delta_t_); ar & BOOST_SERIALIZATION_NVP(tau_); using namespace boost::serialization; ar & make_nvp("Qc", make_array(Qc_.data(), Qc_.size())); ar & make_nvp("Lambda", make_array(Lambda_.data(), Lambda_.size())); ar & make_nvp("Psi", make_array(Psi_.data(), Psi_.size())); } }; } // \ namespace gpslam /// traits namespace gtsam { template<> struct traits : public Testable< gpslam::GaussianProcessInterpolatorPose3> {}; } ================================================ FILE: gpslam/gp/GaussianProcessInterpolatorPose3VW.h ================================================ /** * @file GaussianProcessInterpolatorPose3VW.h * @brief Base and utils for Gaussian Process Interpolated measurement factor, SE(3). use V/W velocity representation * @author Jing Dong, Xinyan Yan */ #pragma once #include #include #include #include namespace gpslam { /** * 4-way factor for Gaussian Process interpolator, SE(3) version * 6-DOF velocity is represented by 3-DOF translational and 3-DOF rotational velocities (in body frame). * interpolate pose and velocity given consecutive poses and velocities */ class GaussianProcessInterpolatorPose3VW { private: typedef GaussianProcessInterpolatorPose3VW This; double delta_t_; // t_{i+1} - t_i double tau_; // tau - t_i. we use tau as time interval from t_i instead of from t_0 as in Barfoot papers gtsam::Matrix6 Qc_; Matrix_12 Lambda_; Matrix_12 Psi_; public: /// Default constructor: only for serialization GaussianProcessInterpolatorPose3VW() {} /** * Constructor * @param Qc noise model of Qc * @param delta_t the time between the two states * @param tau the time of interval status */ GaussianProcessInterpolatorPose3VW(const gtsam::SharedNoiseModel& Qc_model, double delta_t, double tau) : delta_t_(delta_t), tau_(tau) { // Calcuate Lambda and Psi Qc_ = getQc(Qc_model); Lambda_ = calcLambda(Qc_, delta_t_, tau_); Psi_ = calcPsi(Qc_, delta_t_, tau_); } /** Virtual destructor */ virtual ~GaussianProcessInterpolatorPose3VW() {} /// interpolate pose with Jacobians gtsam::Pose3 interpolatePose( const gtsam::Pose3& pose1, const gtsam::Vector3& v1, const gtsam::Vector3& omega1, const gtsam::Pose3& pose2, const gtsam::Vector3& v2, const gtsam::Vector3& omega2, gtsam::OptionalJacobian<6, 6> H1 = boost::none, gtsam::OptionalJacobian<6, 3> H2 = boost::none, gtsam::OptionalJacobian<6, 3> H3 = boost::none, gtsam::OptionalJacobian<6, 6> H4 = boost::none, gtsam::OptionalJacobian<6, 3> H5 = boost::none, gtsam::OptionalJacobian<6, 3> H6 = boost::none) const { using namespace gtsam; Matrix6 Hinv, Hcomp11, Hcomp12, Hlogmap; Vector6 r; if (H1 || H4) r = Pose3::Logmap(pose1.inverse(Hinv).compose(pose2, Hcomp11, Hcomp12), Hlogmap); else r = Pose3::Logmap(pose1.inverse().compose(pose2)); const Matrix6 Jinv = rightJacobianPose3inv(r); // vel Matrix63 H1v, H1w, H2v, H2w; Matrix6 H1p, H2p; Vector6 vel1, vel2; if (H2 || H3 || H5 || H6) { vel1 = convertVWtoVb(v1, omega1, pose1, H1v, H1w, H1p); vel2 = convertVWtoVb(v2, omega2, pose2, H2v, H2w, H2p); } else { vel1 = convertVWtoVb(v1, omega1, pose1); vel2 = convertVWtoVb(v2, omega2, pose2); } const Vector_12 r1 = (Vector_12() << Vector6::Zero(), vel1).finished(); const Vector_12 r2 = (Vector_12() << r, Jinv * vel2).finished(); // pose Pose3 pose; if (H1 || H2 || H3 || H4) { Matrix6 Hcomp21, Hcomp22, Hexp; pose = pose1.compose(Pose3::Expmap(Lambda_.block<6, 12>(0, 0) * r1 + Psi_.block<6, 12>(0, 0) * r2, Hexp), Hcomp21, Hcomp22); Matrix6 Hexpr1 = Hcomp22*Hexp; Matrix6 Hvel1 = Hexpr1*Lambda_.block<6, 6>(0, 6); Matrix6 Hvel2 = Hexpr1*Psi_.block<6, 6>(0, 6) * Jinv; if (H1) { const Matrix6 tmp = Hlogmap * Hcomp11 * Hinv; const Matrix_12_6 dr2_dT1 = (Matrix_12_6() << tmp, jacobianMethodNumercialDiff( rightJacobianPose3inv, r, vel2) * tmp).finished(); *H1 = Hcomp21 + Hexpr1*Psi_.block<6, 12>(0, 0)*dr2_dT1 + Hvel1*H1p; } if (H2) *H2 = Hvel1 * H1v; if (H3) *H3 = Hvel1 * H1w; if (H4) { const Matrix6 tmp = Hlogmap * Hcomp12; const Matrix_12_6 dr2_dT2 = (Matrix_12_6() << tmp, jacobianMethodNumercialDiff( rightJacobianPose3inv, r, vel2) * tmp).finished(); *H4 = Hexpr1*Psi_.block<6, 12>(0, 0)*dr2_dT2 + Hvel2*H2p; } if (H5) *H5 = Hvel2 * H2v; if (H6) *H6 = Hvel2 * H2w; } else { pose = pose1.compose(Pose3::Expmap(Lambda_.block<6, 12>(0, 0) * r1 + Psi_.block<6, 12>(0, 0) * r2)); } return pose; } /// update jacobian based on interpolated jacobians static void updatePoseJacobians(const gtsam::Matrix& Hpose, const gtsam::Matrix& Hint1, const gtsam::Matrix& Hint2, const gtsam::Matrix& Hint3, const gtsam::Matrix& Hint4, const gtsam::Matrix& Hint5, const gtsam::Matrix& Hint6, boost::optional H1, boost::optional H2, boost::optional H3, boost::optional H4, boost::optional H5, boost::optional H6) { if (H1) *H1 = Hpose * Hint1; if (H2) *H2 = Hpose * Hint2; if (H3) *H3 = Hpose * Hint3; if (H4) *H4 = Hpose * Hint4; if (H5) *H5 = Hpose * Hint5; if (H6) *H6 = Hpose * Hint6; } /// interpolate velocity with Jacobians /// TODO: implementation gtsam::Vector6 interpolateVelocity( const gtsam::Pose3& pose1, const gtsam::Vector3& v1, const gtsam::Vector3& omega1, const gtsam::Pose3& pose2, const gtsam::Vector3& v2, const gtsam::Vector3& omega2, gtsam::OptionalJacobian<6, 6> H1 = boost::none, gtsam::OptionalJacobian<6, 3> H2 = boost::none, gtsam::OptionalJacobian<6, 3> H3 = boost::none, gtsam::OptionalJacobian<6, 6> H4 = boost::none, gtsam::OptionalJacobian<6, 3> H5 = boost::none, gtsam::OptionalJacobian<6, 3> H6 = boost::none) const ; /** * Testables */ /** equals specialized to this factor */ virtual bool equals(const This& expected, double tol=1e-9) const { return fabs(this->delta_t_ - expected.delta_t_) < tol && fabs(this->tau_ - expected.tau_) < tol && gtsam::equal_with_abs_tol(this->Qc_, expected.Qc_, tol) && gtsam::equal_with_abs_tol(this->Lambda_, expected.Lambda_, tol) && gtsam::equal_with_abs_tol(this->Psi_, expected.Psi_, tol); } /** print contents */ void print(const std::string& s="") const { std::cout << s << "GaussianProcessInterpolatorPose3VW" << std::endl; std::cout << "delta_t = " << delta_t_ << ", tau = " << tau_ << std::endl; //std::cout << "Qc = " << Qc_ << std::endl; } private: /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_NVP(delta_t_); ar & BOOST_SERIALIZATION_NVP(tau_); using namespace boost::serialization; ar & make_nvp("Qc", make_array(Qc_.data(), Qc_.size())); ar & make_nvp("Lambda", make_array(Lambda_.data(), Lambda_.size())); ar & make_nvp("Psi", make_array(Psi_.data(), Psi_.size())); } }; } // \ namespace gpslam /// traits namespace gtsam { template<> struct traits : public Testable< gpslam::GaussianProcessInterpolatorPose3VW> {}; } ================================================ FILE: gpslam/gp/GaussianProcessInterpolatorRot3.h ================================================ /** * @file GaussianProcessInterpolatorRot3.h * @brief Base and utils for Gaussian Process Interpolated measurement factor, SO(3) version * @author Jing Dong */ #pragma once #include #include #include namespace gpslam { /** * 4-way factor for Gaussian Process interpolator, SO(3) version * interpolate pose and velocity given consecutive poses and velocities */ class GaussianProcessInterpolatorRot3 { private: typedef GaussianProcessInterpolatorRot3 This; double delta_t_; // t_{i+1} - t_i double tau_; // tau - t_i. we use tau as time interval from t_i instead of from t_0 as in Barfoot papers gtsam::Matrix3 Qc_; gtsam::Matrix6 Lambda_; gtsam::Matrix6 Psi_; public: /// Default constructor: only for serialization GaussianProcessInterpolatorRot3() {} /** * Constructor * @param Qc noise model of Qc * @param delta_t the time between the two states * @param tau the time of interval status */ GaussianProcessInterpolatorRot3(const gtsam::SharedNoiseModel& Qc_model, double delta_t, double tau) : delta_t_(delta_t), tau_(tau) { // Calcuate Lambda and Psi Qc_ = getQc(Qc_model); Lambda_ = calcLambda(Qc_, delta_t_, tau_); Psi_ = calcPsi(Qc_, delta_t_, tau_); } /** Virtual destructor */ virtual ~GaussianProcessInterpolatorRot3() {} /// interpolate pose with Jacobians gtsam::Rot3 interpolatePose(const gtsam::Rot3& pose1, const gtsam::Vector3& vel1, const gtsam::Rot3& pose2, const gtsam::Vector3& vel2, gtsam::OptionalJacobian<3, 3> H1 = boost::none, gtsam::OptionalJacobian<3, 3> H2 = boost::none, gtsam::OptionalJacobian<3, 3> H3 = boost::none, gtsam::OptionalJacobian<3, 3> H4 = boost::none) const { using namespace gtsam; const Vector6 r1 = (Vector6() << Vector3::Zero(), vel1).finished(); Matrix3 Hinv, Hcomp11, Hcomp12, Hlogmap; Vector3 r; if (H1 || H2 || H3 || H4) r = Rot3::Logmap(pose1.inverse(Hinv).compose(pose2, Hcomp11, Hcomp12), Hlogmap); else r = Rot3::Logmap(pose1.inverse().compose(pose2)); const Vector6 r2 = (Vector6() << r, vel2).finished(); Rot3 pose; if (H1 || H2 || H3 || H4) { Matrix3 Hcomp21, Hcomp22, Hexp; pose = pose1.compose(Rot3::Expmap(Lambda_.block<3, 6>(0, 0) * r1 + Psi_.block<3, 6>(0, 0) * r2, Hexp), Hcomp21, Hcomp22); Matrix3 Hexpr1 = Hcomp22*Hexp; if (H1) *H1 = Hcomp21 + Hexpr1*Psi_.block<3, 3>(0, 0)*Hlogmap*Hcomp11*Hinv; if (H2) *H2 = Hexpr1*Lambda_.block<3, 3>(0, 3); if (H3) *H3 = Hexpr1*Psi_.block<3, 3>(0, 0)*Hlogmap*Hcomp12; if (H4) *H4 = Hexpr1*Psi_.block<3, 3>(0, 3); } else { pose = pose1.compose(Rot3::Expmap(Lambda_.block<3, 6>(0, 0) * r1 + Psi_.block<3, 6>(0, 0) * r2)); } return pose; } /// update jacobian based on interpolated jacobians static void updatePoseJacobians(const gtsam::Matrix& Hpose, const gtsam::Matrix& Hint1, const gtsam::Matrix& Hint2, const gtsam::Matrix& Hint3, const gtsam::Matrix& Hint4, boost::optional H1, boost::optional H2, boost::optional H3, boost::optional H4) { if (H1) *H1 = Hpose * Hint1; if (H2) *H2 = Hpose * Hint2; if (H3) *H3 = Hpose * Hint3; if (H4) *H4 = Hpose * Hint4; } /// interpolate velocity with Jacobians /// TODO: implementation gtsam::Vector3 interpolateVelocity(const gtsam::Rot3& pose1, const gtsam::Vector3& vel1, const gtsam::Rot3& pose2, const gtsam::Vector3& vel2, gtsam::OptionalJacobian<3, 3> H1 = boost::none, gtsam::OptionalJacobian<3, 3> H2 = boost::none, gtsam::OptionalJacobian<3, 3> H3 = boost::none, gtsam::OptionalJacobian<3, 3> H4 = boost::none) const ; /** * Testables */ /** equals specialized to this factor */ virtual bool equals(const This& expected, double tol=1e-9) const { return fabs(this->delta_t_ - expected.delta_t_) < tol && fabs(this->tau_ - expected.tau_) < tol && gtsam::equal_with_abs_tol(this->Qc_, expected.Qc_, tol) && gtsam::equal_with_abs_tol(this->Lambda_, expected.Lambda_, tol) && gtsam::equal_with_abs_tol(this->Psi_, expected.Psi_, tol); } /** print contents */ void print(const std::string& s="") const { std::cout << s << "GaussianProcessInterpolatorRot3" << std::endl; std::cout << "delta_t = " << delta_t_ << ", tau = " << tau_ << std::endl; //std::cout << "Qc = " << Qc_ << std::endl; } private: /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_NVP(delta_t_); ar & BOOST_SERIALIZATION_NVP(tau_); using namespace boost::serialization; ar & make_nvp("Qc", make_array(Qc_.data(), Qc_.size())); ar & make_nvp("Lambda", make_array(Lambda_.data(), Lambda_.size())); ar & make_nvp("Psi", make_array(Psi_.data(), Psi_.size())); } }; } // \ namespace gpslam /// traits namespace gtsam { template<> struct traits : public Testable< gpslam::GaussianProcessInterpolatorRot3> {}; } ================================================ FILE: gpslam/gp/GaussianProcessPriorLinear.h ================================================ /** * @file GaussianProcessPriorLinear.h * @brief Linear GP prior, see Barfoot14rss * @author Xinyan Yan, Jing Dong **/ #pragma once #include #include #include #include #include namespace gpslam { /** * 4-way factor for Gaussian Process prior factor, linear version */ template class GaussianProcessPriorLinear: public gtsam::NoiseModelFactor4< Eigen::Matrix, Eigen::Matrix, Eigen::Matrix, Eigen::Matrix > { private: double delta_t_; typedef Eigen::Matrix VectorDim; typedef Eigen::Matrix Vector2Dim; typedef Eigen::Matrix MatrixDim; typedef Eigen::Matrix Matrix21Dim; typedef Eigen::Matrix Matrix2Dim; typedef GaussianProcessPriorLinear This; typedef gtsam::NoiseModelFactor4 Base; public: GaussianProcessPriorLinear() {} /* Default constructor only for serialization */ /// Constructor /// @param delta_t is the time between the two states GaussianProcessPriorLinear(gtsam::Key poseKey1, gtsam::Key velKey1, gtsam::Key poseKey2, gtsam::Key velKey2, double delta_t, const gtsam::SharedNoiseModel& Qc_model) : Base(gtsam::noiseModel::Gaussian::Covariance(calcQ(getQc(Qc_model), delta_t)), poseKey1, velKey1, poseKey2, velKey2) { delta_t_ = delta_t; } virtual ~GaussianProcessPriorLinear() {} /// @return a deep copy of this factor virtual gtsam::NonlinearFactor::shared_ptr clone() const { return boost::static_pointer_cast( gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /// factor error function gtsam::Vector evaluateError( const VectorDim& pose1, const VectorDim& vel1, const VectorDim& pose2, const VectorDim& vel2, boost::optional H1 = boost::none, boost::optional H2 = boost::none, boost::optional H3 = boost::none, boost::optional H4 = boost::none) const { // state vector Vector2Dim x1 = (Vector2Dim() << pose1, vel1).finished(); Vector2Dim x2 = (Vector2Dim() << pose2, vel2).finished(); // Jacobians if (H1) *H1 = (Matrix21Dim() << MatrixDim::Identity(), MatrixDim::Zero()).finished(); if (H2) *H2 = (Matrix21Dim() << delta_t_ * MatrixDim::Identity(), MatrixDim::Identity()).finished(); if (H3) *H3 = (Matrix21Dim() << -1.0 * MatrixDim::Identity(), MatrixDim::Zero()).finished(); if (H4) *H4 = (Matrix21Dim() << MatrixDim::Zero(), -1.0 * MatrixDim::Identity()).finished(); // transition matrix & error return calcPhi(delta_t_) * x1 - x2; } /** demensions */ size_t dim() const { return Dim; } /** number of variables attached to this factor */ size_t size() const { return 4; } /** equals specialized to this factor */ virtual bool equals(const gtsam::NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); return e != NULL && Base::equals(*e, tol) && fabs(this->delta_t_ - e->delta_t_) < tol; } /** print contents */ void print(const std::string& s="", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const { std::cout << s << "4-way Gaussian Process Factor Linear<" << Dim << ">" << std::endl; Base::print("", keyFormatter); } private: /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); ar & BOOST_SERIALIZATION_NVP(delta_t_); } }; // GaussianProcessPriorLinear } // namespace gpslam /// traits namespace gtsam { template struct traits > : public Testable< gpslam::GaussianProcessPriorLinear > {}; } ================================================ FILE: gpslam/gp/GaussianProcessPriorPose2.h ================================================ /** * @file GaussianProcessPriorPose2.h * @brief Pose2 GP prior * @author Jing Dong **/ #pragma once #include #include #include #include #include #include #include #include namespace gpslam { /** * 4-way factor for Gaussian Process prior factor, SE(2) version */ class GaussianProcessPriorPose2: public gtsam::NoiseModelFactor4 { private: double delta_t_; typedef GaussianProcessPriorPose2 This; typedef gtsam::NoiseModelFactor4 Base; public: GaussianProcessPriorPose2() {} /* Default constructor only for serialization */ /// Constructor /// @param delta_t is the time between the two states GaussianProcessPriorPose2(gtsam::Key poseKey1, gtsam::Key velKey1, gtsam::Key poseKey2, gtsam::Key velKey2, double delta_t, const gtsam::SharedNoiseModel& Qc_model) : Base(gtsam::noiseModel::Gaussian::Covariance(calcQ<3>(getQc(Qc_model), delta_t)), poseKey1, velKey1, poseKey2, velKey2) { delta_t_ = delta_t; } virtual ~GaussianProcessPriorPose2() {} /// @return a deep copy of this factor virtual gtsam::NonlinearFactor::shared_ptr clone() const { return boost::static_pointer_cast( gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /// factor error function gtsam::Vector evaluateError( const gtsam::Pose2& pose1, const gtsam::Vector3& vel1, const gtsam::Pose2& pose2, const gtsam::Vector3& vel2, boost::optional H1 = boost::none, boost::optional H2 = boost::none, boost::optional H3 = boost::none, boost::optional H4 = boost::none) const { using namespace gtsam; Matrix3 Hinv, Hcomp1, Hcomp2, Hlogmap; Vector3 r; if (H1 || H2 || H3 || H4) r = Pose2::Logmap(pose1.inverse(Hinv).compose(pose2, Hcomp1, Hcomp2), Hlogmap); else r = Pose2::Logmap(pose1.inverse().compose(pose2)); // jacobians if (H1) *H1 = (Matrix63() << Hlogmap * Hcomp1 * Hinv, Matrix3::Zero()).finished(); if (H2) *H2 = (Matrix63() << -delta_t_ * Matrix3::Identity(), -Matrix3::Identity()).finished(); if (H3) *H3 = (Matrix63() << Hlogmap * Hcomp2, Matrix3::Zero()).finished(); if (H4) *H4 = (Matrix63() << Matrix3::Zero(), Matrix3::Identity()).finished(); return (Vector(6) << (r - vel1 * delta_t_), (vel2 - vel1)).finished(); } /** number of variables attached to this factor */ size_t size() const { return 4; } /** equals specialized to this factor */ virtual bool equals(const gtsam::NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); return e != NULL && Base::equals(*e, tol) && fabs(this->delta_t_ - e->delta_t_) < tol; } /** print contents */ void print(const std::string& s="", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const { std::cout << s << "4-way Gaussian Process Factor Pose2" << std::endl; Base::print("", keyFormatter); } private: /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); ar & BOOST_SERIALIZATION_NVP(delta_t_); } }; // GaussianProcessPriorPose2 } // namespace gpslam /// traits namespace gtsam { template<> struct traits : public Testable {}; } ================================================ FILE: gpslam/gp/GaussianProcessPriorPose3.h ================================================ /** * @file GaussianProcessPriorPose3.h * @brief Pose3 GP prior * @author Xinyan Yan, Jing Dong **/ #pragma once #include #include #include #include #include #include #include #include #include #include namespace gpslam { /** * 4-way factor for Gaussian Process prior factor, SE(3) version */ class GaussianProcessPriorPose3: public gtsam::NoiseModelFactor4 { private: double delta_t_; typedef GaussianProcessPriorPose3 This; typedef gtsam::NoiseModelFactor4 Base; public: GaussianProcessPriorPose3() {} /* Default constructor only for serialization */ /// Constructor /// @param delta_t is the time between the two states GaussianProcessPriorPose3(gtsam::Key poseKey1, gtsam::Key velKey1, gtsam::Key poseKey2, gtsam::Key velKey2, double delta_t, const gtsam::SharedNoiseModel& Qc_model) : Base(gtsam::noiseModel::Gaussian::Covariance(calcQ<6>(getQc(Qc_model), delta_t)), poseKey1, velKey1, poseKey2, velKey2) { delta_t_ = delta_t; } virtual ~GaussianProcessPriorPose3() {} /// @return a deep copy of this factor virtual gtsam::NonlinearFactor::shared_ptr clone() const { return boost::static_pointer_cast( gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /// factor error function gtsam::Vector evaluateError(const gtsam::Pose3& pose1, const gtsam::Vector6& vel1, const gtsam::Pose3& pose2, const gtsam::Vector6& vel2, boost::optional H1 = boost::none, boost::optional H2 = boost::none, boost::optional H3 = boost::none, boost::optional H4 = boost::none) const { using namespace gtsam; Matrix6 Hinv, Hcomp1, Hcomp2, Hlogmap; Vector6 r; if (H1 || H2 || H3 || H4) r = Pose3::Logmap(pose1.inverse(Hinv).compose(pose2, Hcomp1, Hcomp2), Hlogmap); else r = Pose3::Logmap(pose1.inverse().compose(pose2)); const Matrix6 Jinv = rightJacobianPose3inv(r); // jacobians if (H1) { const Matrix6 J_Ti = Hlogmap * Hcomp1 * Hinv; const Matrix6 Jdiff_Ti = jacobianMethodNumercialDiff(rightJacobianPose3inv, r, vel2) * J_Ti; *H1 = (Matrix_12_6() << J_Ti, Jdiff_Ti).finished(); } if (H2) *H2 = (Matrix_12_6() << -delta_t_ * Matrix6::Identity(), -Matrix6::Identity()).finished(); if (H3) { const Matrix6 J_Ti1 = Hlogmap * Hcomp2; const Matrix6 Jdiff_Ti1 = jacobianMethodNumercialDiff(rightJacobianPose3inv, r, vel2) * J_Ti1; *H3 = (Matrix_12_6() << J_Ti1, Jdiff_Ti1).finished(); } if (H4) *H4 = (Matrix_12_6() << Matrix6::Zero(), Jinv).finished(); return (Vector(12) << (r - vel1 * delta_t_), (Jinv * vel2 - vel1)).finished(); } /** number of variables attached to this factor */ size_t size() const { return 4; } /** equals specialized to this factor */ virtual bool equals(const gtsam::NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); return e != NULL && Base::equals(*e, tol) && fabs(this->delta_t_ - e->delta_t_) < tol; } /** print contents */ void print(const std::string& s="", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const { std::cout << s << "4-way Gaussian Process Factor Pose3" << std::endl; Base::print("", keyFormatter); } private: /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); ar & BOOST_SERIALIZATION_NVP(delta_t_); } }; // GaussianProcessPriorPose3 } // namespace gpslam /// traits namespace gtsam { template<> struct traits : public Testable {}; } ================================================ FILE: gpslam/gp/GaussianProcessPriorPose3VW.h ================================================ /** * @file GaussianProcessPriorPose3VW.h * @brief Pose3 GP prior, use V/W velocity representation * @author Xinyan Yan, Jing Dong **/ #pragma once #include #include #include #include #include #include #include #include #include namespace gpslam { /** * 4-way factor for Gaussian Process prior factor, SE(3) version * 6-DOF velocity is represented by 3-DOF translational and 3-DOF rotational velocities (in body frame). */ class GaussianProcessPriorPose3VW: public gtsam::NoiseModelFactor6 { private: double delta_t_; typedef GaussianProcessPriorPose3VW This; typedef gtsam::NoiseModelFactor6 Base; public: GaussianProcessPriorPose3VW() {} /* Default constructor only for serialization */ /// Constructor /// @param delta_t is the time between the two states GaussianProcessPriorPose3VW( gtsam::Key poseKey1, gtsam::Key velKey1, gtsam::Key omegaKey1, gtsam::Key poseKey2, gtsam::Key velKey2, gtsam::Key omegaKey2, double delta_t, const gtsam::SharedNoiseModel& Qc_model) : Base(gtsam::noiseModel::Gaussian::Covariance(calcQ<6>(getQc(Qc_model), delta_t)), poseKey1, velKey1, omegaKey1, poseKey2, velKey2, omegaKey2) { delta_t_ = delta_t; } virtual ~GaussianProcessPriorPose3VW() {} /// @return a deep copy of this factor virtual gtsam::NonlinearFactor::shared_ptr clone() const { return boost::static_pointer_cast( gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /// factor error function gtsam::Vector evaluateError( const gtsam::Pose3& pose1, const gtsam::Vector3& vel1, const gtsam::Vector3& omega1, const gtsam::Pose3& pose2, const gtsam::Vector3& vel2, const gtsam::Vector3& omega2, boost::optional H1 = boost::none, boost::optional H2 = boost::none, boost::optional H3 = boost::none, boost::optional H4 = boost::none, boost::optional H5 = boost::none, boost::optional H6 = boost::none) const { using namespace gtsam; Matrix6 Hinv, Hcomp1, Hcomp2, Hlogmap; Vector6 r; if (H1 || H4) r = Pose3::Logmap(pose1.inverse(Hinv).compose(pose2, Hcomp1, Hcomp2), Hlogmap); else r = Pose3::Logmap(pose1.inverse().compose(pose2)); const Matrix6 Jinv = rightJacobianPose3inv(r); // convert body frame velocity to body center Matrix63 H1v, H1w, H2v, H2w; Matrix6 H1p, H2p; Matrix_12_6 Hv1, Hv2; Vector6 v1, v2; if (H2 || H3 || H5 || H6) { v1 = convertVWtoVb(vel1, omega1, pose1, H1v, H1w, H1p); v2 = convertVWtoVb(vel2, omega2, pose2, H2v, H2w, H2p); Hv1 = (Matrix_12_6() << -delta_t_ * Matrix6::Identity(), -Matrix6::Identity()).finished(); Hv2 = (Matrix_12_6() << Matrix6::Zero(), Jinv).finished(); } else { v1 = convertVWtoVb(vel1, omega1, pose1); v2 = convertVWtoVb(vel2, omega2, pose2); } // jacobians if (H1) { const Matrix6 J_Ti = Hlogmap * Hcomp1 * Hinv; const Matrix6 Jdiff_Ti = jacobianMethodNumercialDiff(rightJacobianPose3inv, r, v2) * J_Ti; *H1 = (Matrix_12_6() << J_Ti-delta_t_*H1p, Jdiff_Ti-H1p).finished(); } if (H2) *H2 = Hv1 * H1v; if (H3) *H3 = Hv1 * H1w; if (H4) { const Matrix6 J_Ti1 = Hlogmap * Hcomp2; const Matrix6 Jdiff_Ti1 = jacobianMethodNumercialDiff(rightJacobianPose3inv, r, v2) * J_Ti1; *H4 = (Matrix_12_6() << J_Ti1, Jdiff_Ti1 + Jinv*H2p).finished(); } if (H5) *H5 = Hv2 * H2v; if (H6) *H6 = Hv2 * H2w; return (Vector(12) << (r - v1 * delta_t_), Jinv * v2 - v1).finished(); } /** number of variables attached to this factor */ size_t size() const { return 6; } /** equals specialized to this factor */ virtual bool equals(const gtsam::NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); return e != NULL && Base::equals(*e, tol) && fabs(this->delta_t_ - e->delta_t_) < tol; } /** print contents */ void print(const std::string& s="", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const { std::cout << s << "4-way Gaussian Process Factor Pose3 VW" << std::endl; Base::print("", keyFormatter); } private: /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); ar & BOOST_SERIALIZATION_NVP(delta_t_); } }; // GaussianProcessPriorPose3 } // namespace gpslam /// traits namespace gtsam { template<> struct traits : public Testable {}; } ================================================ FILE: gpslam/gp/GaussianProcessPriorRot3.h ================================================ /** * @file GaussianProcessPriorRot3.h * @brief Rot3 GP prior * @author Jing Dong **/ #pragma once #include #include #include #include #include #include #include #include namespace gpslam { /** * 4-way factor for Gaussian Process prior factor, SO(3) version */ class GaussianProcessPriorRot3: public gtsam::NoiseModelFactor4 { private: double delta_t_; typedef GaussianProcessPriorRot3 This; typedef gtsam::NoiseModelFactor4 Base; public: GaussianProcessPriorRot3() {} /* Default constructor only for serialization */ /// Constructor /// @param delta_t is the time between the two states GaussianProcessPriorRot3(gtsam::Key poseKey1, gtsam::Key velKey1, gtsam::Key poseKey2, gtsam::Key velKey2, double delta_t, const gtsam::SharedNoiseModel& Qc_model) : Base(gtsam::noiseModel::Gaussian::Covariance(calcQ<3>(getQc(Qc_model), delta_t)), poseKey1, velKey1, poseKey2, velKey2) { delta_t_ = delta_t; } virtual ~GaussianProcessPriorRot3() {} /// @return a deep copy of this factor virtual gtsam::NonlinearFactor::shared_ptr clone() const { return boost::static_pointer_cast( gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /// factor error function gtsam::Vector evaluateError(const gtsam::Rot3& pose1, const gtsam::Vector3& vel1, const gtsam::Rot3& pose2, const gtsam::Vector3& vel2, boost::optional H1 = boost::none, boost::optional H2 = boost::none, boost::optional H3 = boost::none, boost::optional H4 = boost::none) const { using namespace gtsam; Matrix3 Hinv, Hcomp1, Hcomp2, Hlogmap; Vector3 r; if (H1 || H2 || H3 || H4) r = Rot3::Logmap(pose1.inverse(Hinv).compose(pose2, Hcomp1, Hcomp2), Hlogmap); else r = Rot3::Logmap(pose1.inverse().compose(pose2)); // jacobians if (H1) *H1 = (Matrix63() << Hlogmap * Hcomp1 * Hinv, Matrix3::Zero()).finished(); if (H2) *H2 = (Matrix63() << -delta_t_ * Matrix3::Identity(), -Matrix3::Identity()).finished(); if (H3) *H3 = (Matrix63() << Hlogmap * Hcomp2, Matrix3::Zero()).finished(); if (H4) *H4 = (Matrix63() << Matrix3::Zero(), Matrix3::Identity()).finished(); return (Vector(6) << (r - vel1 * delta_t_), (vel2 - vel1)).finished(); } /** number of variables attached to this factor */ size_t size() const { return 4; } /** equals specialized to this factor */ virtual bool equals(const gtsam::NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); return e != NULL && Base::equals(*e, tol) && fabs(this->delta_t_ - e->delta_t_) < tol; } /** print contents */ void print(const std::string& s="", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const { std::cout << s << "4-way Gaussian Process Factor Rot3" << std::endl; Base::print("", keyFormatter); } private: /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); ar & BOOST_SERIALIZATION_NVP(delta_t_); } }; // GaussianProcessPriorRot3 } // namespace gpslam /// traits namespace gtsam { template<> struct traits : public Testable {}; } ================================================ FILE: gpslam/gp/Pose3utils.cpp ================================================ /** * @file Pose3utils.cpp * @author Jing Dong **/ #include #include using namespace gtsam; namespace gpslam { /* ************************************************************************** */ // see Barfoot14tro eq. (25) Vector6 getBodyCentricVb(const Pose3& pose1, const Pose3& pose2, double delta_t) { return Pose3::Logmap(pose1.inverse().compose(pose2)) / delta_t; } /* ************************************************************************** */ Vector6 getBodyCentricVs(const Pose3& pose1, const Pose3& pose2, double delta_t) { return Pose3::Logmap(pose2.compose(pose1.inverse())) / delta_t; } /* ************************************************************************** */ void convertVbtoVW(const Vector6& v6, const Pose3& pose, Vector3& v, Vector3& w, OptionalJacobian<3, 6> Hv, OptionalJacobian<3, 6> Hw) { Matrix3 Hrv; if (Hv) { v = pose.rotation().rotate(v6.tail<3>(), boost::none, Hrv); *Hv = (Matrix36() << Matrix3::Zero(), Hrv).finished(); } else { v = pose.rotation().rotate(v6.tail<3>()); } if (Hw) { w = pose.rotation().rotate(v6.head<3>(), boost::none, Hrv); *Hw = (Matrix36() << Hrv, Matrix3::Zero()).finished(); } else { w = pose.rotation().rotate(v6.head<3>()); } } /* ************************************************************************** */ Vector6 convertVWtoVb(const Vector3& v, const Vector3& w, const Pose3& pose, OptionalJacobian<6, 3> Hv, OptionalJacobian<6, 3> Hw, OptionalJacobian<6, 6> Hpose) { Vector6 v6; if (Hv || Hw || Hpose) { Matrix3 Hrv, Hrw, Hpv, Hpw; v6 = (Vector6() << pose.rotation().unrotate(w, Hpw, Hrw), pose.rotation().unrotate(v, Hpv, Hrv)).finished(); if (Hv) *Hv = (Matrix63() << Matrix3::Zero(), Hrv).finished(); if (Hw) *Hw = (Matrix63() << Hrw, Matrix3::Zero()).finished(); if (Hpose) *Hpose = (Matrix6() << Hpw, Matrix3::Zero(), Hpv, Matrix3::Zero()).finished(); } else { v6 = (Vector6() << pose.rotation().unrotate(w), pose.rotation().unrotate(v)).finished(); } return v6; } /* ************************************************************************** */ // see Barfoot14tro eq. (102) Matrix3 leftJacobianPose3Q(const Vector6& xi) { const Vector3 omega = xi.head(3), rho = xi.tail(3); const double theta = omega.norm(); // rotation angle const Matrix3 X = skewSymmetric(omega), Y = skewSymmetric(rho); const Matrix3 XY = X*Y, YX = Y*X, XYX = X * YX; if (fabs(theta) > 1e-5) { const double sin_theta = sin(theta), cos_theta = cos(theta); const double theta2 = theta * theta, theta3 = theta2 * theta, theta4 = theta3 * theta, theta5 = theta4 * theta; return 0.5*Y + (theta - sin_theta)/theta3 * (XY + YX + XYX) - (1.0 - 0.5*theta2 - cos_theta)/theta4 * (X*XY + YX*X - 3.0*XYX) - 0.5*((1.0 - 0.5*theta2 - cos_theta)/theta4 - 3.0*(theta - sin_theta - theta3/6.0)/theta5) * (XYX*X + X*XYX); } else { return 0.5*Y + 1.0/6.0*(XY + YX + XYX) - 1.0/24.0*(X*XY + YX*X - 3.0*XYX) -0.5*(1.0/24.0 + 3.0/120.0) * (XYX*X + X*XYX); } } /* ************************************************************************** */ Matrix3 rightJacobianPose3Q(const Vector6& xi) { const Vector3 omega = xi.head(3), rho = xi.tail(3); const double theta = omega.norm(); // rotation angle const Matrix3 X = skewSymmetric(omega), Y = skewSymmetric(rho); const Matrix3 XY = X*Y, YX = Y*X, XYX = X * YX; if (fabs(theta) > 1e-5) { const double sin_theta = sin(theta), cos_theta = cos(theta); const double theta2 = theta * theta, theta3 = theta2 * theta, theta4 = theta3 * theta, theta5 = theta4 * theta; return -0.5*Y + (theta - sin_theta)/theta3 * (XY + YX - XYX) + (1.0 - 0.5*theta2 - cos_theta)/theta4 * (X*XY + YX*X - 3.0*XYX) - 0.5*((1.0 - 0.5*theta2 - cos_theta)/theta4 - 3.0*(theta - sin_theta - theta3/6.0)/theta5) * (XYX*X + X*XYX); } else { return -0.5*Y + 1.0/6.0*(XY + YX - XYX) + 1.0/24.0*(X*XY + YX*X - 3.0*XYX) -0.5*(1.0/24.0 + 3.0/120.0) * (XYX*X + X*XYX); } } /* ************************************************************************** */ // see Barfoot14tro eq. (100), note that in GTSAM rotation first in pose logmap Matrix6 leftJacobianPose3(const Vector6& xi) { const Vector3 omega = xi.head(3); const Matrix3 Q = leftJacobianPose3Q(xi); const Matrix3 J = leftJacobianRot3(omega); return (Matrix6() << J, Matrix::Zero(3,3), Q, J).finished(); } /* ************************************************************************** */ // see Barfoot14tro eq. (103) Matrix6 leftJacobianPose3inv(const Vector6& xi) { const Vector3 omega = xi.head(3); const Matrix3 Q = leftJacobianPose3Q(xi); const Matrix3 Jinv = leftJacobianRot3inv(omega); return (Matrix6() << Jinv, Matrix::Zero(3,3), -Jinv*Q*Jinv, Jinv).finished(); } /* ************************************************************************** */ // see Barfoot14tro eq. (98) Matrix3 leftJacobianRot3(const Vector3& omega) { double theta2 = omega.dot(omega); if (theta2 <= std::numeric_limits::epsilon()) return Matrix::Identity(3,3); const double theta = std::sqrt(theta2); // rotation angle const Vector3 dir = omega / theta; // direction const double sin_theta = sin(theta); const Matrix3 A = skewSymmetric(omega) / theta; return sin_theta / theta * Matrix::Identity(3,3) + (1 - sin_theta / theta) * (dir * dir.transpose()) + (1 - cos(theta))/(theta) * A; } /* ************************************************************************** */ // see Barfoot14tro eq. (99) Matrix3 leftJacobianRot3inv(const Vector3& omega) { double theta2 = omega.dot(omega); if (theta2 <= std::numeric_limits::epsilon()) return Matrix::Identity(3,3); const double theta = std::sqrt(theta2); // rotation angle const Vector3 dir = omega / theta; // direction const double theta_2 = theta/2.0; const double cot_theta_2 = 1.0 / tan(theta_2); const Matrix3 A = skewSymmetric(omega) / theta; return theta_2*cot_theta_2 * Matrix::Identity(3,3) + (1 - theta_2*cot_theta_2) * (dir * dir.transpose()) - theta_2 * A; } /* ************************************************************************** */ Matrix6 jacobianMethodNumercialDiff(boost::function func, const Vector6& xi, const Vector6& x, double dxi) { Matrix6 Diff = Matrix6(); for (size_t i = 0; i < 6; i++) { Vector6 xi_dxip = xi, xi_dxin = xi; xi_dxip(i) += dxi; Matrix6 Jdiffp = func(xi_dxip); xi_dxin(i) -= dxi; Matrix6 Jdiffn = func(xi_dxin); Diff.block<6,1>(0,i) = (Jdiffp - Jdiffn) / (2.0 * dxi) * x; } return Diff; } /* ************************************************************************** */ Matrix6 rightJacobianPose3(const Vector6& xi) { const Vector3 w = xi.head<3>(); const Matrix3 Jw = rightJacobianRot3(w); const Matrix3 Q = rightJacobianPose3Q(xi); Matrix6 J; J << Jw, Matrix::Zero(3,3), Q, Jw; return J; } /* ************************************************************************** */ Matrix6 rightJacobianPose3inv(const Vector6& xi) { const Vector3 w = xi.head<3>(); const Matrix3 Jw = rightJacobianRot3inv(w); const Matrix3 Q = rightJacobianPose3Q(xi); const Matrix3 Q2 = -Jw*Q*Jw; Matrix6 J; J << Jw, Matrix::Zero(3,3), Q2, Jw; return J; } /* ************************************************************************** */ Matrix3 rightJacobianRot3(const Vector3& omega) { using std::cos; using std::sin; double theta2 = omega.dot(omega); if (theta2 <= std::numeric_limits::epsilon()) return Matrix::Identity(3,3); double theta = std::sqrt(theta2); // rotation angle const Matrix3 Y = skewSymmetric(omega) / theta; return Matrix::Identity(3,3) - ((1 - cos(theta)) / (theta)) * Y + (1 - sin(theta) / theta) * Y * Y; // right Jacobian } /* ************************************************************************** */ Matrix3 rightJacobianRot3inv(const Vector3& omega) { using std::cos; using std::sin; double theta2 = omega.dot(omega); if (theta2 <= std::numeric_limits::epsilon()) return Matrix::Identity(3,3); double theta = std::sqrt(theta2); // rotation angle const Matrix3 X = skewSymmetric(omega); // element of Lie algebra so(3): X = omega^ return Matrix::Identity(3,3) + 0.5 * X + (1 / (theta * theta) - (1 + cos(theta)) / (2 * theta * sin(theta))) * X*X; } } ================================================ FILE: gpslam/gp/Pose3utils.h ================================================ /** * @file Pose3utils.h * @brief Pose3 GP utils, mainly jacobians of expmap/logmap * @author Xinyan Yan, Jing Dong **/ #pragma once #include #include #include #include namespace gpslam { // fixed size matrix for Dim-6 operation typedef Eigen::Matrix Vector_12; typedef Eigen::Matrix Matrix_12; typedef Eigen::Matrix Matrix_6_12; typedef Eigen::Matrix Matrix_12_6; typedef Eigen::Matrix Matrix_3_12; typedef Eigen::Matrix Matrix_12_3; /// get body-centric/body-frame velocity from two poses and delta_t gtsam::Vector6 getBodyCentricVs(const gtsam::Pose3& pose1, const gtsam::Pose3& pose2, double delta_t); gtsam::Vector6 getBodyCentricVb(const gtsam::Pose3& pose1, const gtsam::Pose3& pose2, double delta_t); /// convert 6d body-frame velocity into 3+3 world-frame line and angular velocity /// with optional jacobians void convertVbtoVW(const gtsam::Vector6& v6, const gtsam::Pose3& pose, gtsam::Vector3& v, gtsam::Vector3& w, gtsam::OptionalJacobian<3, 6> Hv = boost::none, gtsam::OptionalJacobian<3, 6> Hw = boost::none); gtsam::Vector6 convertVWtoVb(const gtsam::Vector3& v, const gtsam::Vector3& w, const gtsam::Pose3& pose, gtsam::OptionalJacobian<6, 3> Hv = boost::none, gtsam::OptionalJacobian<6, 3> Hw = boost::none, gtsam::OptionalJacobian<6, 6> Hpose = boost::none); /// left Jacobian for Pose3 Expmap gtsam::Matrix6 leftJacobianPose3(const gtsam::Vector6& xi); gtsam::Matrix6 leftJacobianPose3inv(const gtsam::Vector6& xi); gtsam::Matrix3 leftJacobianPose3Q(const gtsam::Vector6& xi); /// right Jacobian for Pose3: jacobian of expmap/logmap gtsam::Matrix6 rightJacobianPose3(const gtsam::Vector6& xi); gtsam::Matrix6 rightJacobianPose3inv(const gtsam::Vector6& xi); gtsam::Matrix3 rightJacobianPose3Q(const gtsam::Vector6& xi); /// numerical diff of jacobian matrix methods /// output d(A(xi)*x)/dxi jacobian matrix gtsam::Matrix6 jacobianMethodNumercialDiff(boost::function func, const gtsam::Vector6& xi, const gtsam::Vector6& x, double dxi = 1e-6); /// left Jacobian for Rot3 Expmap gtsam::Matrix3 leftJacobianRot3(const gtsam::Vector3& omega); gtsam::Matrix3 leftJacobianRot3inv(const gtsam::Vector3& omega); /// right Jacobian for Rot3: jacobian of expmap/logmap gtsam::Matrix3 rightJacobianRot3(const gtsam::Vector3& omega); gtsam::Matrix3 rightJacobianRot3inv(const gtsam::Vector3& omega); } // namespace gtsam ================================================ FILE: gpslam/gp/tests/testGaussianProcessInterpolatorLinear.cpp ================================================ /** * @file testGaussianProcessInterpolatorLinear.cpp * @author Jing Dong **/ #include #include #include #include #include #include using namespace std; using namespace gtsam; using namespace gpslam; // only test the 3 dim linear case (for Pose2 approximation) typedef GaussianProcessInterpolatorLinear<3> GPBase3; /* ************************************************************************** */ TEST(GaussianProcessInterpolatorLinear, equals) { Matrix3 Qc = 0.01 * Matrix::Identity(3,3); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); double dt = 0.1, tau = 0.03; GPBase3 base1(Qc_model, dt, tau), base2(Qc_model, dt, tau); EXPECT(assert_equal(base1, base2, 1e-9)); Matrix3 Qc2 = 0.02 * Matrix::Identity(3,3); noiseModel::Gaussian::shared_ptr Qc2_model = noiseModel::Gaussian::Covariance(Qc2); GPBase3 base3(Qc2_model, dt, tau); EXPECT(!assert_equal(base1, base3, 1e-9)); dt = 0.2, tau = 0.03; GPBase3 base4(Qc_model, dt, tau); EXPECT(!assert_equal(base1, base4, 1e-9)); dt = 0.1, tau = 0.06; GPBase3 base5(Qc_model, dt, tau); EXPECT(!assert_equal(base1, base5, 1e-9)); } /* ************************************************************************** */ TEST(GaussianProcessInterpolatorLinear, interpolatePose) { Vector3 p1, p2, expect, actual; Vector3 v1, v2; Matrix actualH1, actualH2, actualH3, actualH4; Matrix expectH1, expectH2, expectH3, expectH4; Matrix3 Qc = 0.01 * Matrix::Identity(3,3); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); double dt = 0.1, tau = 0.03; GPBase3 base(Qc_model, dt, tau); // test at origin p1 = (Vector3() << 0, 0, 0).finished(); p2 = (Vector3() << 0, 0, 0).finished(); v1 = (Vector3() << 0, 0, 0).finished(); v2 = (Vector3() << 0, 0, 0).finished(); actual = base.interpolatePose(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = (Vector3() << 0, 0, 0).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&GPBase3::interpolatePose, base, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GPBase3::interpolatePose, base, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GPBase3::interpolatePose, base, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GPBase3::interpolatePose, base, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); // test forward velocity p1 = (Vector3() << 0, 0, 0).finished(); p2 = (Vector3() << 1, 0, 0).finished(); v1 = (Vector3() << 10, 0, 0).finished(); v2 = (Vector3() << 10, 0, 0).finished(); actual = base.interpolatePose(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = (Vector3() << 0.3, 0, 0).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&GPBase3::interpolatePose, base, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GPBase3::interpolatePose, base, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GPBase3::interpolatePose, base, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GPBase3::interpolatePose, base, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); // test rotate p1 = (Vector3() << 0, 0, 0).finished(); p2 = (Vector3() << 0, 0, 0.3).finished(); v1 = (Vector3() << 0, 0, 3).finished(); v2 = (Vector3() << 0, 0, 3).finished(); actual = base.interpolatePose(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = (Vector3() << 0, 0, 0.09).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&GPBase3::interpolatePose, base, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GPBase3::interpolatePose, base, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GPBase3::interpolatePose, base, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GPBase3::interpolatePose, base, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); // some random stuff just for testing jacobian (error is not zero) p1 = (Vector3() << 2, -5, 7).finished(); p2 = (Vector3() << -8, 4, -8).finished(); v1 = (Vector3() << -1, 2, -9).finished(); v2 = (Vector3() << 3, -4, 7).finished(); actual = base.interpolatePose(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expectH1 = numericalDerivative11(boost::function( boost::bind(&GPBase3::interpolatePose, base, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GPBase3::interpolatePose, base, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GPBase3::interpolatePose, base, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GPBase3::interpolatePose, base, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); } /* ************************************************************************** */ /* main function */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } ================================================ FILE: gpslam/gp/tests/testGaussianProcessInterpolatorPose2.cpp ================================================ /** * @file testGaussianProcessInterpolatorPose2.cpp * @author Jing Dong **/ #include #include #include #include #include #include using namespace std; using namespace gtsam; using namespace gpslam; /* ************************************************************************** */ TEST(GaussianProcessInterpolatorPose2, interpolatePose) { Pose2 p1, p2, expect, actual; Vector3 v1, v2; Matrix actualH1, actualH2, actualH3, actualH4; Matrix expectH1, expectH2, expectH3, expectH4; Matrix3 Qc = 0.01 * Matrix::Identity(3,3); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); double dt = 0.1, tau = 0.03; GaussianProcessInterpolatorPose2 base(Qc_model, dt, tau); // test at origin p1 = Pose2(0, 0, 0); p2 = Pose2(0, 0, 0); v1 = (Vector3() << 0, 0, 0).finished(); v2 = (Vector3() << 0, 0, 0).finished(); actual = base.interpolatePose(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = Pose2(0, 0, 0); expectH1 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose2::interpolatePose, base, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose2::interpolatePose, base, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose2::interpolatePose, base, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose2::interpolatePose, base, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-8)); EXPECT(assert_equal(expectH2, actualH2, 1e-8)); EXPECT(assert_equal(expectH3, actualH3, 1e-8)); EXPECT(assert_equal(expectH4, actualH4, 1e-8)); // test forward p1 = Pose2(0, 0, 0); p2 = Pose2(0.1, 0, 0); v1 = (Vector3() << 1, 0, 0).finished(); v2 = (Vector3() << 1, 0, 0).finished(); actual = base.interpolatePose(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = Pose2(0.03, 0, 0); expectH1 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose2::interpolatePose, base, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-4); expectH2 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose2::interpolatePose, base, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-4); expectH3 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose2::interpolatePose, base, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-4); expectH4 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose2::interpolatePose, base, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-4); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); // test rotate p1 = Pose2(0, 0, 0); p2 = Pose2(0, 0, 0.1); v1 = (Vector3() << 0, 0, 1).finished(); v2 = (Vector3() << 0, 0, 1).finished(); actual = base.interpolatePose(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = Pose2(0, 0, 0.03); expectH1 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose2::interpolatePose, base, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose2::interpolatePose, base, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose2::interpolatePose, base, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose2::interpolatePose, base, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-8)); EXPECT(assert_equal(expectH2, actualH2, 1e-8)); EXPECT(assert_equal(expectH3, actualH3, 1e-8)); EXPECT(assert_equal(expectH4, actualH4, 1e-8)); // some random stuff, just test jacobians p1 = Pose2(3, -8, 2); p2 = Pose2(-9, 3, 4); v1 = (Vector3() << 0.5, 0.9, 0.7).finished(); v2 = (Vector3() << 0.6, -0.2, 0.8).finished(); actual = base.interpolatePose(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expectH1 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose2::interpolatePose, base, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose2::interpolatePose, base, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose2::interpolatePose, base, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose2::interpolatePose, base, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expectH1, actualH1, 1e-8)); EXPECT(assert_equal(expectH2, actualH2, 1e-8)); EXPECT(assert_equal(expectH3, actualH3, 1e-8)); EXPECT(assert_equal(expectH4, actualH4, 1e-8)); } /* ************************************************************************** */ /* main function */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } ================================================ FILE: gpslam/gp/tests/testGaussianProcessInterpolatorPose3.cpp ================================================ /** * @file testGaussianProcessInterpolatorPose3.cpp * @author Jing Dong **/ #include #include #include #include #include #include using namespace std; using namespace gtsam; using namespace gpslam; /* ************************************************************************** */ TEST(GaussianProcessInterpolatorPose3, interpolatePose) { Pose3 p1, p2, expect, actual; Vector6 v1, v2; Matrix actualH1, actualH2, actualH3, actualH4; Matrix expectH1, expectH2, expectH3, expectH4; Matrix6 Qc = 0.01 * Matrix::Identity(6,6); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); double dt = 0.1, tau = 0.03; GaussianProcessInterpolatorPose3 base(Qc_model, dt, tau); // test at origin p1 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)); p2 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)); v1 = (Vector6() << 0, 0, 0, 0, 0, 0).finished(); v2 = (Vector6() << 0, 0, 0, 0, 0, 0).finished(); actual = base.interpolatePose(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = Pose3(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)); expectH1 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose3::interpolatePose, base, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose3::interpolatePose, base, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose3::interpolatePose, base, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose3::interpolatePose, base, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-8)); EXPECT(assert_equal(expectH2, actualH2, 1e-8)); EXPECT(assert_equal(expectH3, actualH3, 1e-8)); EXPECT(assert_equal(expectH4, actualH4, 1e-8)); // test forward p1 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)); p2 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0.1, 0, 0)); v1 = (Vector6() << 0, 0, 0, 1, 0, 0).finished(); v2 = (Vector6() << 0, 0, 0, 1, 0, 0).finished(); actual = base.interpolatePose(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = Pose3(Rot3::Ypr(0, 0, 0), Point3(0.03, 0, 0)); expectH1 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose3::interpolatePose, base, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-4); expectH2 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose3::interpolatePose, base, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-4); expectH3 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose3::interpolatePose, base, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-4); expectH4 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose3::interpolatePose, base, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-4); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); // test rotate p1 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)); p2 = Pose3(Rot3::Ypr(0.1, 0, 0), Point3(0, 0, 0)); v1 = (Vector6() << 0, 0, 1, 0, 0, 0).finished(); v2 = (Vector6() << 0, 0, 1, 0, 0, 0).finished(); actual = base.interpolatePose(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = Pose3(Rot3::Ypr(0.03, 0, 0), Point3(0.0, 0, 0)); expectH1 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose3::interpolatePose, base, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose3::interpolatePose, base, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose3::interpolatePose, base, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose3::interpolatePose, base, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-8)); EXPECT(assert_equal(expectH2, actualH2, 1e-8)); EXPECT(assert_equal(expectH3, actualH3, 1e-8)); EXPECT(assert_equal(expectH4, actualH4, 1e-8)); // some random stuff, just test jacobians p1 = Pose3(Rot3::Ypr(0.4, -0.8, 0.2), Point3(3, -8, 2)); p2 = Pose3(Rot3::Ypr(0.1, 0.3, -0.5), Point3(-9, 3, 4)); v1 = (Vector6() << 0.1, -0.2, -1.4, 0.5, 0.9, 0.7).finished(); v2 = (Vector6() << 0.6, 0.3, -0.9, 0.4, -0.2, 0.8).finished(); actual = base.interpolatePose(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expectH1 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose3::interpolatePose, base, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose3::interpolatePose, base, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose3::interpolatePose, base, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorPose3::interpolatePose, base, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expectH1, actualH1, 1e-8)); EXPECT(assert_equal(expectH2, actualH2, 1e-8)); EXPECT(assert_equal(expectH3, actualH3, 1e-8)); EXPECT(assert_equal(expectH4, actualH4, 1e-8)); } /* ************************************************************************** */ /* main function */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } ================================================ FILE: gpslam/gp/tests/testGaussianProcessInterpolatorPose3VW.cpp ================================================ /** * @file testGaussianProcessInterpolatorPose3VW.cpp * @author Jing Dong **/ #include #include #include #include #include #include using namespace std; using namespace gtsam; using namespace gpslam; Pose3 interWrapper(const GaussianProcessInterpolatorPose3VW& interpolater, const Pose3& pose1, const Vector3& v1, const Vector3& omega1, const Pose3& pose2, const Vector3& v2, const Vector3& omega2) { return interpolater.interpolatePose(pose1, v1, omega1, pose2, v2, omega2); } /* ************************************************************************** */ TEST(GaussianProcessInterpolatorPose3VW, interpolatePose) { Pose3 p1, p2, expect, actual; Vector3 v1, v2, w1, w2; Matrix actualH1, actualH2, actualH3, actualH4, actualH5, actualH6; Matrix expectH1, expectH2, expectH3, expectH4, expectH5, expectH6; Matrix6 Qc = 0.01 * Matrix::Identity(6,6); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); double dt = 0.1, tau = 0.03; GaussianProcessInterpolatorPose3VW base(Qc_model, dt, tau); // test at origin p1 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)); p2 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)); v1 = Vector3(0, 0, 0); w1 = Vector3(0, 0, 0); v2 = Vector3(0, 0, 0); w2 = Vector3(0, 0, 0); actual = base.interpolatePose(p1, v1, w1, p2, v2, w2, actualH1, actualH2, actualH3, actualH4, actualH5, actualH6); expect = Pose3(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)); expectH1 = numericalDerivative11(boost::function( boost::bind(interWrapper, base, _1, v1, w1, p2, v2, w2)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(interWrapper, base, p1, _1, w1, p2, v2, w2)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(interWrapper, base, p1, v1, _1, p2, v2, w2)), w1, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(interWrapper, base, p1, v1, w1, _1, v2, w2)), p2, 1e-6); expectH5 = numericalDerivative11(boost::function( boost::bind(interWrapper, base, p1, v1, w1, p2, _1, w2)), v2, 1e-6); expectH6 = numericalDerivative11(boost::function( boost::bind(interWrapper, base, p1, v1, w1, p2, v2, _1)), w2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-8)); EXPECT(assert_equal(expectH2, actualH2, 1e-8)); EXPECT(assert_equal(expectH3, actualH3, 1e-8)); EXPECT(assert_equal(expectH4, actualH4, 1e-8)); EXPECT(assert_equal(expectH5, actualH5, 1e-8)); EXPECT(assert_equal(expectH6, actualH6, 1e-8)); // test forward p1 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)); p2 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0.1, 0.2, 0)); v1 = Vector3(1, 2, 0); w1 = Vector3(0, 0, 0); v2 = Vector3(1, 2, 0); w2 = Vector3(0, 0, 0); actual = base.interpolatePose(p1, v1, w1, p2, v2, w2, actualH1, actualH2, actualH3, actualH4, actualH5, actualH6); expect = Pose3(Rot3::Ypr(0, 0, 0), Point3(0.03, 0.06, 0)); expectH1 = numericalDerivative11(boost::function( boost::bind(interWrapper, base, _1, v1, w1, p2, v2, w2)), p1, 1e-4); expectH2 = numericalDerivative11(boost::function( boost::bind(interWrapper, base, p1, _1, w1, p2, v2, w2)), v1, 1e-4); expectH3 = numericalDerivative11(boost::function( boost::bind(interWrapper, base, p1, v1, _1, p2, v2, w2)), w1, 1e-4); expectH4 = numericalDerivative11(boost::function( boost::bind(interWrapper, base, p1, v1, w1, _1, v2, w2)), p2, 1e-4); expectH5 = numericalDerivative11(boost::function( boost::bind(interWrapper, base, p1, v1, w1, p2, _1, w2)), v2, 1e-4); expectH6 = numericalDerivative11(boost::function( boost::bind(interWrapper, base, p1, v1, w1, p2, v2, _1)), w2, 1e-4); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); EXPECT(assert_equal(expectH6, actualH6, 1e-6)); // test rotate p1 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)); p2 = Pose3(Rot3::Ypr(0.1, 0, 0), Point3(0, 0, 0)); v1 = Vector3(0, 0, 0); w1 = Vector3(0, 0, 1); v2 = Vector3(0, 0, 0); w2 = Vector3(0, 0, 1); actual = base.interpolatePose(p1, v1, w1, p2, v2, w2, actualH1, actualH2, actualH3, actualH4, actualH5, actualH6); expect = Pose3(Rot3::Ypr(0.03, 0, 0), Point3(0.0, 0, 0)); expectH1 = numericalDerivative11(boost::function( boost::bind(interWrapper, base, _1, v1, w1, p2, v2, w2)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(interWrapper, base, p1, _1, w1, p2, v2, w2)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(interWrapper, base, p1, v1, _1, p2, v2, w2)), w1, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(interWrapper, base, p1, v1, w1, _1, v2, w2)), p2, 1e-6); expectH5 = numericalDerivative11(boost::function( boost::bind(interWrapper, base, p1, v1, w1, p2, _1, w2)), v2, 1e-6); expectH6 = numericalDerivative11(boost::function( boost::bind(interWrapper, base, p1, v1, w1, p2, v2, _1)), w2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-8)); EXPECT(assert_equal(expectH2, actualH2, 1e-8)); EXPECT(assert_equal(expectH3, actualH3, 1e-8)); EXPECT(assert_equal(expectH4, actualH4, 1e-8)); EXPECT(assert_equal(expectH5, actualH5, 1e-8)); EXPECT(assert_equal(expectH6, actualH6, 1e-8)); // some random stuff, just test jacobians p1 = Pose3(Rot3::Ypr(0.4, -0.8, 0.2), Point3(3, -8, 2)); p2 = Pose3(Rot3::Ypr(0.1, 0.3, -0.5), Point3(-9, 3, 4)); v1 = Vector3(0.1, -0.2, -1.4); w1 = Vector3(0.5, 0.9, 0.7); v1 = Vector3(0.6, 0.3, -0.9); w1 = Vector3(0.4, -0.2, 0.8); actual = base.interpolatePose(p1, v1, w1, p2, v2, w2, actualH1, actualH2, actualH3, actualH4, actualH5, actualH6); expectH1 = numericalDerivative11(boost::function( boost::bind(interWrapper, base, _1, v1, w1, p2, v2, w2)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(interWrapper, base, p1, _1, w1, p2, v2, w2)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(interWrapper, base, p1, v1, _1, p2, v2, w2)), w1, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(interWrapper, base, p1, v1, w1, _1, v2, w2)), p2, 1e-6); expectH5 = numericalDerivative11(boost::function( boost::bind(interWrapper, base, p1, v1, w1, p2, _1, w2)), v2, 1e-6); expectH6 = numericalDerivative11(boost::function( boost::bind(interWrapper, base, p1, v1, w1, p2, v2, _1)), w2, 1e-6); EXPECT(assert_equal(expectH1, actualH1, 1e-8)); EXPECT(assert_equal(expectH2, actualH2, 1e-8)); EXPECT(assert_equal(expectH3, actualH3, 1e-8)); EXPECT(assert_equal(expectH4, actualH4, 1e-8)); EXPECT(assert_equal(expectH5, actualH5, 1e-8)); EXPECT(assert_equal(expectH6, actualH6, 1e-8)); } /* ************************************************************************** */ /* main function */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } ================================================ FILE: gpslam/gp/tests/testGaussianProcessInterpolatorRot3.cpp ================================================ /** * @file testGaussianProcessInterpolatorRot3.cpp * @author Jing Dong **/ #include #include #include #include #include #include using namespace std; using namespace gtsam; using namespace gpslam; /* ************************************************************************** */ TEST(GaussianProcessInterpolatorRot3, interpolatePose) { Rot3 p1, p2, expect, actual; Vector3 v1, v2; Matrix actualH1, actualH2, actualH3, actualH4; Matrix expectH1, expectH2, expectH3, expectH4; Matrix3 Qc = 0.01 * Matrix::Identity(3,3); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); double dt = 0.1, tau = 0.03; GaussianProcessInterpolatorRot3 base(Qc_model, dt, tau); // test at origin p1 = Rot3::Ypr(0, 0, 0); p2 = Rot3::Ypr(0, 0, 0); v1 = (Vector3() << 0, 0, 0).finished(); v2 = (Vector3() << 0, 0, 0).finished(); actual = base.interpolatePose(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = Rot3::Ypr(0, 0, 0); expectH1 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorRot3::interpolatePose, base, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorRot3::interpolatePose, base, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorRot3::interpolatePose, base, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorRot3::interpolatePose, base, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-8)); EXPECT(assert_equal(expectH2, actualH2, 1e-8)); EXPECT(assert_equal(expectH3, actualH3, 1e-8)); EXPECT(assert_equal(expectH4, actualH4, 1e-8)); // test rotate x p1 = Rot3::Ypr(0, 0, 0); p2 = Rot3::Ypr(0, 0, 0.1); v1 = (Vector3() << 1, 0, 0).finished(); v2 = (Vector3() << 1, 0, 0).finished(); actual = base.interpolatePose(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = Rot3::Ypr(0, 0, 0.03); expectH1 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorRot3::interpolatePose, base, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorRot3::interpolatePose, base, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorRot3::interpolatePose, base, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorRot3::interpolatePose, base, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); // test rotate z p1 = Rot3::Ypr(0, 0, 0); p2 = Rot3::Ypr(0.1, 0, 0); v1 = (Vector3() << 0, 0, 1).finished(); v2 = (Vector3() << 0, 0, 1).finished(); actual = base.interpolatePose(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = Rot3::Ypr(0.03, 0, 0); expectH1 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorRot3::interpolatePose, base, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorRot3::interpolatePose, base, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorRot3::interpolatePose, base, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorRot3::interpolatePose, base, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-8)); EXPECT(assert_equal(expectH2, actualH2, 1e-8)); EXPECT(assert_equal(expectH3, actualH3, 1e-8)); EXPECT(assert_equal(expectH4, actualH4, 1e-8)); // some random stuff, just test jacobians p1 = Rot3::Ypr(0.4, -0.8, 0.2); p2 = Rot3::Ypr(0.1, 0.3, -0.5); v1 = (Vector3() << 0.1, -0.2, -1.4).finished(); v2 = (Vector3() << 0.6, 0.3, -0.9).finished(); actual = base.interpolatePose(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expectH1 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorRot3::interpolatePose, base, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorRot3::interpolatePose, base, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorRot3::interpolatePose, base, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessInterpolatorRot3::interpolatePose, base, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expectH1, actualH1, 1e-8)); EXPECT(assert_equal(expectH2, actualH2, 1e-8)); EXPECT(assert_equal(expectH3, actualH3, 1e-8)); EXPECT(assert_equal(expectH4, actualH4, 1e-8)); } /* ************************************************************************** */ /* main function */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } ================================================ FILE: gpslam/gp/tests/testGaussianProcessPriorLinear.cpp ================================================ /** * @file testGaussianProcessPriorLinear.cpp * @author Jing Dong **/ #include #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace gtsam; using namespace gpslam; // only test the 3 dim linear case (for Pose2 approximation) typedef GaussianProcessPriorLinear<3> GPPrior3; /* ************************************************************************** */ TEST(GaussianProcessPriorLinear, Factor) { const double delta_t = 0.1; Matrix Qc = 0.01 * Matrix::Identity(3,3); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); Key key_pose1 = Symbol('x', 1), key_pose2 = Symbol('x', 2); Key key_vel1 = Symbol('v', 1), key_vel2 = Symbol('v', 2); GPPrior3 factor(key_pose1, key_vel1, key_pose2, key_vel2, delta_t, Qc_model); Vector3 p1, p2; Vector3 v1, v2; Matrix actualH1, actualH2, actualH3, actualH4; Matrix expectH1, expectH2, expectH3, expectH4; Vector actual, expect; // test at origin p1 = (Vector3() << 0, 0, 0).finished(); p2 = (Vector3() << 0, 0, 0).finished(); v1 = (Vector3() << 0, 0, 0).finished(); v2 = (Vector3() << 0, 0, 0).finished(); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = (Vector(6) << 0, 0, 0, 0, 0, 0).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&GPPrior3::evaluateError, factor, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GPPrior3::evaluateError, factor, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GPPrior3::evaluateError, factor, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GPPrior3::evaluateError, factor, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); // test const forward v1 = v2 = 1.0 p1 = (Vector3() << 0, 0, 0).finished(); p2 = (Vector3() << 0.1, 0, 0).finished(); v1 = (Vector3() << 1, 0, 0).finished(); v2 = (Vector3() << 1, 0, 0).finished(); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = (Vector(6) << 0, 0, 0, 0, 0, 0).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&GPPrior3::evaluateError, factor, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GPPrior3::evaluateError, factor, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GPPrior3::evaluateError, factor, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GPPrior3::evaluateError, factor, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); // test const rotation w = 1.0 p1 = (Vector3() << 0, 0, 0).finished(); p2 = (Vector3() << 0, 0, 0.1).finished(); v1 = (Vector3() << 0, 0, 1).finished(); v2 = (Vector3() << 0, 0, 1).finished(); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = (Vector(6) << 0, 0, 0, 0, 0, 0).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&GPPrior3::evaluateError, factor, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GPPrior3::evaluateError, factor, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GPPrior3::evaluateError, factor, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GPPrior3::evaluateError, factor, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); // some random stuff just for testing jacobian (error is not zero) p1 = (Vector3() << 2, -5, 7).finished(); p2 = (Vector3() << -8, 4, -8).finished(); v1 = (Vector3() << -1, 2, -9).finished(); v2 = (Vector3() << 3, -4, 7).finished(); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expectH1 = numericalDerivative11(boost::function( boost::bind(&GPPrior3::evaluateError, factor, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GPPrior3::evaluateError, factor, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GPPrior3::evaluateError, factor, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GPPrior3::evaluateError, factor, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); } /* ************************************************************************** */ TEST(GaussianProcessPriorLinear, Optimization) { /** * A simple graph: * * p1 p2 * | | * x1 x2 * \ / * gp * / \ * v1 v2 * * p1 and p2 are pose prior factor to fix the poses, gp is the GP factor * that get correct velocity of v1 and v2 */ noiseModel::Isotropic::shared_ptr model_prior = noiseModel::Isotropic::Sigma(3, 0.001); double delta_t = 0.1; Matrix Qc = 0.01 * Matrix::Identity(3,3); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); Vector3 p1 = (Vector3() << 1, 0, 0).finished(); Vector3 p2 = (Vector3() << 1.1, 0, 0).finished(); Vector3 v1 = (Vector3() << 1, 0, 0).finished(); Vector3 v2 = (Vector3() << 1, 0, 0).finished(); // noisy init values Vector3 p1init = (Vector3() << 1.1, 0.3, 0.5).finished(); Vector3 p2init = (Vector3() << 1.2, 0.4, -0.2).finished(); Vector3 v1init = (Vector3() << 1, 0.1, 0.2).finished(); Vector3 v2init = (Vector3() << 2.1, -1.2, 0.9).finished(); NonlinearFactorGraph graph; graph.add(PriorFactor(Symbol('x', 1), p1, model_prior)); graph.add(PriorFactor(Symbol('x', 2), p2, model_prior)); //graph.add(PriorFactor(Symbol('v', 1), v1, model_prior)); graph.add(GPPrior3(Symbol('x', 1), Symbol('v', 1), Symbol('x', 2), Symbol('v', 2), delta_t, Qc_model)); Values init_values; init_values.insert(Symbol('x', 1), p1init); init_values.insert(Symbol('v', 1), v1init); init_values.insert(Symbol('x', 2), p2init); init_values.insert(Symbol('v', 2), v2init); GaussNewtonParams parameters; GaussNewtonOptimizer optimizer(graph, init_values, parameters); optimizer.optimize(); Values values = optimizer.values(); EXPECT_DOUBLES_EQUAL(0, graph.error(values), 1e-6); EXPECT(assert_equal(p1, values.at(Symbol('x', 1)), 1e-6)); EXPECT(assert_equal(p2, values.at(Symbol('x', 2)), 1e-6)); EXPECT(assert_equal(v1, values.at(Symbol('v', 1)), 1e-6)); EXPECT(assert_equal(v2, values.at(Symbol('v', 2)), 1e-6)); } /* ************************************************************************** */ /* main function */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } ================================================ FILE: gpslam/gp/tests/testGaussianProcessPriorPose2.cpp ================================================ /** * @file testGaussianProcessPriorPose2.cpp * @author Jing Dong **/ #include #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace gtsam; using namespace gpslam; /* ************************************************************************** */ TEST(GaussianProcessPriorPose2, Factor) { const double delta_t = 0.1; Matrix Qc = 0.01 * Matrix::Identity(3,3); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); Key key_pose1 = Symbol('x', 1), key_pose2 = Symbol('x', 2); Key key_vel1 = Symbol('v', 1), key_vel2 = Symbol('v', 2); GaussianProcessPriorPose2 factor(key_pose1, key_vel1, key_pose2, key_vel2, delta_t, Qc_model); Pose2 p1, p2; Vector3 v1, v2; Matrix actualH1, actualH2, actualH3, actualH4; Matrix expectH1, expectH2, expectH3, expectH4; Vector actual, expect; // test at origin p1 = Pose2(0, 0, 0); p2 = Pose2(0, 0, 0); v1 = (Vector3() << 0, 0, 0).finished(); v2 = (Vector3() << 0, 0, 0).finished(); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = (Vector(6) << 0, 0, 0, 0, 0, 0).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose2::evaluateError, factor, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose2::evaluateError, factor, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose2::evaluateError, factor, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose2::evaluateError, factor, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); // test at const forward velocity v1 = v2 = 1.0; p1 = Pose2(0, 0, 0); p2 = Pose2(0.1, 0, 0); v1 = (Vector3() << 1, 0, 0).finished(); v2 = (Vector3() << 1, 0, 0).finished(); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = (Vector(6) << 0, 0, 0, 0, 0, 0).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose2::evaluateError, factor, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-4); expectH2 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose2::evaluateError, factor, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-4); expectH3 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose2::evaluateError, factor, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-4); expectH4 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose2::evaluateError, factor, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-4); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); // test at const rotation w1 = w2 = 1.0; p1 = Pose2(0, 0, 0); p2 = Pose2(0, 0, 0.1); v1 = (Vector3() << 0, 0, 1).finished(); v2 = (Vector3() << 0, 0, 1).finished(); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = (Vector(6) << 0, 0, 0, 0, 0, 0).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose2::evaluateError, factor, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose2::evaluateError, factor, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose2::evaluateError, factor, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose2::evaluateError, factor, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); // some random stuff just for testing jacobian (error is not zero) p1 = Pose2(-0.1, 1.2, 0.3); p2 = Pose2(2.4, -2.5, 3.7); v1 = (Vector3() << 5, 4, 9).finished(); v2 = (Vector3() << 0, 6, 4).finished(); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expectH1 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose2::evaluateError, factor, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose2::evaluateError, factor, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose2::evaluateError, factor, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose2::evaluateError, factor, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); } /* ************************************************************************** */ TEST(GaussianProcessPriorPose2, Optimization) { /** * A simple graph: * * p1 p2 * | | * x1 x2 * \ / * gp * / \ * v1 v2 * * p1 and p2 are pose prior factor to fix the poses, gp is the GP factor * that get correct velocity of v2 */ noiseModel::Isotropic::shared_ptr model_prior = noiseModel::Isotropic::Sigma(3, 0.001); double delta_t = 1; Matrix Qc = 0.01 * Matrix::Identity(3,3); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); Pose2 pose1(0,0,0), pose2(1,0,0); Vector3 v1 = (Vector3() << 1, 0, 0).finished(); Vector3 v2 = (Vector3() << 2.0, -0.5, 0.6).finished(); // rnd value NonlinearFactorGraph graph; graph.add(PriorFactor(Symbol('x', 1), pose1, model_prior)); graph.add(PriorFactor(Symbol('x', 2), pose2, model_prior)); //graph.add(PriorFactor(Symbol('v', 1), v1, model_prior)); graph.add(GaussianProcessPriorPose2(Symbol('x', 1), Symbol('v', 1), Symbol('x', 2), Symbol('v', 2), delta_t, Qc_model)); Values init_values; init_values.insert(Symbol('x', 1), pose1); init_values.insert(Symbol('v', 1), v1); init_values.insert(Symbol('x', 2), pose2); init_values.insert(Symbol('v', 2), v2); GaussNewtonParams parameters; GaussNewtonOptimizer optimizer(graph, init_values, parameters); optimizer.optimize(); Values values = optimizer.values(); EXPECT_DOUBLES_EQUAL(0, graph.error(values), 1e-6); EXPECT(assert_equal(pose1, values.at(Symbol('x', 1)), 1e-6)); EXPECT(assert_equal(pose2, values.at(Symbol('x', 2)), 1e-6)); EXPECT(assert_equal(v1, values.at(Symbol('v', 1)), 1e-6)); EXPECT(assert_equal(v1, values.at(Symbol('v', 2)), 1e-6)); } /* ************************************************************************** */ /* main function */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } ================================================ FILE: gpslam/gp/tests/testGaussianProcessPriorPose3.cpp ================================================ /** * @file testGaussianProcessPriorPose3.cpp * @author Jing Dong **/ #include #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace gtsam; using namespace gpslam; /* ************************************************************************** */ TEST(GaussianProcessPriorPose3Test, Factor) { const double delta_t = 0.1; Matrix Qc = 0.01 * Matrix::Identity(6,6); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); Key key_pose1 = Symbol('x', 1), key_pose2 = Symbol('x', 2); Key key_vel1 = Symbol('v', 1), key_vel2 = Symbol('v', 2); GaussianProcessPriorPose3 factor(key_pose1, key_vel1, key_pose2, key_vel2, delta_t, Qc_model); Pose3 p1, p2; Vector6 v1, v2; Matrix actualH1, actualH2, actualH3, actualH4; Matrix expectH1, expectH2, expectH3, expectH4; Vector actual, expect; // test at origin p1 = Pose3(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); p2 = Pose3(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); v1 = (Vector6() << 0, 0, 0, 0, 0, 0).finished(); v2 = (Vector6() << 0, 0, 0, 0, 0, 0).finished(); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = (Vector(12) << 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose3::evaluateError, factor, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose3::evaluateError, factor, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose3::evaluateError, factor, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose3::evaluateError, factor, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); // test at const forward velocity v1 = v2 = 1.0; p1 = Pose3(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); p2 = Pose3(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.1, 0.0, 0.0)); v1 = (Vector6() << 0, 0, 0, 1, 0, 0).finished(); v2 = (Vector6() << 0, 0, 0, 1, 0, 0).finished(); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = (Vector(12) << 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose3::evaluateError, factor, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose3::evaluateError, factor, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose3::evaluateError, factor, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose3::evaluateError, factor, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); // test at const rotation w1 = w2 = 1.0; p1 = Pose3(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); p2 = Pose3(Rot3::Ypr(0.1, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); v1 = (Vector6() << 0, 0, 1, 0, 0, 0).finished(); v2 = (Vector6() << 0, 0, 1, 0, 0, 0).finished(); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = (Vector(12) << 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose3::evaluateError, factor, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose3::evaluateError, factor, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose3::evaluateError, factor, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose3::evaluateError, factor, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); // some random stuff just for testing jacobian (error is not zero) p1 = Pose3(Rot3::Ypr(-0.1, 1.2, 0.3), Point3(-4.0, 2.0, 14.0)); p2 = Pose3(Rot3::Ypr(2.4, -2.5, 3.7), Point3(9.0, -8.0, -7.0)); v1 = (Vector6() << 2, 3, 1, 5, 4, 9).finished(); v2 = (Vector6() << 1, 3, 8, 0, 6, 4).finished(); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expectH1 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose3::evaluateError, factor, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose3::evaluateError, factor, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose3::evaluateError, factor, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorPose3::evaluateError, factor, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expectH1, actualH1, 1e-5)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-5)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); } /* ************************************************************************** */ TEST(GaussianProcessPriorPose3Test, Optimization) { /** * A simple graph: * * p1 p2 * | | * x1 x2 * \ / * gp * / \ * v1 v2 * * p1 and p2 are pose prior factor to fix the poses, gp is the GP factor * that get correct velocity of v2 */ noiseModel::Isotropic::shared_ptr model_prior = noiseModel::Isotropic::Sigma(6, 0.001); double delta_t = 1; Matrix Qc = 0.01 * Matrix::Identity(6,6); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); Pose3 pose1(Rot3(), Point3(0,0,0)), pose2(Rot3(), Point3(1,0,0)); Vector6 v1 = (Vector6() << 0, 0, 0, 1, 0, 0).finished(); Vector6 v2 = (Vector6() << 0.1, 0.2, -0.3, 2.0, -0.5, 0.6).finished(); // rnd value NonlinearFactorGraph graph; graph.add(PriorFactor(Symbol('x', 1), pose1, model_prior)); graph.add(PriorFactor(Symbol('x', 2), pose2, model_prior)); //graph.add(PriorFactor(Symbol('v', 1), v1, model_prior)); graph.add(GaussianProcessPriorPose3(Symbol('x', 1), Symbol('v', 1), Symbol('x', 2), Symbol('v', 2), delta_t, Qc_model)); Values init_values; init_values.insert(Symbol('x', 1), pose1); init_values.insert(Symbol('v', 1), v1); init_values.insert(Symbol('x', 2), pose2); init_values.insert(Symbol('v', 2), v2); GaussNewtonParams parameters; GaussNewtonOptimizer optimizer(graph, init_values, parameters); optimizer.optimize(); Values values = optimizer.values(); EXPECT_DOUBLES_EQUAL(0, graph.error(values), 1e-6); EXPECT(assert_equal(pose1, values.at(Symbol('x', 1)), 1e-6)); EXPECT(assert_equal(pose2, values.at(Symbol('x', 2)), 1e-6)); EXPECT(assert_equal(v1, values.at(Symbol('v', 1)), 1e-6)); EXPECT(assert_equal(v1, values.at(Symbol('v', 2)), 1e-6)); } /* ************************************************************************** */ /* main function */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } ================================================ FILE: gpslam/gp/tests/testGaussianProcessPriorPose3VW.cpp ================================================ /** * @file testGaussianProcessPriorPose3VW.cpp * @author Jing Dong **/ #include #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace gtsam; using namespace gpslam; Vector errorWrapper(const GaussianProcessPriorPose3VW& factor, const Pose3& pose1, const Vector3& vel1, const Vector3& omega1, const Pose3& pose2, const Vector3& vel2, const Vector3& omega2) { return factor.evaluateError(pose1, vel1, omega1, pose2, vel2, omega2); } /* ************************************************************************** */ TEST(GaussianProcessPriorPose3VW, Factor) { const double delta_t = 0.1; Matrix Qc = 0.01 * Matrix::Identity(6,6); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); Key key_pose1 = Symbol('x', 1), key_pose2 = Symbol('x', 2); Key key_vel1 = Symbol('v', 1), key_vel2 = Symbol('v', 2); Key key_omega1 = Symbol('w', 1), key_omega2 = Symbol('w', 2); GaussianProcessPriorPose3VW factor(key_pose1, key_vel1, key_omega1, key_pose2, key_vel2, key_omega2, delta_t, Qc_model); Pose3 p1, p2; Vector3 v1, v2, w1, w2; Matrix actualH1, actualH2, actualH3, actualH4, actualH5, actualH6; Matrix expectH1, expectH2, expectH3, expectH4, expectH5, expectH6; Vector actual, expect; // test at origin p1 = Pose3(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); p2 = Pose3(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); v1 = Vector3(0, 0, 0); w1 = Vector3(0, 0, 0); v2 = Vector3(0, 0, 0); w2 = Vector3(0, 0, 0); actual = factor.evaluateError(p1, v1, w1, p2, v2, w2, actualH1, actualH2, actualH3, actualH4, actualH5, actualH6); expect = (Vector(12) << 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, w1, p2, v2, w2)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, w1, p2, v2, w2)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, p2, v2, w2)), w1, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, _1, v2, w2)), p2, 1e-6); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, p2, _1, w2)), v2, 1e-6); expectH6 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, p2, v2, _1)), w2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); EXPECT(assert_equal(expectH6, actualH6, 1e-6)); // test at const forward velocity v1 = v2 = 1.0; p1 = Pose3(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); p2 = Pose3(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.1, 0.0, 0.0)); v1 = Vector3(1, 0, 0); w1 = Vector3(0, 0, 0); v2 = Vector3(1, 0, 0); w2 = Vector3(0, 0, 0); actual = factor.evaluateError(p1, v1, w1, p2, v2, w2, actualH1, actualH2, actualH3, actualH4, actualH5, actualH6); expect = (Vector(12) << 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, w1, p2, v2, w2)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, w1, p2, v2, w2)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, p2, v2, w2)), w1, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, _1, v2, w2)), p2, 1e-6); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, p2, _1, w2)), v2, 1e-6); expectH6 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, p2, v2, _1)), w2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); EXPECT(assert_equal(expectH6, actualH6, 1e-6)); // test at const rotation w1 = w2 = 1.0; p1 = Pose3(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); p2 = Pose3(Rot3::Ypr(0.1, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); v1 = Vector3(0, 0, 0); w1 = Vector3(0, 0, 1); v2 = Vector3(0, 0, 0); w2 = Vector3(0, 0, 1); actual = factor.evaluateError(p1, v1, w1, p2, v2, w2, actualH1, actualH2, actualH3, actualH4, actualH5, actualH6); expect = (Vector(12) << 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, w1, p2, v2, w2)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, w1, p2, v2, w2)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, p2, v2, w2)), w1, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, _1, v2, w2)), p2, 1e-6); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, p2, _1, w2)), v2, 1e-6); expectH6 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, p2, v2, _1)), w2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); EXPECT(assert_equal(expectH6, actualH6, 1e-6)); // some random stuff just for testing jacobian (error is not zero) p1 = Pose3(Rot3::Ypr(-0.1, 1.2, 0.3), Point3(-4.0, 2.0, 14.0)); p2 = Pose3(Rot3::Ypr(2.4, -2.5, 3.7), Point3(9.0, -8.0, -7.0)); v1 = Vector3(2, 3, 1); w1 = Vector3(5, 4, 9); v2 = Vector3(1, 3, 8); w1 = Vector3(0, 6, 4); actual = factor.evaluateError(p1, v1, w1, p2, v2, w2, actualH1, actualH2, actualH3, actualH4, actualH5, actualH6); expect = (Vector(12) << 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, w1, p2, v2, w2)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, w1, p2, v2, w2)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, p2, v2, w2)), w1, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, _1, v2, w2)), p2, 1e-6); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, p2, _1, w2)), v2, 1e-6); expectH6 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, p2, v2, _1)), w2, 1e-6); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); EXPECT(assert_equal(expectH6, actualH6, 1e-6)); } /* ************************************************************************** */ TEST(GaussianProcessPriorPose3VW, Optimization) { /** * A simple graph: * * p1 p2 * | | * x1 x2 * \ / * gp * / \ * v1 v2 * * p1 and p2 are pose prior factor to fix the poses, gp is the GP factor * that get correct velocity of v2 */ noiseModel::Isotropic::shared_ptr model_prior = noiseModel::Isotropic::Sigma(6, 0.001); double delta_t = 1; Matrix Qc = 0.01 * Matrix::Identity(6,6); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); Pose3 pose1(Rot3(), Point3(0,0,0)), pose2(Rot3(), Point3(1,0,0)); Vector3 v1 = Vector3(1, 0, 0), w1 = Vector3(0, 0, 0); Vector3 v2 = Vector3(1, 0, 0), w2 = Vector3(0, 0, 0); NonlinearFactorGraph graph; graph.add(PriorFactor(Symbol('x', 1), pose1, model_prior)); graph.add(PriorFactor(Symbol('x', 2), pose2, model_prior)); graph.add(GaussianProcessPriorPose3VW(Symbol('x', 1), Symbol('v', 1), Symbol('w', 1), Symbol('x', 2), Symbol('v', 2), Symbol('w', 2), delta_t, Qc_model)); Values init_values; init_values.insert(Symbol('x', 1), pose1); init_values.insert(Symbol('v', 1), v1); init_values.insert(Symbol('w', 1), w1); init_values.insert(Symbol('x', 2), pose2); init_values.insert(Symbol('v', 2), v2); init_values.insert(Symbol('w', 2), w2); GaussNewtonParams parameters; GaussNewtonOptimizer optimizer(graph, init_values, parameters); optimizer.optimize(); Values values = optimizer.values(); EXPECT_DOUBLES_EQUAL(0, graph.error(values), 1e-6); EXPECT(assert_equal(pose1, values.at(Symbol('x', 1)), 1e-6)); EXPECT(assert_equal(pose2, values.at(Symbol('x', 2)), 1e-6)); EXPECT(assert_equal(v1, values.at(Symbol('v', 1)), 1e-6)); EXPECT(assert_equal(v2, values.at(Symbol('v', 2)), 1e-6)); EXPECT(assert_equal(w1, values.at(Symbol('w', 1)), 1e-6)); EXPECT(assert_equal(w2, values.at(Symbol('w', 2)), 1e-6)); } /* ************************************************************************** */ /* main function */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } ================================================ FILE: gpslam/gp/tests/testGaussianProcessPriorRot3.cpp ================================================ /** * @file testGaussianProcessPriorRot3.cpp * @author Jing Dong **/ #include #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace gtsam; using namespace gpslam; /* ************************************************************************** */ TEST(GaussianProcessPriorRot3, Factor) { const double delta_t = 0.1; Matrix Qc = 0.01 * Matrix::Identity(3,3); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); Key key_pose1 = Symbol('x', 1), key_pose2 = Symbol('x', 2); Key key_vel1 = Symbol('v', 1), key_vel2 = Symbol('v', 2); GaussianProcessPriorRot3 factor(key_pose1, key_vel1, key_pose2, key_vel2, delta_t, Qc_model); Rot3 p1, p2; Vector3 v1, v2; Matrix actualH1, actualH2, actualH3, actualH4; Matrix expectH1, expectH2, expectH3, expectH4; Vector actual, expect; // test at origin p1 = Rot3::Ypr(0.0, 0.0, 0.0); p2 = Rot3::Ypr(0.0, 0.0, 0.0); v1 = (Vector3() << 0, 0, 0).finished(); v2 = (Vector3() << 0, 0, 0).finished(); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = (Vector(6) << 0, 0, 0, 0, 0, 0).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorRot3::evaluateError, factor, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorRot3::evaluateError, factor, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorRot3::evaluateError, factor, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorRot3::evaluateError, factor, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); // test at const rotation of z, w1 = w2 = 1.0; p1 = Rot3::Ypr(0.0, 0.0, 0.0); p2 = Rot3::Ypr(0.1, 0.0, 0.0); v1 = (Vector3() << 0, 0, 1).finished(); v2 = (Vector3() << 0, 0, 1).finished(); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = (Vector(6) << 0, 0, 0, 0, 0, 0).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorRot3::evaluateError, factor, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorRot3::evaluateError, factor, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorRot3::evaluateError, factor, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorRot3::evaluateError, factor, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); // test at const rotation of x, w1 = w2 = 1.0; p1 = Rot3::Ypr(0.0, 0.0, 0.0); p2 = Rot3::Ypr(0.0, 0.0, 0.1); v1 = (Vector3() << 1, 0, 0).finished(); v2 = (Vector3() << 1, 0, 0).finished(); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = (Vector(6) << 0, 0, 0, 0, 0, 0).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorRot3::evaluateError, factor, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorRot3::evaluateError, factor, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorRot3::evaluateError, factor, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorRot3::evaluateError, factor, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); // some random stuff just for testing jacobian (error is not zero) p1 = Rot3::Ypr(-0.1, 1.2, 0.3); p2 = Rot3::Ypr(2.4, -2.5, 3.7); v1 = (Vector3() << 2, 3, 1).finished(); v2 = (Vector3() << 1, 3, 8).finished(); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expectH1 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorRot3::evaluateError, factor, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorRot3::evaluateError, factor, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorRot3::evaluateError, factor, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&GaussianProcessPriorRot3::evaluateError, factor, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expectH1, actualH1, 1e-5)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-5)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); } /* ************************************************************************** */ TEST(GaussianProcessPriorRot3, Optimization) { /** * A simple graph: * * p1 p2 * | | * x1 x2 * \ / * gp * / \ * v1 v2 * * p1 and p2 are pose prior factor to fix the poses, gp is the GP factor * that get correct velocity of v2 */ noiseModel::Isotropic::shared_ptr model_prior = noiseModel::Isotropic::Sigma(3, 0.001); double delta_t = 0.1; Matrix Qc = 0.01 * Matrix::Identity(3,3); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); Rot3 pose1, pose2(Rot3::Ypr(0, 0, 0.1)); Vector3 v1 = (Vector3() << 1, 0, 0).finished(); Vector3 v2 = (Vector3() << 2.0, -0.5, 0.6).finished(); // rnd value NonlinearFactorGraph graph; graph.add(PriorFactor(Symbol('x', 1), pose1, model_prior)); graph.add(PriorFactor(Symbol('x', 2), pose2, model_prior)); //graph.add(PriorFactor(Symbol('v', 1), v1, model_prior)); graph.add(GaussianProcessPriorRot3(Symbol('x', 1), Symbol('v', 1), Symbol('x', 2), Symbol('v', 2), delta_t, Qc_model)); Values init_values; init_values.insert(Symbol('x', 1), pose1); init_values.insert(Symbol('v', 1), v1); init_values.insert(Symbol('x', 2), pose2); init_values.insert(Symbol('v', 2), v2); GaussNewtonParams parameters; GaussNewtonOptimizer optimizer(graph, init_values, parameters); optimizer.optimize(); Values values = optimizer.values(); EXPECT_DOUBLES_EQUAL(0, graph.error(values), 1e-6); EXPECT(assert_equal(pose1, values.at(Symbol('x', 1)), 1e-6)); EXPECT(assert_equal(pose2, values.at(Symbol('x', 2)), 1e-6)); EXPECT(assert_equal(v1, values.at(Symbol('v', 1)), 1e-6)); EXPECT(assert_equal(v1, values.at(Symbol('v', 2)), 1e-6)); } /* ************************************************************************** */ /* main function */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } ================================================ FILE: gpslam/gp/tests/testPose3Utils.cpp ================================================ /** * @file testPose3Utils.cpp * @author Jing Dong **/ #include #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace gtsam; using namespace gpslam; /* ************************************************************************** */ // numerical method of jacobians // see Forster15rss eq. (A.48) template Matrix numericalLieLeftJacobian(const LIE_TYPE& lie, double dt) { const size_t dim = LIE_TYPE::dimension; Vector omega = LIE_TYPE::Logmap(lie); Matrix J_expect = Matrix(dim, dim); for (size_t i = 0; i < dim; i++) { Vector dlogmap = Vector::Zero(dim); dlogmap(i) = dt; LIE_TYPE r = LIE_TYPE::Expmap(omega + dlogmap); J_expect.block(0,i,dim,1) = LIE_TYPE::Logmap(r.compose(lie.inverse())) / dt; } return J_expect; } template Matrix numericalLieRightJacobian(const LIE_TYPE& lie, double dt) { const size_t dim = LIE_TYPE::dimension; Vector omega = LIE_TYPE::Logmap(lie); Matrix J_expect = Matrix(dim, dim); for (size_t i = 0; i < dim; i++) { Vector dlogmap = Vector::Zero(dim); dlogmap(i) = dt; LIE_TYPE r = LIE_TYPE::Expmap(omega + dlogmap); J_expect.block(0,i,dim,1) = LIE_TYPE::Logmap(lie.inverse().compose(r)) / dt; } return J_expect; } // TODO: why inverse version does not work?? #if 0 // see Barfoot14tro eq. (33), Forster15rss eq. (9) template Matrix numericalLieLeftJacobian(const LIE_TYPE& lie, double dt) { const size_t dim = LIE_TYPE::dimension; Vector omega = LIE_TYPE::Logmap(lie); Matrix J_expect = Matrix(dim, dim); for (size_t i = 0; i < dim; i++) { Vector dlogmap = zero(dim); dlogmap(i) = dt; LIE_TYPE dr = LIE_TYPE::Expmap(dlogmap); J_expect.block(0,i,dim,1) = (LIE_TYPE::Logmap(lie.compose(dr)) - omega) / dt; } return J_expect.inverse(); } template Matrix numericalLieRightJacobian(const LIE_TYPE& lie, double dt) { const size_t dim = LIE_TYPE::dimension; Vector omega = LIE_TYPE::Logmap(lie); Matrix J_expect = Matrix(dim, dim); for (size_t i = 0; i < dim; i++) { Vector dlogmap = zero(dim); dlogmap(i) = dt; LIE_TYPE dr = LIE_TYPE::Expmap(dlogmap); J_expect.block(0,i,dim,1) = (LIE_TYPE::Logmap(dr.compose(lie)) - omega) / dt; } return J_expect.inverse(); } #endif /* ************************************************************************** */ TEST(testPose3Utils, getBodyCentricVelocity) { Pose3 pose1, pose2; Vector expect, actual; double dt = 0.1; // test at origin pose1 = Pose3(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); pose2 = Pose3(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); expect = (Vector(6) << 0, 0, 0, 0, 0, 0).finished(); actual = getBodyCentricVb(pose1, pose2, dt); EXPECT(assert_equal(expect, actual, 1e-6)); expect = (Vector(6) << 0, 0, 0, 0, 0, 0).finished(); actual = getBodyCentricVs(pose1, pose2, dt); EXPECT(assert_equal(expect, actual, 1e-6)); // test forward x pose1 = Pose3(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); pose2 = Pose3(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.1, 0.0, 0.0)); expect = (Vector(6) << 0, 0, 0, 1, 0, 0).finished(); actual = getBodyCentricVb(pose1, pose2, dt); EXPECT(assert_equal(expect, actual, 1e-6)); expect = (Vector(6) << 0, 0, 0, 1, 0, 0).finished(); actual = getBodyCentricVs(pose1, pose2, dt); EXPECT(assert_equal(expect, actual, 1e-6)); // test rotate y pose1 = Pose3(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); pose2 = Pose3(Rot3::Ypr(0.1, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); expect = (Vector(6) << 0, 0, 1, 0, 0, 0).finished(); actual = getBodyCentricVb(pose1, pose2, dt); EXPECT(assert_equal(expect, actual, 1e-6)); expect = (Vector(6) << 0, 0, 1, 0, 0, 0).finished(); actual = getBodyCentricVs(pose1, pose2, dt); EXPECT(assert_equal(expect, actual, 1e-6)); // test forward x (body-y) at yaw=90 deg pose1 = Pose3(Rot3::Ypr(M_PI / 2.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); pose2 = Pose3(Rot3::Ypr(M_PI / 2.0, 0.0, 0.0), Point3(0.1, 0.0, 0.0)); expect = (Vector(6) << 0, 0, 0, 0, -1, 0).finished(); actual = getBodyCentricVb(pose1, pose2, dt); EXPECT(assert_equal(expect, actual, 1e-6)); expect = (Vector(6) << 0, 0, 0, 1, 0, 0).finished(); actual = getBodyCentricVs(pose1, pose2, dt); EXPECT(assert_equal(expect, actual, 1e-6)); // test rotate body+z at yaw=90 deg pose1 = Pose3(Rot3::Ypr(M_PI / 2.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); pose2 = Pose3(Rot3::Ypr(M_PI / 2.0 + 0.1, 0.0, 0), Point3(0.0, 0.0, 0.0)); expect = (Vector(6) << 0, 0, 1, 0, 0, 0).finished(); actual = getBodyCentricVb(pose1, pose2, dt); EXPECT(assert_equal(expect, actual, 1e-6)); expect = (Vector(6) << 0, 0, 1, 0, 0, 0).finished(); actual = getBodyCentricVs(pose1, pose2, dt); EXPECT(assert_equal(expect, actual, 1e-6)); // test rotate body+x at yaw=90 deg pose1 = Pose3(Rot3::Ypr(M_PI / 2.0, 0.0, 0.0), Point3(1.0, 0.0, 0.0)); pose2 = Pose3(Rot3::Ypr(M_PI / 2.0, 0.0, 0.1), Point3(1.0, 0.0, 0.0)); expect = (Vector(6) << 1, 0, 0, 0, 0, 0).finished(); actual = getBodyCentricVb(pose1, pose2, dt); EXPECT(assert_equal(expect, actual, 1e-6)); expect = (Vector(6) << 0, 1, 0, 0, 0, 1).finished(); actual = getBodyCentricVs(pose1, pose2, dt); EXPECT(assert_equal(expect, actual, 1e-6)); // circle motion pose1 = Pose3(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, -1.0, 0.0)); pose2 = Pose3(Rot3::Ypr(M_PI / 2.0, 0.0, 0.0), Point3(1.0, 0.0, 0.0)); expect = (Vector(6) << 0, 0, M_PI/2*10, M_PI/2*10, 0, 0).finished(); actual = getBodyCentricVb(pose1, pose2, dt); EXPECT(assert_equal(expect, actual, 1e-6)); expect = (Vector(6) << 0, 0, M_PI/2*10, 0, 0, 0).finished(); actual = getBodyCentricVs(pose1, pose2, dt); EXPECT(assert_equal(expect, actual, 1e-6)); } /* ************************************************************************** */ TEST(testPose3Utils, SO3Jacobian) { Rot3 rotbase; Matrix J_expect, J_actual; const double dt = 1e-6; // left jacobian rotbase = Rot3::Ypr(0.0, 0.0, 0.0); J_expect = numericalLieLeftJacobian(rotbase, dt); J_actual = leftJacobianRot3(Rot3::Logmap(rotbase)); EXPECT(assert_equal(J_expect, J_actual, 1e-6)); rotbase = Rot3::Ypr(1.0, 2.0, 3.0); J_expect = numericalLieLeftJacobian(rotbase, dt); J_actual = leftJacobianRot3(Rot3::Logmap(rotbase)); EXPECT(assert_equal(J_expect, J_actual, 1e-6)); // inverse left jacobian rotbase = Rot3::Ypr(0.0, 0.0, 0.0); J_expect = numericalLieLeftJacobian(rotbase, dt).inverse(); J_actual = leftJacobianRot3inv(Rot3::Logmap(rotbase)); EXPECT(assert_equal(J_expect, J_actual, 1e-6)); rotbase = Rot3::Ypr(1.0, 2.0, 3.0); J_expect = numericalLieLeftJacobian(rotbase, dt).inverse(); J_actual = leftJacobianRot3inv(Rot3::Logmap(rotbase)); EXPECT(assert_equal(J_expect, J_actual, 1e-6)); // right jacobian rotbase = Rot3::Ypr(0.0, 0.0, 0.0); J_expect = numericalLieRightJacobian(rotbase, dt); J_actual = rightJacobianRot3(Rot3::Logmap(rotbase)); EXPECT(assert_equal(J_expect, J_actual, 1e-6)); rotbase = Rot3::Ypr(1.0, 2.0, 3.0); J_expect = numericalLieRightJacobian(rotbase, dt); J_actual = rightJacobianRot3(Rot3::Logmap(rotbase)); EXPECT(assert_equal(J_expect, J_actual, 1e-6)); // inverse right jacobian rotbase = Rot3::Ypr(0.0, 0.0, 0.0); J_expect = numericalLieRightJacobian(rotbase, dt).inverse(); J_actual = rightJacobianRot3inv(Rot3::Logmap(rotbase)); EXPECT(assert_equal(J_expect, J_actual, 1e-6)); rotbase = Rot3::Ypr(1.0, 2.0, 3.0); J_expect = numericalLieRightJacobian(rotbase, dt).inverse(); J_actual = rightJacobianRot3inv(Rot3::Logmap(rotbase)); EXPECT(assert_equal(J_expect, J_actual, 1e-6)); } /* ************************************************************************** */ TEST(testPose3Utils, SE3Jacobian) { Pose3 posebase; Matrix J_expect, J_actual; const double dt = 1e-6; // left jacobian posebase = Pose3(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); J_expect = numericalLieLeftJacobian(posebase, dt); J_actual = leftJacobianPose3(Pose3::Logmap(posebase)); EXPECT(assert_equal(J_expect, J_actual, 1e-6)); posebase = Pose3(Rot3::Ypr(1e-5, 0.0, 1e-5), Point3(0.0, 2e-5, 0.0)); J_expect = numericalLieLeftJacobian(posebase, dt); J_actual = leftJacobianPose3(Pose3::Logmap(posebase)); EXPECT(assert_equal(J_expect, J_actual, 1e-6)); posebase = Pose3(Rot3::Ypr(1.0, 2.0, 3.0), Point3(4.0, 5.0, 6.0)); J_expect = numericalLieLeftJacobian(posebase, dt); J_actual = leftJacobianPose3(Pose3::Logmap(posebase)); EXPECT(assert_equal(J_expect, J_actual, 1e-6)); // left inverse jacobian posebase = Pose3(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); J_expect = numericalLieLeftJacobian(posebase, dt).inverse(); J_actual = leftJacobianPose3inv(Pose3::Logmap(posebase)); EXPECT(assert_equal(J_expect, J_actual, 1e-6)); posebase = Pose3(Rot3::Ypr(1e-5, 0.0, 1e-5), Point3(0.0, 2e-5, 0.0)); J_expect = numericalLieLeftJacobian(posebase, dt).inverse(); J_actual = leftJacobianPose3inv(Pose3::Logmap(posebase)); EXPECT(assert_equal(J_expect, J_actual, 1e-8)); posebase = Pose3(Rot3::Ypr(1.0, 2.0, 3.0), Point3(4.0, 5.0, 6.0)); J_expect = numericalLieLeftJacobian(posebase, dt).inverse(); J_actual = leftJacobianPose3inv(Pose3::Logmap(posebase)); EXPECT(assert_equal(J_expect, J_actual, 1e-5)); // right jacobian posebase = Pose3(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); J_expect = numericalLieRightJacobian(posebase, dt); J_actual = rightJacobianPose3(Pose3::Logmap(posebase)); EXPECT(assert_equal(J_expect, J_actual, 1e-6)); posebase = Pose3(Rot3::Ypr(1e-5, 0.0, 1e-5), Point3(0.0, 2e-5, 0.0)); J_expect = numericalLieRightJacobian(posebase, dt); J_actual = rightJacobianPose3(Pose3::Logmap(posebase)); EXPECT(assert_equal(J_expect, J_actual, 1e-6)); posebase = Pose3(Rot3::Ypr(1.0, 2.0, 3.0), Point3(4.0, 5.0, 6.0)); J_expect = numericalLieRightJacobian(posebase, dt); J_actual = rightJacobianPose3(Pose3::Logmap(posebase)); EXPECT(assert_equal(J_expect, J_actual, 1e-6)); // inverse right jacobian posebase = Pose3(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); J_expect = numericalLieRightJacobian(posebase, dt).inverse(); J_actual = rightJacobianPose3inv(Pose3::Logmap(posebase)); EXPECT(assert_equal(J_expect, J_actual, 1e-6)); posebase = Pose3(Rot3::Ypr(1e-5, 0.0, 1e-5), Point3(0.0, 2e-5, 0.0)); J_expect = numericalLieRightJacobian(posebase, dt).inverse(); J_actual = rightJacobianPose3inv(Pose3::Logmap(posebase)); EXPECT(assert_equal(J_expect, J_actual, 1e-8)); posebase = Pose3(Rot3::Ypr(1.0, 2.0, 3.0), Point3(4.0, 5.0, 6.0)); J_expect = numericalLieRightJacobian(posebase, dt).inverse(); J_actual = rightJacobianPose3inv(Pose3::Logmap(posebase)); EXPECT(assert_equal(J_expect, J_actual, 1e-5)); } /* ************************************************************************** */ TEST(testPose3Utils, SE3velocity) { // check Anderson15iros eq. (8) Pose3 posebase, poseadd; Vector v_expect, v_actual; Vector dlogmap; const double dt = 0.01; // origin, zero vel posebase = Pose3(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0, 0, 0)); dlogmap = (Vector(6) << 0, 0, 0, 0, 0, 0).finished() * 1e-4; poseadd = Pose3::Expmap(Pose3::Logmap(posebase) + dlogmap); v_expect = getBodyCentricVb(posebase, poseadd, dt); v_actual = rightJacobianPose3(Pose3::Logmap(posebase)) * dlogmap / dt; EXPECT(assert_equal(v_expect, v_actual, 1e-6)); v_expect = getBodyCentricVs(posebase, poseadd, dt); v_actual = leftJacobianPose3(Pose3::Logmap(posebase)) * dlogmap / dt; EXPECT(assert_equal(v_expect, v_actual, 1e-6)); // origin, non zero vel posebase = Pose3(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0, 0, 0)); dlogmap = (Vector(6) << 1, 2, -4, 5, 2, 3).finished() * 1e-4; poseadd = Pose3::Expmap(Pose3::Logmap(posebase) + dlogmap); v_expect = getBodyCentricVb(posebase, poseadd, dt); v_actual = rightJacobianPose3(Pose3::Logmap(posebase)) * dlogmap / dt; EXPECT(assert_equal(v_expect, v_actual, 1e-6)); v_expect = getBodyCentricVs(posebase, poseadd, dt); v_actual = leftJacobianPose3(Pose3::Logmap(posebase)) * dlogmap / dt; EXPECT(assert_equal(v_expect, v_actual, 1e-6)); // rnd pose, non zero vel posebase = Pose3(Rot3::Ypr(2.4, 1.2, 3.9), Point3(43, -5, 12)); dlogmap = (Vector(6) << 1, 2, -4, 5, 2, 3).finished() * 1e-4; poseadd = Pose3::Expmap(Pose3::Logmap(posebase) + dlogmap); v_expect = getBodyCentricVb(posebase, poseadd, dt); v_actual = rightJacobianPose3(Pose3::Logmap(posebase)) * dlogmap / dt; EXPECT(assert_equal(v_expect, v_actual, 1e-4)); v_expect = getBodyCentricVs(posebase, poseadd, dt); v_actual = leftJacobianPose3(Pose3::Logmap(posebase)) * dlogmap / dt; EXPECT(assert_equal(v_expect, v_actual, 1e-4)); } /* ************************************************************************** */ // wrap v from convertVbtoVW Vector3 vWrapperVb(const Vector6& v6, const Pose3& pose) { Vector3 v,w; convertVbtoVW(v6, pose, v, w); return v; } // wrap w from convertVbtoVW Vector3 wWrapperVb(const Vector6& v6, const Pose3& pose) { Vector3 v,w; convertVbtoVW(v6, pose, v, w); return w; } TEST(testPose3Utils, convertVelocityVW) { Pose3 pose; Vector6 v6exp, v6act; Vector3 vact, wact, vexp, wexp; Matrix36 H1vexp, H1vact, H1wexp, H1wact; Matrix63 H2vexp, H2vact, H2wexp, H2wact; Matrix6 H2pexp, H2pact; // zero pose pose = Pose3(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); v6exp = (Vector6() << 1, 0, 0, 1, 0, 0).finished(); vexp = Vector3(1, 0, 0), wexp = Vector3(1, 0, 0); convertVbtoVW(v6exp, pose, vact, wact, H1vact, H1wact); H1vexp = numericalDerivative11(boost::function( boost::bind(&vWrapperVb, _1, pose)), v6exp, 1e-6); H1wexp = numericalDerivative11(boost::function( boost::bind(&wWrapperVb, _1, pose)), v6exp, 1e-6); EXPECT(assert_equal(vexp, vact, 1e-9)); EXPECT(assert_equal(wexp, wact, 1e-9)); EXPECT(assert_equal(H1vexp, H1vact, 1e-6)); EXPECT(assert_equal(H1wexp, H1wact, 1e-6)); v6act = convertVWtoVb(vexp, wexp, pose, H2vact, H2wact, H2pact); H2vexp = numericalDerivative11(boost::function( boost::bind(&convertVWtoVb, _1, wexp, pose, boost::none, boost::none, boost::none)), vexp, 1e-6); H2wexp = numericalDerivative11(boost::function( boost::bind(&convertVWtoVb, vexp, _1, pose, boost::none, boost::none, boost::none)), wexp, 1e-6); H2pexp = numericalDerivative11(boost::function( boost::bind(&convertVWtoVb, vexp, wexp, _1, boost::none, boost::none, boost::none)), pose, 1e-6); EXPECT(assert_equal(v6exp, v6act, 1e-9)); EXPECT(assert_equal(H2vexp, H2vact, 1e-6)); EXPECT(assert_equal(H2wexp, H2wact, 1e-6)); EXPECT(assert_equal(H2pexp, H2pact, 1e-6)); pose = Pose3(Rot3::Ypr(0.0, 0.0, 0.0), Point3(3.0, 4.0, 5.0)); v6exp = (Vector6() << 1, -2, -3, 1, 2, 3).finished(); vexp = Vector3(1, 2, 3), wexp = Vector3(1, -2, -3); convertVbtoVW(v6exp, pose, vact, wact, H1vact, H1wact); H1vexp = numericalDerivative11(boost::function( boost::bind(&vWrapperVb, _1, pose)), v6exp, 1e-6); H1wexp = numericalDerivative11(boost::function( boost::bind(&wWrapperVb, _1, pose)), v6exp, 1e-6); EXPECT(assert_equal(vexp, vact, 1e-9)); EXPECT(assert_equal(wexp, wact, 1e-9)); EXPECT(assert_equal(H1vexp, H1vact, 1e-6)); EXPECT(assert_equal(H1wexp, H1wact, 1e-6)); v6act = convertVWtoVb(vexp, wexp, pose, H2vact, H2wact, H2pact); H2vexp = numericalDerivative11(boost::function( boost::bind(&convertVWtoVb, _1, wexp, pose, boost::none, boost::none, boost::none)), vexp, 1e-6); H2wexp = numericalDerivative11(boost::function( boost::bind(&convertVWtoVb, vexp, _1, pose, boost::none, boost::none, boost::none)), wexp, 1e-6); H2pexp = numericalDerivative11(boost::function( boost::bind(&convertVWtoVb, vexp, wexp, _1, boost::none, boost::none, boost::none)), pose, 1e-6); EXPECT(assert_equal(v6exp, v6act, 1e-9)); EXPECT(assert_equal(H2vexp, H2vact, 1e-6)); EXPECT(assert_equal(H2wexp, H2wact, 1e-6)); EXPECT(assert_equal(H2pexp, H2pact, 1e-6)); // yaw = 90 deg pose pose = Pose3(Rot3::Ypr(M_PI/2.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); v6exp = (Vector6() << 0, 0, 1, 0, -1, 0).finished(); vexp = Vector3(1, 0, 0), wexp = Vector3(0, 0, 1); convertVbtoVW(v6exp, pose, vact, wact, H1vact, H1wact); H1vexp = numericalDerivative11(boost::function( boost::bind(&vWrapperVb, _1, pose)), v6exp, 1e-6); H1wexp = numericalDerivative11(boost::function( boost::bind(&wWrapperVb, _1, pose)), v6exp, 1e-6); EXPECT(assert_equal(vexp, vact, 1e-9)); EXPECT(assert_equal(wexp, wact, 1e-9)); EXPECT(assert_equal(H1vexp, H1vact, 1e-6)); EXPECT(assert_equal(H1wexp, H1wact, 1e-6)); v6act = convertVWtoVb(vexp, wexp, pose, H2vact, H2wact, H2pact); H2vexp = numericalDerivative11(boost::function( boost::bind(&convertVWtoVb, _1, wexp, pose, boost::none, boost::none, boost::none)), vexp, 1e-6); H2wexp = numericalDerivative11(boost::function( boost::bind(&convertVWtoVb, vexp, _1, pose, boost::none, boost::none, boost::none)), wexp, 1e-6); H2pexp = numericalDerivative11(boost::function( boost::bind(&convertVWtoVb, vexp, wexp, _1, boost::none, boost::none, boost::none)), pose, 1e-6); EXPECT(assert_equal(v6exp, v6act, 1e-9)); EXPECT(assert_equal(H2vexp, H2vact, 1e-6)); EXPECT(assert_equal(H2wexp, H2wact, 1e-6)); EXPECT(assert_equal(H2pexp, H2pact, 1e-6)); pose = Pose3(Rot3::Ypr(M_PI/2.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); v6exp = (Vector6() << 0, 0, 1, 4, 3, 0).finished(); vexp = Vector3(-3, 4, 0), wexp = Vector3(0, 0, 1); convertVbtoVW(v6exp, pose, vact, wact, H1vact, H1wact); H1vexp = numericalDerivative11(boost::function( boost::bind(&vWrapperVb, _1, pose)), v6exp, 1e-6); H1wexp = numericalDerivative11(boost::function( boost::bind(&wWrapperVb, _1, pose)), v6exp, 1e-6); EXPECT(assert_equal(vexp, vact, 1e-9)); EXPECT(assert_equal(wexp, wact, 1e-9)); EXPECT(assert_equal(H1vexp, H1vact, 1e-6)); EXPECT(assert_equal(H1wexp, H1wact, 1e-6)); v6act = convertVWtoVb(vexp, wexp, pose, H2vact, H2wact, H2pact); H2vexp = numericalDerivative11(boost::function( boost::bind(&convertVWtoVb, _1, wexp, pose, boost::none, boost::none, boost::none)), vexp, 1e-6); H2wexp = numericalDerivative11(boost::function( boost::bind(&convertVWtoVb, vexp, _1, pose, boost::none, boost::none, boost::none)), wexp, 1e-6); H2pexp = numericalDerivative11(boost::function( boost::bind(&convertVWtoVb, vexp, wexp, _1, boost::none, boost::none, boost::none)), pose, 1e-6); EXPECT(assert_equal(v6exp, v6act, 1e-9)); EXPECT(assert_equal(H2vexp, H2vact, 1e-6)); EXPECT(assert_equal(H2wexp, H2wact, 1e-6)); EXPECT(assert_equal(H2pexp, H2pact, 1e-6)); } /* ************************************************************************** */ /* main function */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } ================================================ FILE: gpslam/gp/tests/testSerializationGP.cpp ================================================ /** * @file testSerialization.cpp * @brief test serialization of all factors * @author Jing Dong **/ #include /* #include #include #include #include #include #include #include #include #include */ #include #include using namespace std; using namespace gtsam; using namespace gpslam; using namespace gtsam::serializationTestHelpers; BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal"); /* ************************************************************************** */ // data static SharedNoiseModel Qcmodel_6 = noiseModel::Isotropic::Sigma(6, 0.1); static SharedNoiseModel Qcmodel_3 = noiseModel::Isotropic::Sigma(3, 0.1); // bases static GaussianProcessInterpolatorLinear<6> gp_base_linear(Qcmodel_6, 0.1, 0.04); /* static GaussianProcessFactorBasePose3 gp_base_pose3(Qcmodel_6, 0.1, 0.04); static GaussianProcessFactorBasePose3VW gp_base_pose3vw(Qcmodel_6, 0.1, 0.04); static GaussianProcessFactorBasePose2 gp_base_pose2(Qcmodel_3, 0.1, 0.04); static GaussianProcessFactorBaseRot3 gp_base_rot3(Qcmodel_3, 0.1, 0.04); // factors static GaussianProcessPriorLinear<6> gp_prior_linear(1, 2, 3, 4, 0.1, Qcmodel_6); static GaussianProcessPriorPose3 gp_prior_pose3(1, 2, 3, 4, 0.1, Qcmodel_6); static GaussianProcessPriorPose3VW gp_prior_pose3_vw(1, 2, 3, 4, 5, 6, 0.1, Qcmodel_6); static GaussianProcessPriorPose2 gp_prior_pose2(1, 2, 3, 4, 0.1, Qcmodel_3); static GaussianProcessPriorRot3 gp_prior_rot3(1, 2, 3, 4, 0.1, Qcmodel_3); */ /* ************************************************************************** */ TEST_UNSAFE(SerializationGP, text) { EXPECT(equalsObj(gp_base_linear)); /* EXPECT(equalsObj(gp_base_pose3)); EXPECT(equalsObj(gp_base_pose3vw)); EXPECT(equalsObj(gp_base_pose2)); EXPECT(equalsObj(gp_base_rot3)); EXPECT(equalsObj(gp_prior_linear)); EXPECT(equalsObj(gp_prior_pose3)); EXPECT(equalsObj(gp_prior_pose3_vw)); EXPECT(equalsObj(gp_prior_pose2)); EXPECT(equalsObj(gp_prior_rot3)); */ } /* ************************************************************************** */ TEST_UNSAFE(SerializationGP, xml) { EXPECT(equalsXML(gp_base_linear)); /* EXPECT(equalsXML(gp_base_pose3)); EXPECT(equalsXML(gp_base_pose3vw)); EXPECT(equalsXML(gp_base_pose2)); EXPECT(equalsXML(gp_base_rot3)); EXPECT(equalsXML(gp_prior_linear)); EXPECT(equalsXML(gp_prior_pose3)); EXPECT(equalsXML(gp_prior_pose3_vw)); EXPECT(equalsXML(gp_prior_pose2)); EXPECT(equalsXML(gp_prior_rot3)); */ } /* ************************************************************************** */ TEST_UNSAFE(SerializationGP, binary) { EXPECT(equalsBinary(gp_base_linear)); /* EXPECT(equalsBinary(gp_base_pose3)); EXPECT(equalsBinary(gp_base_pose3vw)); EXPECT(equalsBinary(gp_base_pose2)); EXPECT(equalsBinary(gp_base_rot3)); EXPECT(equalsBinary(gp_prior_linear)); EXPECT(equalsBinary(gp_prior_pose3)); EXPECT(equalsBinary(gp_prior_pose3_vw)); EXPECT(equalsBinary(gp_prior_pose2)); EXPECT(equalsBinary(gp_prior_rot3)); */ } /* ************************************************************************** */ /* main function */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } ================================================ FILE: gpslam/slam/CMakeLists.txt ================================================ # Install headers file(GLOB slam_headers "*.h") install(FILES ${slam_headers} DESTINATION include/gpslam/slam) # Build tests gtsamAddTestsGlob(slam "tests/*.cpp" "" ${PROJECT_NAME}) ================================================ FILE: gpslam/slam/GPInterpolatedAttitudeFactorRot3.h ================================================ /** * @file GPInterpolatedAttitudeFactorRot3.h * @author Frank Dellaert, Jing Dong * @brief Use Acceleration to get Attitude, GP interpolated version **/ #pragma once #include #include namespace gpslam { /** * Binary factor for an attitude measurement, GP interpolated */ class GPInterpolatedAttitudeFactorRot3: public gtsam::NoiseModelFactor4< gtsam::Rot3, gtsam::Vector3, gtsam::Rot3, gtsam::Vector3>, public gtsam::AttitudeFactor { private: // interpolater GaussianProcessInterpolatorRot3 GPbase_; typedef GPInterpolatedAttitudeFactorRot3 This; typedef gtsam::NoiseModelFactor4 Base; typedef GaussianProcessInterpolatorRot3 GPBase; public: /// shorthand for a smart pointer to a factor typedef boost::shared_ptr shared_ptr; GPInterpolatedAttitudeFactorRot3() {} /* Default constructor */ /** * Constructor * @param nZ measured direction in navigation frame * @param meas_model Gaussian noise model * @param bRef reference direction in body frame (default Z-axis) */ GPInterpolatedAttitudeFactorRot3( gtsam::Key poseKey1, gtsam::Key velKey1, gtsam::Key poseKey2, gtsam::Key velKey2, double delta_t, double tau, const gtsam::SharedNoiseModel& Qc_model, const gtsam::SharedNoiseModel& meas_model, const gtsam::Unit3& nZ, const gtsam::Unit3& bRef = gtsam::Unit3(0, 0, 1)) : Base(meas_model, poseKey1, velKey1, poseKey2, velKey2), gtsam::AttitudeFactor(nZ, bRef), GPbase_(Qc_model, delta_t, tau) { } virtual ~GPInterpolatedAttitudeFactorRot3() {} /// @return a deep copy of this factor virtual gtsam::NonlinearFactor::shared_ptr clone() const { return boost::static_pointer_cast( gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** factor error */ gtsam::Vector evaluateError(const gtsam::Rot3& pose1, const gtsam::Vector3& vel1, const gtsam::Rot3& pose2, const gtsam::Vector3& vel2, boost::optional H1 = boost::none, boost::optional H2 = boost::none, boost::optional H3 = boost::none, boost::optional H4 = boost::none) const { using namespace gtsam; // interpolate pose if (H1 || H2 || H3 || H4) { Matrix Hint1, Hint2, Hint3, Hint4; Rot3 pose = GPbase_.interpolatePose(pose1, vel1, pose2, vel2, Hint1, Hint2, Hint3, Hint4); Matrix Hrot; Vector err = attitudeError(pose, Hrot); GPBase::updatePoseJacobians(Hrot, Hint1, Hint2, Hint3, Hint4, H1, H2, H3, H4); return err; } else { Rot3 pose = GPbase_.interpolatePose(pose1, vel1, pose2, vel2); return attitudeError(pose); } } /** equals specialized to this factor */ virtual bool equals(const gtsam::NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); return e != NULL && Base::equals(*e, tol) && this->GPbase_.equals(e->GPbase_); } /** print contents */ void print(const std::string& s="", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const { std::cout << s << "GP Interpolated AttitudeFactor" << std::endl; Base::print("", keyFormatter); GPbase_.print("Measurement interpolated at: "); } private: /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { ar & boost::serialization::make_nvp("NoiseModelFactor4", boost::serialization::base_object(*this)); ar & BOOST_SERIALIZATION_NVP(GPbase_); } }; // GPInterpolatedAttitudeFactorRot3 } // namespace gpslam /// traits namespace gtsam { template<> struct traits : public Testable {}; } ================================================ FILE: gpslam/slam/GPInterpolatedGPSFactorPose3.h ================================================ /** * @file GPInterpolatedGPSFactorPose3.h * @author Jing Dong * @brief Translational measurement like GPS, GP interpolated version * @date Oct 4, 2015 **/ #pragma once #include #include #include #include #include namespace gpslam { /** * Binary factor for an translational measurement like GPS, GP interpolated */ class GPInterpolatedGPSFactorPose3: public gtsam::NoiseModelFactor4 { private: // interpolater GaussianProcessInterpolatorPose3 GPbase_; gtsam::Point3 measured_; /** measurement */ boost::optional body_P_sensor_; ///< The pose of the sensor in the body frame typedef GPInterpolatedGPSFactorPose3 This; typedef gtsam::NoiseModelFactor4 Interpolator; typedef GaussianProcessInterpolatorPose3 GPBase; public: /// shorthand for a smart pointer to a factor typedef boost::shared_ptr shared_ptr; GPInterpolatedGPSFactorPose3() {} /* Default constructor */ /** * Constructor * @param body_P_sensor transformation from body to sensor */ GPInterpolatedGPSFactorPose3(const gtsam::Point3& measured_point3, const gtsam::SharedNoiseModel& meas_model, const gtsam::SharedNoiseModel& Qc_model, gtsam::Key poseKey1, gtsam::Key velKey1, gtsam::Key poseKey2, gtsam::Key velKey2, double delta_t, double tau, boost::optional body_P_sensor = boost::none) : Interpolator(meas_model, poseKey1, velKey1, poseKey2, velKey2), GPbase_(Qc_model, delta_t, tau), measured_(measured_point3), body_P_sensor_(body_P_sensor) {} virtual ~GPInterpolatedGPSFactorPose3() {} /// @return a deep copy of this factor virtual gtsam::NonlinearFactor::shared_ptr clone() const { return boost::static_pointer_cast( gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** factor error */ gtsam::Vector evaluateError(const gtsam::Pose3& pose1, const gtsam::Vector6& vel1, const gtsam::Pose3& pose2, const gtsam::Vector6& vel2, boost::optional H1 = boost::none, boost::optional H2 = boost::none, boost::optional H3 = boost::none, boost::optional H4 = boost::none) const { using namespace gtsam; // interpolate pose Matrix Hint1, Hint2, Hint3, Hint4; Pose3 pose; if (H1 || H2 || H3 || H4) pose = GPbase_.interpolatePose(pose1, vel1, pose2, vel2, Hint1, Hint2, Hint3, Hint4); else pose = GPbase_.interpolatePose(pose1, vel1, pose2, vel2); Matrix Hpose; // jacobian of pose Point3 point_err; if (body_P_sensor_) { Matrix H0; point_err = pose.compose(*body_P_sensor_, H0).translation(Hpose) - measured_; Hpose = Hpose * H0; GPBase::updatePoseJacobians(Hpose, Hint1, Hint2, Hint3, Hint4, H1, H2, H3, H4); } else { point_err = pose.translation(Hpose) - measured_; GPBase::updatePoseJacobians(Hpose, Hint1, Hint2, Hint3, Hint4, H1, H2, H3, H4); } return point_err.vector(); } /** return the measured */ gtsam::Point3 measured() const { return measured_; } /** equals specialized to this factor */ virtual bool equals(const gtsam::NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); return e != NULL && Base::equals(*e, tol) && GPbase_.equals(e->GPbase_) && (this->measured_ - e->measured_).norm() < tol && ((!body_P_sensor_ && !e->body_P_sensor_) || (body_P_sensor_ && e->body_P_sensor_ && body_P_sensor_->equals(*e->body_P_sensor_))); } /** print contents */ void print(const std::string& s="", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const { std::cout << s << "GPSFactor, point = " << measured_ << std::endl; if(this->body_P_sensor_) this->body_P_sensor_->print(" sensor pose in body frame: "); Base::print("", keyFormatter); GPbase_.print("Measurement interpolated at: "); } private: /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); ar & BOOST_SERIALIZATION_NVP(GPbase_); ar & BOOST_SERIALIZATION_NVP(measured_); ar & BOOST_SERIALIZATION_NVP(body_P_sensor_); } }; // GPInterpolatedGPSFactorPose3 } // namespace gpslam /// traits namespace gtsam { template<> struct traits : public Testable {}; } ================================================ FILE: gpslam/slam/GPInterpolatedGPSFactorPose3VW.h ================================================ /** * @file GPInterpolatedGPSFactorPose3VW.h * @author Jing Dong * @brief Translational measurement like GPS, GP interpolated version * @date Oct 4, 2015 **/ #pragma once #include #include #include #include #include namespace gpslam { /** * Binary factor for an translational measurement like GPS, GP interpolated */ class GPInterpolatedGPSFactorPose3VW: public gtsam::NoiseModelFactor6 { private: // interpolater GaussianProcessInterpolatorPose3VW GPbase_; gtsam::Point3 measured_; /** measurement */ boost::optional body_P_sensor_; ///< The pose of the sensor in the body frame typedef GPInterpolatedGPSFactorPose3VW This; typedef gtsam::NoiseModelFactor6 Interpolator; typedef GaussianProcessInterpolatorPose3VW GPBase; public: /// shorthand for a smart pointer to a factor typedef boost::shared_ptr shared_ptr; GPInterpolatedGPSFactorPose3VW() {} /* Default constructor */ /** * Constructor * @param body_P_sensor transformation from body to sensor */ GPInterpolatedGPSFactorPose3VW(const gtsam::Point3& measured_point3, const gtsam::SharedNoiseModel& meas_model, const gtsam::SharedNoiseModel& Qc_model, gtsam::Key poseKey1, gtsam::Key velKey1, gtsam::Key omegaKey1, gtsam::Key poseKey2, gtsam::Key velKey2, gtsam::Key omegaKey2, double delta_t, double tau, boost::optional body_P_sensor = boost::none) : Interpolator(meas_model, poseKey1, velKey1, omegaKey1, poseKey2, velKey2, omegaKey2), GPbase_(Qc_model, delta_t, tau), measured_(measured_point3), body_P_sensor_(body_P_sensor) { } virtual ~GPInterpolatedGPSFactorPose3VW() {} /// @return a deep copy of this factor virtual gtsam::NonlinearFactor::shared_ptr clone() const { return boost::static_pointer_cast( gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** factor error */ gtsam::Vector evaluateError( const gtsam::Pose3& pose1, const gtsam::Vector3& vel1, const gtsam::Vector3& omega1, const gtsam::Pose3& pose2, const gtsam::Vector3& vel2, const gtsam::Vector3& omega2, boost::optional H1 = boost::none, boost::optional H2 = boost::none, boost::optional H3 = boost::none, boost::optional H4 = boost::none, boost::optional H5 = boost::none, boost::optional H6 = boost::none) const { using namespace gtsam; // interpolate pose Matrix Hint1, Hint2, Hint3, Hint4, Hint5, Hint6; Pose3 pose; if (H1 || H2 || H3 || H4 || H5 || H6) pose = GPbase_.interpolatePose(pose1, vel1, omega1, pose2, vel2, omega2, Hint1, Hint2, Hint3, Hint4, Hint5, Hint6); else pose = GPbase_.interpolatePose(pose1, vel1, omega1, pose2, vel2, omega2); Matrix Hpose; // jacobian of pose Point3 point_err; if (body_P_sensor_) { Matrix H0; point_err = pose.compose(*body_P_sensor_, H0).translation(Hpose) - measured_; Hpose = Hpose * H0; GPBase::updatePoseJacobians(Hpose, Hint1, Hint2, Hint3, Hint4, Hint5, Hint6, H1, H2, H3, H4, H5, H6); } else { point_err = pose.translation(Hpose) - measured_; GPBase::updatePoseJacobians(Hpose, Hint1, Hint2, Hint3, Hint4, Hint5, Hint6, H1, H2, H3, H4, H5, H6); } return point_err.vector(); } /** return the measured */ gtsam::Point3 measured() const { return measured_; } /** equals specialized to this factor */ virtual bool equals(const gtsam::NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); return e != NULL && Base::equals(*e, tol) && GPbase_.equals(e->GPbase_) && (this->measured_ - e->measured_).norm() < tol && ((!body_P_sensor_ && !e->body_P_sensor_) || (body_P_sensor_ && e->body_P_sensor_ && body_P_sensor_->equals(*e->body_P_sensor_))); } /** print contents */ void print(const std::string& s="", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const { std::cout << s << "GPSFactor, point = " << measured_ << std::endl; if(this->body_P_sensor_) this->body_P_sensor_->print(" sensor pose in body frame: "); Base::print("", keyFormatter); GPbase_.print("Measurement interpolated at: "); } private: /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); ar & BOOST_SERIALIZATION_NVP(GPbase_); ar & BOOST_SERIALIZATION_NVP(measured_); ar & BOOST_SERIALIZATION_NVP(body_P_sensor_); } }; // GPInterpolatedGPSFactorPose3VW } // namespace gpslam /// traits namespace gtsam { template<> struct traits : public Testable {}; } ================================================ FILE: gpslam/slam/GPInterpolatedProjectionFactorPose3.h ================================================ /** * @file GPInterpolatedProjectionFactorPose3.h * @brief GP Interpolation projection measurement factor for Pose3 * @author Chris Beall, Richard Roberts, Frank Dellaert, Alex Cunningham * @author Jing Dong, Xinyan Yan */ #pragma once #include #include #include #include #include namespace gpslam { /** * Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here. * GP interpolated version */ template class GPInterpolatedProjectionFactorPose3: public gtsam::NoiseModelFactor5 { protected: // interpolater GaussianProcessInterpolatorPose3 GPbase_; // Keep a copy of measurement and calibration for I/O gtsam::Point2 measured_; ///< 2D measurement boost::shared_ptr K_; ///< shared pointer to calibration object boost::optional body_P_sensor_; ///< The pose of the sensor in the body frame // verbosity handling for Cheirality Exceptions bool throwCheirality_; ///< If true, rethrows Cheirality exceptions (default: false) bool verboseCheirality_; ///< If true, prints text for Cheirality exceptions (default: false) // typedefs typedef GPInterpolatedProjectionFactorPose3 This; typedef gtsam::NoiseModelFactor5 Base; typedef GaussianProcessInterpolatorPose3 GPBase; public: /// shorthand for a smart pointer to a factor typedef boost::shared_ptr shared_ptr; /// Default constructor: do nothing GPInterpolatedProjectionFactorPose3() {} /** * Constructor * @param measured is the 2 dimensional location of point in image (the measurement) * @param meas_model is the standard deviation * @param pointKey is the index of the landmark * @param K shared pointer to the constant calibration */ GPInterpolatedProjectionFactorPose3(const gtsam::Point2& measured, const gtsam::SharedNoiseModel& cam_model, const gtsam::SharedNoiseModel& Qc_model, gtsam::Key poseKey1, gtsam::Key velKey1, gtsam::Key poseKey2, gtsam::Key velKey2, gtsam::Key pointKey, double delta_t, double tau, const boost::shared_ptr& K, boost::optional body_P_sensor = boost::none, bool throwCheirality = false, bool verboseCheirality = false) : Base(cam_model, poseKey1, velKey1, poseKey2, velKey2, pointKey), GPbase_(Qc_model, delta_t, tau), measured_(measured), K_(K), body_P_sensor_(body_P_sensor), throwCheirality_(throwCheirality), verboseCheirality_(verboseCheirality){} /** Virtual destructor */ virtual ~GPInterpolatedProjectionFactorPose3() {} /// Evaluate error h(x)-z and optionally derivatives gtsam::Vector evaluateError(const gtsam::Pose3& pose1, const gtsam::Vector6& vel1, const gtsam::Pose3& pose2, const gtsam::Vector6& vel2, const gtsam::Point3& point, boost::optional H1 = boost::none, boost::optional H2 = boost::none, boost::optional H3 = boost::none, boost::optional H4 = boost::none, boost::optional H5 = boost::none) const { using namespace gtsam; // interpolate pose Matrix Hint1, Hint2, Hint3, Hint4; Pose3 pose; if (H1 || H2 || H3 || H4) pose = GPbase_.interpolatePose(pose1, vel1, pose2, vel2, Hint1, Hint2, Hint3, Hint4); else pose = GPbase_.interpolatePose(pose1, vel1, pose2, vel2); // jacobian of pose Matrix Hpose; try { if (body_P_sensor_) { if (H1 || H2 || H3 || H4) { Matrix H0; PinholeCamera camera(pose.compose(*body_P_sensor_, H0), *K_); Point2 reprojectionError(camera.project(point, Hpose, H5) - measured_); Hpose = Hpose * H0; GPBase::updatePoseJacobians(Hpose, Hint1, Hint2, Hint3, Hint4, H1, H2, H3, H4); return reprojectionError.vector(); } else { PinholeCamera camera(pose.compose(*body_P_sensor_), *K_); Point2 reprojectionError(camera.project(point, Hpose, H5) - measured_); return reprojectionError.vector(); } } else { PinholeCamera camera(pose, *K_); Point2 reprojectionError(camera.project(point, Hpose, H5) - measured_); GPBase::updatePoseJacobians(Hpose, Hint1, Hint2, Hint3, Hint4, H1, H2, H3, H4); return reprojectionError.vector(); } } catch( CheiralityException& e) { // catch CheiralityException if (H1) *H1 = Matrix::Zero(2,6); if (H2) *H2 = Matrix::Zero(2,6); if (H3) *H3 = Matrix::Zero(2,6); if (H4) *H4 = Matrix::Zero(2,6); if (H5) *H5 = Matrix::Zero(2,3); if (verboseCheirality_) std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2()) << " moved behind camera " << DefaultKeyFormatter(this->key1()) << std::endl; if (throwCheirality_) throw e; } // no throw case return Vector::Ones(2) * 2.0 * K_->fx(); } /** return the measurement */ const gtsam::Point2& measured() const { return measured_; } /** return the calibration object */ inline const boost::shared_ptr calibration() const { return K_; } /** * Testables */ /// @return a deep copy of this factor virtual gtsam::NonlinearFactor::shared_ptr clone() const { return boost::static_pointer_cast( gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** * print * @param s optional string naming the factor * @param keyFormatter optional formatter useful for printing Symbols */ void print(const std::string& s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const { std::cout << s << "GPInterpolatedProjectionFactor, z = "; measured_.print(); Base::print("", keyFormatter); GPbase_.print("Measurement taken from: "); } /// equals virtual bool equals(const gtsam::NonlinearFactor& p, double tol = 1e-9) const { const This *e = dynamic_cast(&p); return e && Base::equals(p, tol) && GPbase_.equals(e->GPbase_) && this->measured_.equals(e->measured_, tol) && this->K_->equals(*e->K_, tol) && this->throwCheirality_ == e->throwCheirality_ && this->verboseCheirality_ == e->verboseCheirality_; } private: /// Serialization function friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); ar & BOOST_SERIALIZATION_NVP(GPbase_); ar & BOOST_SERIALIZATION_NVP(measured_); ar & BOOST_SERIALIZATION_NVP(K_); ar & BOOST_SERIALIZATION_NVP(throwCheirality_); ar & BOOST_SERIALIZATION_NVP(verboseCheirality_); } }; } // \ namespace gpslam /// traits namespace gtsam { template struct traits > : public Testable > {}; } ================================================ FILE: gpslam/slam/GPInterpolatedRangeFactor2DLinear.h ================================================ /** * @file GPInterpolatedRangeFactor2DLinear.h * @brief range factor for 2D linear pose, interpolated * @author Jing Dong **/ #pragma once #include #include #include #include namespace gpslam { /** * Binary factor for range measurement, GP interpolated, 2D linear pose version */ class GPInterpolatedRangeFactor2DLinear: public gtsam::NoiseModelFactor5 { private: // interpolater GaussianProcessInterpolatorLinear<3> GPbase_; double measured_; /** measurement */ typedef GPInterpolatedRangeFactor2DLinear This; typedef gtsam::NoiseModelFactor5 Base; typedef GaussianProcessInterpolatorLinear<3> GPBase; public: /// shorthand for a smart pointer to a factor typedef boost::shared_ptr shared_ptr; GPInterpolatedRangeFactor2DLinear() {} /* Default constructor */ GPInterpolatedRangeFactor2DLinear(double measured, gtsam::Key pose1Key, gtsam::Key vel1Key, gtsam::Key pose2Key, gtsam::Key vel2Key, gtsam::Key pointKey, const gtsam::SharedNoiseModel& meas_model, const gtsam::SharedNoiseModel& Qc_model, double delta_t, double tau) : Base(meas_model, pose1Key, vel1Key, pose2Key, vel2Key, pointKey), GPbase_(Qc_model, delta_t, tau), measured_(measured) { } virtual ~GPInterpolatedRangeFactor2DLinear() {} /// @return a deep copy of this factor virtual gtsam::NonlinearFactor::shared_ptr clone() const { return boost::static_pointer_cast( gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** factor error */ gtsam::Vector evaluateError(const gtsam::Vector3& pose1, const gtsam::Vector3& vel1, const gtsam::Vector3& pose2, const gtsam::Vector3& vel2, const gtsam::Point2& point, boost::optional H1 = boost::none, boost::optional H2 = boost::none, boost::optional H3 = boost::none, boost::optional H4 = boost::none, boost::optional H5 = boost::none) const { using namespace gtsam; // interpolate pose Matrix3 Hint1, Hint2, Hint3, Hint4; Vector3 pose; if (H1 || H2 || H3 || H4) pose = GPbase_.interpolatePose(pose1, vel1, pose2, vel2, Hint1, Hint2, Hint3, Hint4); else pose = GPbase_.interpolatePose(pose1, vel1, pose2, vel2); Point2 d = point - Point2(pose(0), pose(1)); Matrix12 H; double r = d.norm(H); Matrix Hpose; if (H1 || H2 || H3 || H4) { Hpose = (Matrix13() << -H, 0.0).finished(); GPBase::updatePoseJacobians(Hpose, Hint1, Hint2, Hint3, Hint4, H1, H2, H3, H4); } if (H5) *H5 = H; return (Vector(1) << r - measured_).finished(); } /** return the measured */ double measured() const { return measured_; } /** equals specialized to this factor */ virtual bool equals(const gtsam::NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); return e != NULL && Base::equals(*e, tol) && fabs(this->measured_ - e->measured_) < tol; } /** print contents */ void print(const std::string& s="", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const { std::cout << s << "RangeFactor, range = " << measured_ << std::endl; Base::print("", keyFormatter); } private: /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); ar & BOOST_SERIALIZATION_NVP(measured_); } }; // GPInterpolatedRangeFactor2DLinear } // namespace gpslam /// traits namespace gtsam { template<> struct traits : public Testable {}; } ================================================ FILE: gpslam/slam/GPInterpolatedRangeFactorPose2.h ================================================ /** * @file GPInterpolatedRangeFactorPose2.H * @brief range factor for SE(2) pose, interpolated * @author Jing Dong **/ #pragma once #include #include #include #include #include namespace gpslam { /** * Binary factor for range measurement, GP interpolated, SE(2) pose version */ class GPInterpolatedRangeFactorPose2: public gtsam::NoiseModelFactor5 { private: // interpolater GaussianProcessInterpolatorPose2 GPbase_; double measured_; /** measurement */ boost::optional body_P_sensor_; ///< The pose of the sensor in the body frame typedef GPInterpolatedRangeFactorPose2 This; typedef gtsam::NoiseModelFactor5 Base; typedef GaussianProcessInterpolatorPose2 GPBase; public: /// shorthand for a smart pointer to a factor typedef boost::shared_ptr shared_ptr; GPInterpolatedRangeFactorPose2() {} /* Default constructor */ GPInterpolatedRangeFactorPose2(double measured, const gtsam::SharedNoiseModel& meas_model, const gtsam::SharedNoiseModel& Qc_model, gtsam::Key poseKey1, gtsam::Key velKey1, gtsam::Key poseKey2, gtsam::Key velKey2, gtsam::Key pointKey, double delta_t, double tau, boost::optional body_P_sensor = boost::none) : Base(meas_model, poseKey1, velKey1, poseKey2, velKey2, pointKey), GPbase_(Qc_model, delta_t, tau), measured_(measured), body_P_sensor_(body_P_sensor) { } virtual ~GPInterpolatedRangeFactorPose2() {} /// @return a deep copy of this factor virtual gtsam::NonlinearFactor::shared_ptr clone() const { return boost::static_pointer_cast( gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** factor error */ gtsam::Vector evaluateError(const gtsam::Pose2& pose1, const gtsam::Vector3& vel1, const gtsam::Pose2& pose2, const gtsam::Vector3& vel2, const gtsam::Point2& point, boost::optional H1 = boost::none, boost::optional H2 = boost::none, boost::optional H3 = boost::none, boost::optional H4 = boost::none, boost::optional H5 = boost::none) const { using namespace gtsam; // interpolate pose Matrix3 Hint1, Hint2, Hint3, Hint4; Pose2 pose; if (H1 || H2 || H3 || H4) pose = GPbase_.interpolatePose(pose1, vel1, pose2, vel2, Hint1, Hint2, Hint3, Hint4); else pose = GPbase_.interpolatePose(pose1, vel1, pose2, vel2); Matrix Hpose; // jacobian of pose double hx; // measure if (body_P_sensor_) { if (H1 || H2 || H3 || H4) { Matrix H0; hx = pose.compose(*body_P_sensor_, H0).range(point, Hpose, H5); Hpose = Hpose * H0; GPBase::updatePoseJacobians(Hpose, Hint1, Hint2, Hint3, Hint4, H1, H2, H3, H4); } else { hx = pose.compose(*body_P_sensor_).range(point, Hpose, H5); } } else { hx = pose.range(point, Hpose, H5); GPBase::updatePoseJacobians(Hpose, Hint1, Hint2, Hint3, Hint4, H1, H2, H3, H4); } return (Vector(1) << hx - measured_).finished(); } /** return the measured */ double measured() const { return measured_; } /** equals specialized to this factor */ virtual bool equals(const gtsam::NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); return e != NULL && Base::equals(*e, tol) && this->GPbase_.equals(e->GPbase_) && fabs(this->measured_ - e->measured_) < tol && ((!body_P_sensor_ && !e->body_P_sensor_) || (body_P_sensor_ && e->body_P_sensor_ && body_P_sensor_->equals(*e->body_P_sensor_))); } /** print contents */ void print(const std::string& s="", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const { std::cout << s << "RangeFactor, range = " << measured_ << std::endl; if(this->body_P_sensor_) this->body_P_sensor_->print("Sensor pose in body frame: "); Base::print("", keyFormatter); GPbase_.print("Measurement taken from: "); } private: /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { ar & boost::serialization::make_nvp("NoiseModelFactor5", boost::serialization::base_object(*this)); ar & BOOST_SERIALIZATION_NVP(GPbase_); ar & BOOST_SERIALIZATION_NVP(measured_); ar & BOOST_SERIALIZATION_NVP(body_P_sensor_); } }; // GPInterpolatedRangeFactorPose2 } // namespace gpslam /// traits namespace gtsam { template<> struct traits : public Testable {}; } ================================================ FILE: gpslam/slam/GPInterpolatedRangeFactorPose3.h ================================================ /** * @file GPInterpolatedRangeFactorPose3.H * @brief range factor for SE(3) pose, interpolated * @author Frank Dellaert, Jing Dong **/ #pragma once #include #include #include #include #include namespace gpslam { /** * Binary factor for range measurement, GP interpolated, SE(3) pose version */ class GPInterpolatedRangeFactorPose3: public gtsam::NoiseModelFactor5 { private: // interpolater GaussianProcessInterpolatorPose3 GPbase_; double measured_; /** measurement */ boost::optional body_P_sensor_; ///< The pose of the sensor in the body frame typedef GPInterpolatedRangeFactorPose3 This; typedef gtsam::NoiseModelFactor5 Base; typedef GaussianProcessInterpolatorPose3 GPBase; public: /// shorthand for a smart pointer to a factor typedef boost::shared_ptr shared_ptr; GPInterpolatedRangeFactorPose3() {} /* Default constructor */ GPInterpolatedRangeFactorPose3(double measured, const gtsam::SharedNoiseModel& meas_model, const gtsam::SharedNoiseModel& Qc_model, gtsam::Key poseKey1, gtsam::Key velKey1, gtsam::Key poseKey2, gtsam::Key velKey2, gtsam::Key pointKey, double delta_t, double tau, boost::optional body_P_sensor = boost::none) : Base(meas_model, poseKey1, velKey1, poseKey2, velKey2, pointKey), GPbase_(Qc_model, delta_t, tau), measured_(measured), body_P_sensor_(body_P_sensor) { } virtual ~GPInterpolatedRangeFactorPose3() {} /// @return a deep copy of this factor virtual gtsam::NonlinearFactor::shared_ptr clone() const { return boost::static_pointer_cast( gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** factor error */ gtsam::Vector evaluateError(const gtsam::Pose3& pose1, const gtsam::Vector6& vel1, const gtsam::Pose3& pose2, const gtsam::Vector6& vel2, const gtsam::Point3& point, boost::optional H1 = boost::none, boost::optional H2 = boost::none, boost::optional H3 = boost::none, boost::optional H4 = boost::none, boost::optional H5 = boost::none) const { using namespace gtsam; // interpolate pose Matrix Hint1, Hint2, Hint3, Hint4; Pose3 pose; if (H1 || H2 || H3 || H4) pose = GPbase_.interpolatePose(pose1, vel1, pose2, vel2, Hint1, Hint2, Hint3, Hint4); else pose = GPbase_.interpolatePose(pose1, vel1, pose2, vel2); Matrix Hpose; // jacobian of pose double hx; // measure if (body_P_sensor_) { if (H1 || H2 || H3 || H4) { Matrix H0; hx = pose.compose(*body_P_sensor_, H0).range(point, Hpose, H5); Hpose = Hpose * H0; GPBase::updatePoseJacobians(Hpose, Hint1, Hint2, Hint3, Hint4, H1, H2, H3, H4); } else { hx = pose.compose(*body_P_sensor_).range(point, Hpose, H5); } } else { hx = pose.range(point, Hpose, H5); GPBase::updatePoseJacobians(Hpose, Hint1, Hint2, Hint3, Hint4, H1, H2, H3, H4); } return (Vector(1) << hx - measured_).finished(); } /** return the measured */ double measured() const { return measured_; } /** equals specialized to this factor */ virtual bool equals(const gtsam::NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); return e != NULL && Base::equals(*e, tol) && this->GPbase_.equals(e->GPbase_) && fabs(this->measured_ - e->measured_) < tol && ((!body_P_sensor_ && !e->body_P_sensor_) || (body_P_sensor_ && e->body_P_sensor_ && body_P_sensor_->equals(*e->body_P_sensor_))); } /** print contents */ void print(const std::string& s="", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const { std::cout << s << "RangeFactor, range = " << measured_ << std::endl; if(this->body_P_sensor_) this->body_P_sensor_->print("Sensor pose in body frame: "); Base::print("", keyFormatter); GPbase_.print("Measurement taken from: "); } private: /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { ar & boost::serialization::make_nvp("NoiseModelFactor5", boost::serialization::base_object(*this)); ar & BOOST_SERIALIZATION_NVP(GPbase_); ar & BOOST_SERIALIZATION_NVP(measured_); ar & BOOST_SERIALIZATION_NVP(body_P_sensor_); } }; // GPInterpolatedRangeFactorPose3 } // namespace gpslam /// traits namespace gtsam { template<> struct traits : public Testable {}; } ================================================ FILE: gpslam/slam/OdometryFactor2DLinear.h ================================================ /** * @file OdometryFactor2DLinear.H * @brief 2-way odometry factor, 2D linear pose version * @author Xinyan Yan, Jing Dong */ #pragma once #include #include #include #include #include #include namespace gpslam { /** * 2-way odometry factor, 2D linear pose version */ class OdometryFactor2DLinear: public gtsam::NoiseModelFactor2 { private: gtsam::Vector3 measured_; /** measurement distdot, 0, thetadot */ typedef OdometryFactor2DLinear This; typedef gtsam::NoiseModelFactor2 Base; public: OdometryFactor2DLinear() {} /* Default constructor */ /** * @param betweenMeasured odometry measurement [dx dy dtheta] in body frame */ OdometryFactor2DLinear(gtsam::Key pose1Key, gtsam::Key pose2Key, const gtsam::Vector3& betweenMeasured, const gtsam::SharedNoiseModel& model) : Base(model, pose1Key, pose2Key), measured_(betweenMeasured) {} virtual ~OdometryFactor2DLinear() {} /// @return a deep copy of this factor virtual gtsam::NonlinearFactor::shared_ptr clone() const { return boost::static_pointer_cast( gtsam::NonlinearFactor::shared_ptr(new This(*this))); } // Calculate error and Jacobians gtsam::Vector evaluateError(const gtsam::Vector3& pose1, const gtsam::Vector3& pose2, boost::optional H1 = boost::none, boost::optional H2 = boost::none) const { using namespace gtsam; Vector3 vec_diff = pose2 - pose1; Point2 point_diff_local; if (H1 || H2) { Matrix Hrot, Hp; point_diff_local = Rot2(pose1(2)).unrotate(Point2(vec_diff(0), vec_diff(1)), Hrot, Hp); // compute Jacobian if (H1) *H1 = (Matrix3() << -Hp, Hrot, Matrix12::Zero(), -1).finished(); if (H2) *H2 = (Matrix3() << Hp, Matrix21::Zero(), Matrix12::Zero(), 1).finished(); } else { point_diff_local = Rot2(pose1(2)).unrotate(Point2(vec_diff(0), vec_diff(1))); } return (Vector(3) << point_diff_local.x() - measured_(0), point_diff_local.y() - measured_(1), vec_diff(2) - measured_(2)).finished(); } /** return the measured */ const gtsam::Vector3& measured() const { return measured_; } /** number of variables attached to this factor */ size_t size() const { return 2; } /** equals specialized to this factor */ virtual bool equals(const gtsam::NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); return e != NULL && Base::equals(*e, tol) && gtsam::equal_with_abs_tol(this->measured_, e->measured_, tol); } /** print contents */ void print(const std::string& s="", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const { std::cout << s << "2-way projected odometry factor" << std::endl; Base::print("", keyFormatter); } private: /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { ar & boost::serialization::make_nvp("NoiseModelFactor2", boost::serialization::base_object(*this)); ar & BOOST_SERIALIZATION_NVP(measured_); } }; // OdometryFactor2DLinear } // namespace gpslam /// traits namespace gtsam { template<> struct traits : public Testable {}; } ================================================ FILE: gpslam/slam/RangeBearingFactor2DLinear.h ================================================ /** * @file RangeBearingFactor2DLinear.h * @brief range + bearing factor for 2D linear pose * @author Xinyan Yan, Jing Dong * @date Nov 3, 2015 **/ #pragma once #include #include #include namespace gpslam { /** * range and bearing measurement, 2D linear pose version */ class RangeBearingFactor2DLinear: public gtsam::NoiseModelFactor2 { private: // measurements double range_; gtsam::Rot2 bearing_; typedef RangeBearingFactor2DLinear This; typedef gtsam::NoiseModelFactor2 Base; public: RangeBearingFactor2DLinear() {} /* Default constructor */ RangeBearingFactor2DLinear(gtsam::Key poseKey, gtsam::Key pointKey, double range, const gtsam::Rot2& bearing, const gtsam::SharedNoiseModel& model) : Base(model, poseKey, pointKey), range_(range), bearing_(bearing) { } virtual ~RangeBearingFactor2DLinear() {} /// @return a deep copy of this factor virtual gtsam::NonlinearFactor::shared_ptr clone() const { return boost::static_pointer_cast( gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** h(x)-z */ gtsam::Vector evaluateError(const gtsam::Vector3& pose, const gtsam::Point2& point, boost::optional H1 = boost::none, boost::optional H2 = boost::none) const { using namespace gtsam; Pose2 pose2(pose(0), pose(1), pose(2)); Point2 rel_point = pose2.transform_to(point); Rot2 expect_rot = Rot2::atan2(rel_point.y(), rel_point.x()); Matrix12 Hnorm; double expect_d = Point2(point - pose2.t()).norm(Hnorm); // jacobians if (H1 || H2) { Matrix12 tmp; if (expect_d > 1e-5) { double expect_d2 = expect_d * expect_d; tmp = (Matrix12() << -rel_point.y()/expect_d2, rel_point.x()/expect_d2).finished(); } else { tmp = Matrix12::Zero(); } Matrix13 H11, H21; Matrix12 H12, H22; if (H1) { Vector2 t(rel_point.y(), -rel_point.x()); H11 = tmp * (Matrix23() << -pose2.r().transpose(), t).finished(); H21 = (Matrix13() << -Hnorm, 0.0).finished(); *H1 = (Matrix23() << H11, H21).finished(); } if (H2) { H12 = tmp * pose2.r().transpose(); H22 = Hnorm; *H2 = (Matrix2() << H12, H22).finished(); } } return (Vector(2) << Rot2::Logmap(bearing_.between(expect_rot)), expect_d - range_).finished(); } /** return the measured */ double range() const { return range_; } const gtsam::Rot2& bearing() const { return bearing_; } /** equals specialized to this factor */ virtual bool equals(const gtsam::NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); return e != NULL && Base::equals(*e, tol) && fabs(this->range_ - e->range_) < tol && this->bearing_.equals(e->bearing_, tol); } /** print contents */ void print(const std::string& s="", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const { std::cout << s << "RangeBearingFactor, range = " << range_ << ", bearing = "; bearing_.print(); Base::print("", keyFormatter); } private: /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); ar & BOOST_SERIALIZATION_NVP(range_); ar & BOOST_SERIALIZATION_NVP(bearing_); } }; // RangeBearingFactor2DLinear } // namespace gpslam /// traits namespace gtsam { template<> struct traits : public Testable {}; } ================================================ FILE: gpslam/slam/RangeFactor2DLinear.h ================================================ /** * @file RangeFactor2DLinear.h * @brief range factor for 2D linear pose * @author Xinyan Yan, Jing Dong **/ #pragma once #include #include #include namespace gpslam { /** * range measurement, 2D linear pose version */ class RangeFactor2DLinear: public gtsam::NoiseModelFactor2 { private: double measured_; /** measurement */ typedef RangeFactor2DLinear This; typedef gtsam::NoiseModelFactor2 Base; public: RangeFactor2DLinear() {} /* Default constructor */ RangeFactor2DLinear(gtsam::Key poseKey, gtsam::Key pointKey, double measured, const gtsam::SharedNoiseModel& model) : Base(model, poseKey, pointKey), measured_(measured) { } virtual ~RangeFactor2DLinear() {} /// @return a deep copy of this factor virtual gtsam::NonlinearFactor::shared_ptr clone() const { return boost::static_pointer_cast( gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** h(x)-z */ gtsam::Vector evaluateError(const gtsam::Vector3& pose, const gtsam::Point2& point, boost::optional H1 = boost::none, boost::optional H2 = boost::none) const { using namespace gtsam; Point2 d = point - Point2(pose(0), pose(1)); Matrix12 H; double r = d.norm(H); if(H1) *H1 = (Matrix13() << -H, 0.0).finished(); if(H2) *H2 = H; return (Vector(1) << r - measured_).finished(); } /** return the measured */ double measured() const { return measured_; } /** equals specialized to this factor */ virtual bool equals(const gtsam::NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); return e != NULL && Base::equals(*e, tol) && fabs(this->measured_ - e->measured_) < tol; } /** print contents */ void print(const std::string& s="", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const { std::cout << s << "RangeFactor, range = " << measured_ << std::endl; Base::print("", keyFormatter); } private: /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); ar & BOOST_SERIALIZATION_NVP(measured_); } }; // RangeFactor2DLinear } // namespace gpslam /// traits namespace gtsam { template<> struct traits : public Testable {}; } ================================================ FILE: gpslam/slam/RangeFactorPose2.h ================================================ /** * @file RangeFactorPose2.h * @brief range factor pose2 * @author Jing Dong **/ #pragma once #include #include #include namespace gpslam { typedef gtsam::RangeFactor RangeFactorPose2; } // namespace gpslam ================================================ FILE: gpslam/slam/tests/testGPInterpolatedGPSFactorPose3.cpp ================================================ /** * @file testGPInterpolatedGPSFactorPose3.cpp * @author Jing Dong * @date Oct 4, 2015 **/ #include #include #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace gtsam; using namespace gpslam; typedef GPInterpolatedGPSFactorPose3 GPSFactor; // error function wrapper for bind 10 params, by ignore default boost::none inline Vector errorWrapper(const GPSFactor& factor, const Pose3& pose1, const Vector6& vel1, const Pose3& pose2, const Vector6& vel2) { return factor.evaluateError(pose1, vel1, pose2, vel2); } /* ************************************************************************** */ TEST(GPInterpolatedGPSFactorPose3, error) { noiseModel::Isotropic::shared_ptr model_range = noiseModel::Isotropic::Sigma(3, 0.1); Matrix Qc = 0.001 * Matrix::Identity(6,6); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); double dt = 0.1, tau = 0.04; Pose3 body_T_sensor = Pose3(Rot3::Ypr(1.0, 0.4, 0.5), Point3(0.3, 0.6, -0.7)); Pose3 p1, p2; Vector6 v1, v2; Point3 gps_meas; GPSFactor factor; Vector expect, actual; Matrix expectH1, expectH2, expectH3, expectH4; Matrix actualH1, actualH2, actualH3, actualH4; // test at origin, land is in front of z p1 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)); p2 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)); v1 = (Vector6() << 0, 0, 0, 0, 0, 0).finished(); v2 = (Vector6() << 0, 0, 0, 0, 0, 0).finished(); gps_meas = Point3(0, 0, 0); factor = GPSFactor(gps_meas, model_range, Qc_model, 0, 0, 0, 0, dt, tau); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = Vector::Zero(3); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, p2, v2)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, p2, v2)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, v2)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, _1)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); // interpolat at origin: forward velocity p1 = Pose3(Rot3::Ypr(0, 0, 0), Point3(-0.04, 0, 0)); p2 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0.06, 0, 0)); v1 = (Vector6() << 0, 0, 0, 1, 0, 0).finished(); v2 = (Vector6() << 0, 0, 0, 1, 0, 0).finished(); gps_meas = Point3(0, 0, 0); factor = GPSFactor(gps_meas, model_range, Qc_model, 0, 0, 0, 0, dt, tau); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = Vector::Zero(3); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, p2, v2)), p1, 1e-4); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, p2, v2)), v1, 1e-4); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, v2)), p2, 1e-4); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, _1)), v2, 1e-4); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); // interpolat at origin: rotate p1 = Pose3(Rot3::Ypr(-0.04, 0, 0), Point3(0, 0, 0)); p2 = Pose3(Rot3::Ypr(0.06, 0, 0), Point3(0, 0, 0)); v1 = (Vector6() << 0, 0, 1, 0, 0, 0).finished(); v2 = (Vector6() << 0, 0, 1, 0, 0, 0).finished(); gps_meas = Point3(0, 0, 0); factor = GPSFactor(gps_meas, model_range, Qc_model, 0, 0, 0, 0, dt, tau); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = Vector::Zero(3); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, p2, v2)), p1, 1e-4); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, p2, v2)), v1, 1e-4); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, v2)), p2, 1e-4); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, _1)), v2, 1e-4); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); // forward velocity with body_P_sensor p1 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)); p2 = Pose3(Rot3::Ypr(0, 0, 0), Point3(1.5, 0, 0)); v1 = (Vector6() << 0, 0, 0, 15, 0, 0).finished(); v2 = (Vector6() << 0, 0, 0, 15, 0, 0).finished(); // ground truth pose: Pose3 ture_pose = Pose3(Rot3::Ypr(0, 0, 0), Point3(0.6, 0, 0)); gps_meas = (ture_pose.compose(body_T_sensor)).translation(); factor = GPSFactor(gps_meas, model_range, Qc_model, 0, 0, 0, 0, dt, tau, body_T_sensor); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = Vector::Zero(3); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, p2, v2)), p1, 1e-4); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, p2, v2)), v1, 1e-4); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, v2)), p2, 1e-4); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, _1)), v2, 1e-4); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); // some random stuff: just for test jacobians p1 = Pose3(Rot3::Ypr(1.3, 2.4, 1.2), Point3(0.2, 0.3, 0.4)); p2 = Pose3(Rot3::Ypr(0.5, 6.5, 1.1), Point3(1.5, 0.7, 0.5)); v1 = (Vector6() << 1.0, 2.0, 0.4, 15, 0.3, 0.2).finished(); v2 = (Vector6() << 2.0, 0.2, 0.1, 17, 0.4, 0.7).finished(); // ground truth pose: gps_meas = Point3(0, 0, 0); factor = GPSFactor(gps_meas, model_range, Qc_model, 0, 0, 0, 0, dt, tau, body_T_sensor); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, p2, v2)), p1, 1e-4); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, p2, v2)), v1, 1e-4); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, v2)), p2, 1e-4); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, _1)), v2, 1e-4); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); } /* ************************************************************************** */ TEST(GPInterpolatedGPSFactorPose3, optimization) { /** * A simple graph: * * gps1,2,3 * / \ * x1 x2 * \ / * gp * / \ * v1 v2 * | | * pv1 pv2 * * p1 and p2 are constrained by GP prior and measurement, velcity is known. * 3 measurements are given in different places (on a line) */ noiseModel::Isotropic::shared_ptr model_prior = noiseModel::Isotropic::Sigma(6, 0.01); noiseModel::Isotropic::shared_ptr model_prior_loss = noiseModel::Isotropic::Sigma(6, 100); noiseModel::Isotropic::shared_ptr model_gps = noiseModel::Isotropic::Sigma(3, 0.1); double delta_t = 0.1, tau1 = -0.1, tau2 = 0.05, tau3 = 0.2; Matrix Qc = 0.01 * Matrix::Identity(6,6); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); // ground truth Pose3 p1(Rot3(), Point3(0,0,0)), p2(Rot3(), Point3(1,0,0)); Pose3 pcam1(Rot3(), Point3(-1,0,0)), pcam2(Rot3(), Point3(0.5,0,0)), pcam3(Rot3(), Point3(2,0,0)); Vector6 v1 = (Vector6() << 0, 0, 0, 10, 0, 0).finished(); Vector6 v2 = (Vector6() << 0, 0, 0, 10, 0, 0).finished(); // init values Pose3 p1i(Rot3::Ypr(0.1, 0.1, -0.1), Point3(0.04, 0.1, -0.06)); Pose3 p2i(Rot3::Ypr(-0.1, 0.1, -0.1), Point3(1.05, -0.1, 0.1)); Vector6 v1i = (Vector6() << -0.1, 0, 0, 9.8, 0, 0.2).finished(); Vector6 v2i = (Vector6() << 0, 0, 0.2, 9.7, 0, -0.1).finished(); // landmark and measurements Point3 meas1 = pcam1.translation(); Point3 meas2 = pcam2.translation(); Point3 meas3 = pcam3.translation(); NonlinearFactorGraph graph; graph.add(PriorFactor(Symbol('x', 1), p1, model_prior_loss)); //graph.add(PriorFactor(Symbol('x', 2), p2, model_prior_loss)); graph.add(PriorFactor(Symbol('v', 1), v1, model_prior)); graph.add(PriorFactor(Symbol('v', 2), v2, model_prior)); graph.add(GaussianProcessPriorPose3(Symbol('x', 1), Symbol('v', 1), Symbol('x', 2), Symbol('v', 2), delta_t, Qc_model)); graph.add(GPSFactor(meas1, model_gps, Qc_model, Symbol('x', 1), Symbol('v', 1), Symbol('x', 2), Symbol('v', 2), delta_t, tau1)); graph.add(GPSFactor(meas2, model_gps, Qc_model, Symbol('x', 1), Symbol('v', 1), Symbol('x', 2), Symbol('v', 2), delta_t, tau2)); graph.add(GPSFactor(meas3, model_gps, Qc_model, Symbol('x', 1), Symbol('v', 1), Symbol('x', 2), Symbol('v', 2), delta_t, tau3)); Values init_values; init_values.insert(Symbol('x', 1), p1i); init_values.insert(Symbol('v', 1), v1i); init_values.insert(Symbol('x', 2), p2i); init_values.insert(Symbol('v', 2), v2i); GaussNewtonParams parameters; parameters.setVerbosity("ERROR"); GaussNewtonOptimizer optimizer(graph, init_values, parameters); optimizer.optimize(); Values values = optimizer.values(); EXPECT_DOUBLES_EQUAL(0, graph.error(values), 1e-6); EXPECT(assert_equal(p1, values.at(Symbol('x', 1)), 1e-6)); EXPECT(assert_equal(p2, values.at(Symbol('x', 2)), 1e-6)); EXPECT(assert_equal(v1, values.at(Symbol('v', 1)), 1e-6)); EXPECT(assert_equal(v1, values.at(Symbol('v', 2)), 1e-6)); } /* ************************************************************************** */ /* main function */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } ================================================ FILE: gpslam/slam/tests/testGPInterpolatedGPSFactorPose3VW.cpp ================================================ /** * @file testGPInterpolatedGPSFactorPose3VW.cpp * @author Jing Dong * @date Nov 21, 2015 **/ #include #include #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace gtsam; using namespace gpslam; typedef GPInterpolatedGPSFactorPose3VW GPSFactor; // error function wrapper for bind 10 params, by ignore default boost::none inline Vector errorWrapper(const GPSFactor& factor, const Pose3& pose1, const Vector3& vel1, const Vector3& omg1, const Pose3& pose2, const Vector3& vel2, const Vector3& omg2) { return factor.evaluateError(pose1, vel1, omg1, pose2, vel2, omg2); } /* ************************************************************************** */ TEST(GPInterpolatedGPSFactorPose3VW, error) { noiseModel::Isotropic::shared_ptr model_range = noiseModel::Isotropic::Sigma(3, 0.1); Matrix Qc = 0.001 * Matrix::Identity(6,6); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); double dt = 0.1, tau = 0.04; Pose3 body_T_sensor = Pose3(Rot3::Ypr(1.4, 4.4, -0.5), Point3(0.3, 0.6, -0.7)); Pose3 body_T_sensor_rotonly = Pose3(Rot3::Ypr(1.4, 4.4, -0.5), Point3(0, 0, 0)); Pose3 p1, p2; Vector3 v1, v2, w1, w2; Point3 gps_meas; GPSFactor factor; Vector expect, actual; Matrix expectH1, expectH2, expectH3, expectH4, expectH5, expectH6; Matrix actualH1, actualH2, actualH3, actualH4, actualH5, actualH6; // test at origin, land is in front of z p1 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)); p2 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)); v1 = Vector3(0, 0, 0); w1 = Vector3(0, 0, 0); v2 = Vector3(0, 0, 0); w2 = Vector3(0, 0, 0); gps_meas = Point3(0, 0, 0); factor = GPSFactor(gps_meas, model_range, Qc_model, 0, 0, 0, 0, 0, 0, dt, tau); actual = factor.evaluateError(p1, v1, w1, p2, v2, w2, actualH1, actualH2, actualH3, actualH4, actualH5, actualH6); expect = Vector::Zero(3); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, w1, p2, v2, w2)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, w1, p2, v2, w2)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, p2, v2, w2)), w1, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, _1, v2, w2)), p2, 1e-6); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, p2, _1, w2)), v2, 1e-6); expectH6 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, p2, v2, _1)), w2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); EXPECT(assert_equal(expectH6, actualH6, 1e-6)); // interpolat at origin: forward velocity p1 = Pose3(Rot3::Ypr(0, 0, 0), Point3(-0.04, 0.04, 0)); p2 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0.06, -0.06, 0)); v1 = Vector3(1, -1, 0); w1 = Vector3(0, 0, 0); v2 = Vector3(1, -1, 0); w2 = Vector3(0, 0, 0); gps_meas = Point3(0, 0, 0); factor = GPSFactor(gps_meas, model_range, Qc_model, 0, 0, 0, 0, 0, 0, dt, tau); actual = factor.evaluateError(p1, v1, w1, p2, v2, w2, actualH1, actualH2, actualH3, actualH4, actualH5, actualH6); expect = Vector::Zero(3); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, w1, p2, v2, w2)), p1, 1e-4); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, w1, p2, v2, w2)), v1, 1e-4); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, p2, v2, w2)), w1, 1e-4); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, _1, v2, w2)), p2, 1e-4); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, p2, _1, w2)), v2, 1e-4); expectH6 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, p2, v2, _1)), w2, 1e-4); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); EXPECT(assert_equal(expectH6, actualH6, 1e-6)); // interpolat at origin: rotate p1 = Pose3(Rot3::Ypr(-0.04, 0, 0), Point3(0, 0, 0)); p2 = Pose3(Rot3::Ypr(0.06, 0, 0), Point3(0, 0, 0)); v1 = Vector3(0, 0, 0); w1 = Vector3(0, 0, 1); v2 = Vector3(0, 0, 0); w2 = Vector3(0, 0, 1); gps_meas = Point3(0, 0, 0); factor = GPSFactor(gps_meas, model_range, Qc_model, 0, 0, 0, 0, 0, 0, dt, tau); actual = factor.evaluateError(p1, v1, w1, p2, v2, w2, actualH1, actualH2, actualH3, actualH4, actualH5, actualH6); expect = Vector::Zero(3); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, w1, p2, v2, w2)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, w1, p2, v2, w2)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, p2, v2, w2)), w1, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, _1, v2, w2)), p2, 1e-6); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, p2, _1, w2)), v2, 1e-6); expectH6 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, p2, v2, _1)), w2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); EXPECT(assert_equal(expectH6, actualH6, 1e-6)); // forward velocity with body_P_sensor p1 = Pose3(Rot3::Ypr(0, 0, 0), Point3(1, 0, 0)); p2 = Pose3(Rot3::Ypr(0, 0, 0), Point3(2.5, 0.5, 0)); v1 = Vector3(15, 5, 0); w1 = Vector3(0, 0, 0); v2 = Vector3(15, 5, 0); w2 = Vector3(0, 0, 0); // ground truth pose Pose3 ture_pose = Pose3(Rot3::Ypr(0, 0.0, 0.0), Point3(1.6, 0.2, 0)); gps_meas = (ture_pose.compose(body_T_sensor)).translation(); factor = GPSFactor(gps_meas, model_range, Qc_model, 0, 0, 0, 0, 0, 0, dt, tau, body_T_sensor); actual = factor.evaluateError(p1, v1, w1, p2, v2, w2, actualH1, actualH2, actualH3, actualH4, actualH5, actualH6); expect = Vector::Zero(3); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, w1, p2, v2, w2)), p1, 1e-4); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, w1, p2, v2, w2)), v1, 1e-4); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, p2, v2, w2)), w1, 1e-4); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, _1, v2, w2)), p2, 1e-4); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, p2, _1, w2)), v2, 1e-4); expectH6 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, p2, v2, _1)), w2, 1e-4); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); EXPECT(assert_equal(expectH6, actualH6, 1e-6)); // forward velocity with body_P_sensor_rotonly // test non-zero error p1 = Pose3(Rot3::Ypr(0, 0, 0), Point3(1, 0, 0)); p2 = Pose3(Rot3::Ypr(0, 0, 0), Point3(2.5, 0.5, 0)); v1 = Vector3(15, 5, 0); w1 = Vector3(0, 0, 0); v2 = Vector3(15, 5, 0); w2 = Vector3(0, 0, 0); // ground truth pose gps_meas = Point3(0, 0, 0); factor = GPSFactor(gps_meas, model_range, Qc_model, 0, 0, 0, 0, 0, 0, dt, tau, body_T_sensor_rotonly); actual = factor.evaluateError(p1, v1, w1, p2, v2, w2, actualH1, actualH2, actualH3, actualH4, actualH5, actualH6); expect = Vector3(1.6, 0.2, 0); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, w1, p2, v2, w2)), p1, 1e-4); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, w1, p2, v2, w2)), v1, 1e-4); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, p2, v2, w2)), w1, 1e-4); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, _1, v2, w2)), p2, 1e-4); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, p2, _1, w2)), v2, 1e-4); expectH6 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, p2, v2, _1)), w2, 1e-4); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); EXPECT(assert_equal(expectH6, actualH6, 1e-6)); // rotate with body_P_sensor p1 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)); p2 = Pose3(Rot3::Ypr(1.0, 0, 0), Point3(0, 0, 0)); v1 = Vector3(0, 0, 0); w1 = Vector3(0, 0, 10); v2 = Vector3(0, 0, 0); w2 = Vector3(0, 0, 10); // ground truth pose ture_pose = Pose3(Rot3::Ypr(0.4, 0.0, 0.0), Point3(0, 0, 0)); gps_meas = (ture_pose.compose(body_T_sensor)).translation(); factor = GPSFactor(gps_meas, model_range, Qc_model, 0, 0, 0, 0, 0, 0, dt, tau, body_T_sensor); actual = factor.evaluateError(p1, v1, w1, p2, v2, w2, actualH1, actualH2, actualH3, actualH4, actualH5, actualH6); expect = Vector::Zero(3); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, w1, p2, v2, w2)), p1, 1e-4); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, w1, p2, v2, w2)), v1, 1e-4); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, p2, v2, w2)), w1, 1e-4); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, _1, v2, w2)), p2, 1e-4); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, p2, _1, w2)), v2, 1e-4); expectH6 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, p2, v2, _1)), w2, 1e-4); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); EXPECT(assert_equal(expectH6, actualH6, 1e-6)); // some random stuff: just for test jacobians p1 = Pose3(Rot3::Ypr(0.4, -0.8, 0.2), Point3(3, -8, 2)); p2 = Pose3(Rot3::Ypr(0.1, 0.3, -0.5), Point3(-9, 3, 4)); v1 = Vector3(0.1, -0.2, -1.4); w1 = Vector3(0.5, 0.9, 0.7); v1 = Vector3(0.6, 0.3, -0.9); w1 = Vector3(0.4, -0.2, 0.8); // ground truth pose: gps_meas = Point3(0, 0, 0); factor = GPSFactor(gps_meas, model_range, Qc_model, 0, 0, 0, 0, 0, 0, dt, tau, body_T_sensor); actual = factor.evaluateError(p1, v1, w1, p2, v2, w2, actualH1, actualH2, actualH3, actualH4, actualH5, actualH6); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, w1, p2, v2, w2)), p1, 1e-8); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, w1, p2, v2, w2)), v1, 1e-8); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, p2, v2, w2)), w1, 1e-8); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, _1, v2, w2)), p2, 1e-8); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, p2, _1, w2)), v2, 1e-8); expectH6 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, w1, p2, v2, _1)), w2, 1e-6); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); EXPECT(assert_equal(expectH6, actualH6, 1e-6)); } /* ************************************************************************** */ TEST(GPInterpolatedGPSFactorPose3VW, optimization) { /** * A simple graph: * * gps1,2,3 * / \ * x1 x2 * \ / * gp * / \ * v1 v2 * | | * pv1 pv2 * * p1 and p2 are constrained by GP prior and measurement, velcity is known. * 3 measurements are given in different places (on a line) */ noiseModel::Isotropic::shared_ptr model_prior = noiseModel::Isotropic::Sigma(6, 0.1); noiseModel::Isotropic::shared_ptr model_prior_loss = noiseModel::Isotropic::Sigma(6, 100); noiseModel::Isotropic::shared_ptr model_gps = noiseModel::Isotropic::Sigma(3, 0.01); double delta_t = 0.1, tau1 = -0.1, tau2 = 0.05, tau3 = 0.2; Matrix Qc = 0.01 * Matrix::Identity(6,6); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); // ground truth Pose3 p1(Rot3(), Point3(0,0,0)), p2(Rot3(), Point3(1,0,0)); Pose3 pcam1(Rot3(), Point3(-1,0,0)), pcam2(Rot3(), Point3(0.5,0,0)), pcam3(Rot3(), Point3(2,0,0)); Vector3 v1 = Vector3(10, 0, 0), w1 = Vector3(0, 0, 0); Vector3 v2 = Vector3(10, 0, 0), w2 = Vector3(0, 0, 0); // init values Pose3 p1i(Rot3::Ypr(0.1, -0.1, -0.1), Point3(0.1, 0.1, -0.1)); Pose3 p2i(Rot3::Ypr(-0.1, 0.1, -0.1), Point3(1.1, -0.1, 0.1)); Vector3 v1i = Vector3(9.8, -0.1, -0.05), w1i = Vector3(0.1, -0.1, 0.1); Vector3 v2i = Vector3(10.2, 0.03, -0.1), w2i = Vector3(-0.1, 0.1, 0.1); // landmark and measurements Point3 meas1 = pcam1.translation(); Point3 meas2 = pcam2.translation(); Point3 meas3 = pcam3.translation(); NonlinearFactorGraph graph; graph.add(PriorFactor(Symbol('x', 1), p1, model_prior)); graph.add(PriorFactor(Symbol('x', 2), p2, model_prior)); graph.add(GaussianProcessPriorPose3VW(Symbol('x', 1), Symbol('v', 1), Symbol('w', 1), Symbol('x', 2), Symbol('v', 2), Symbol('w', 2), delta_t, Qc_model)); graph.add(GPSFactor(meas1, model_gps, Qc_model, Symbol('x', 1), Symbol('v', 1), Symbol('w', 1), Symbol('x', 2), Symbol('v', 2), Symbol('w', 2), delta_t, tau1)); graph.add(GPSFactor(meas2, model_gps, Qc_model, Symbol('x', 1), Symbol('v', 1), Symbol('w', 1), Symbol('x', 2), Symbol('v', 2), Symbol('w', 2), delta_t, tau2)); graph.add(GPSFactor(meas3, model_gps, Qc_model, Symbol('x', 1), Symbol('v', 1), Symbol('w', 1), Symbol('x', 2), Symbol('v', 2), Symbol('w', 2), delta_t, tau3)); Values init_values; init_values.insert(Symbol('x', 1), p1i); init_values.insert(Symbol('v', 1), v1i); init_values.insert(Symbol('w', 1), w1i); init_values.insert(Symbol('x', 2), p2i); init_values.insert(Symbol('v', 2), v2i); init_values.insert(Symbol('w', 2), w2i); GaussNewtonParams parameters; parameters.setVerbosity("ERROR"); GaussNewtonOptimizer optimizer(graph, init_values, parameters); optimizer.optimize(); Values values = optimizer.values(); EXPECT_DOUBLES_EQUAL(0, graph.error(values), 1e-6); EXPECT(assert_equal(p1, values.at(Symbol('x', 1)), 1e-6)); EXPECT(assert_equal(p2, values.at(Symbol('x', 2)), 1e-6)); EXPECT(assert_equal(v1, values.at(Symbol('v', 1)), 1e-6)); EXPECT(assert_equal(v2, values.at(Symbol('v', 2)), 1e-6)); EXPECT(assert_equal(w1, values.at(Symbol('w', 1)), 1e-6)); EXPECT(assert_equal(w2, values.at(Symbol('w', 2)), 1e-6)); } /* ************************************************************************** */ /* main function */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } ================================================ FILE: gpslam/slam/tests/testGPInterpolatedProjectionFactorPose3.cpp ================================================ /** * @file testGPInterpolatedProjectionFactorPose3.cpp * @author Jing Dong **/ #include #include #include #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace gtsam; using namespace gpslam; typedef GPInterpolatedProjectionFactorPose3 ProjectionFactor; // error function wrapper for bind 10 params, by ignore default boost::none inline Vector errorWrapper(const ProjectionFactor& factor, const Pose3& pose1, const Vector6& vel1, const Pose3& pose2, const Vector6& vel2, const Point3& point) { return factor.evaluateError(pose1, vel1, pose2, vel2, point); } /* ************************************************************************** */ TEST(GPInterpolatedProjectionFactorPose3, projection) { noiseModel::Isotropic::shared_ptr model_cam = noiseModel::Isotropic::Sigma(2, 0.1); Matrix Qc = 0.001 * Matrix::Identity(6,6); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); double dt = 0.1, tau = 0.04; boost::shared_ptr K1(new Cal3_S2()); boost::shared_ptr K2(new Cal3_S2(50, 50, 0, 40, 30)); Pose3 body_T_sensor = Pose3(Rot3::Ypr(1.0, 0.4, 0.5), Point3(0.3, 0.6, -0.7)); Pose3 p1, p2; Vector6 v1, v2; Point3 land; Point2 meas; ProjectionFactor factor; Vector expect, actual; Matrix expectH1, expectH2, expectH3, expectH4, expectH5; Matrix actualH1, actualH2, actualH3, actualH4, actualH5; // test at origin, land is in front of z p1 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)); p2 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)); v1 = (Vector6() << 0, 0, 0, 0, 0, 0).finished(); v2 = (Vector6() << 0, 0, 0, 0, 0, 0).finished(); land = Point3(0, 0, 10); meas = Point2(0, 0); factor = ProjectionFactor(meas, model_cam, Qc_model, 0, 0, 0, 0, 0, dt, tau, K1); actual = factor.evaluateError(p1, v1, p2, v2, land, actualH1, actualH2, actualH3, actualH4, actualH5); expect = ((Vector(2) << 0, 0).finished()); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, p2, v2, land)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, p2, v2, land)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, v2, land)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, _1, land)), v2, 1e-6); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, v2, _1)), land, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); // interpolat at origin: forward velocity p1 = Pose3(Rot3::Ypr(0, 0, 0), Point3(-0.04, 0, 0)); p2 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0.06, 0, 0)); v1 = (Vector6() << 0, 0, 0, 1, 0, 0).finished(); v2 = (Vector6() << 0, 0, 0, 1, 0, 0).finished(); land = Point3(0, 0, 10); meas = Point2(0, 0); factor = ProjectionFactor(meas, model_cam, Qc_model, 0, 0, 0, 0, 0, dt, tau, K1); actual = factor.evaluateError(p1, v1, p2, v2, land, actualH1, actualH2, actualH3, actualH4, actualH5); expect = ((Vector(2) << 0, 0).finished()); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, p2, v2, land)), p1, 1e-4); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, p2, v2, land)), v1, 1e-4); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, v2, land)), p2, 1e-4); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, _1, land)), v2, 1e-4); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, v2, _1)), land, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); // interpolat at origin: rotate p1 = Pose3(Rot3::Ypr(-0.04, 0, 0), Point3(0, 0, 0)); p2 = Pose3(Rot3::Ypr(0.06, 0, 0), Point3(0, 0, 0)); v1 = (Vector6() << 0, 0, 1, 0, 0, 0).finished(); v2 = (Vector6() << 0, 0, 1, 0, 0, 0).finished(); land = Point3(0, 0, 10); meas = Point2(0, 0); factor = ProjectionFactor(meas, model_cam, Qc_model, 0, 0, 0, 0, 0, dt, tau, K1); actual = factor.evaluateError(p1, v1, p2, v2, land, actualH1, actualH2, actualH3, actualH4, actualH5); expect = ((Vector(2) << 0, 0).finished()); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, p2, v2, land)), p1, 1e-4); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, p2, v2, land)), v1, 1e-4); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, v2, land)), p2, 1e-4); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, _1, land)), v2, 1e-4); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, v2, _1)), land, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); // forward velocity with random landmark: ground truth measurement by pinhole camera // with body_P_sensor p1 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)); p2 = Pose3(Rot3::Ypr(0, 0, 0), Point3(1.5, 0, 0)); v1 = (Vector6() << 0, 0, 0, 15, 0, 0).finished(); v2 = (Vector6() << 0, 0, 0, 15, 0, 0).finished(); // ground truth pose: Pose3 ture_pose = Pose3(Rot3::Ypr(0, 0, 0), Point3(0.6, 0, 0)); PinholeCamera cam(ture_pose.compose(body_T_sensor), *K2); land = Point3(3.4, 1.2, 10); meas = cam.project(land); factor = ProjectionFactor(meas, model_cam, Qc_model, 0, 0, 0, 0, 0, dt, tau, K2, body_T_sensor); actual = factor.evaluateError(p1, v1, p2, v2, land, actualH1, actualH2, actualH3, actualH4, actualH5); expect = ((Vector(2) << 0, 0).finished()); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, p2, v2, land)), p1, 1e-4); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, p2, v2, land)), v1, 1e-4); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, v2, land)), p2, 1e-4); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, _1, land)), v2, 1e-4); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, v2, _1)), land, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-5)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); } /* ************************************************************************** */ TEST(GPInterpolatedProjectionFactorPose3, optimization) { /** * A simple graph: * * l1 * | * proj1,2,3 * / \ * x1 x2 * \ / * gp * / \ * v1 v2 * | | * pv1 pv2 * * p1 and p2 are constrained by GP prior and measurement, velcity is known. * 3 measurements are given in different places */ noiseModel::Isotropic::shared_ptr model_prior = noiseModel::Isotropic::Sigma(6, 0.01); noiseModel::Isotropic::shared_ptr model_cam = noiseModel::Isotropic::Sigma(2, 0.1); double delta_t = 0.1, tau1 = 0.02, tau2 = 0.06, tau3 = 0.09; Matrix Qc = 0.01 * Matrix::Identity(6,6); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); // ground truth Pose3 p1(Rot3(), Point3(0,0,0)), p2(Rot3(), Point3(1,0,0)); Pose3 pcam1(Rot3(), Point3(0.2,0,0)), pcam2(Rot3(), Point3(0.6,0,0)), pcam3(Rot3(), Point3(0.9,0,0)); Vector6 v1 = (Vector6() << 0, 0, 0, 10, 0, 0).finished(); Vector6 v2 = (Vector6() << 0, 0, 0, 10, 0, 0).finished(); // init values Pose3 p1i(Rot3::Ypr(0.1, 0.2, 0.4), Point3(0.2, 0.3, -0.2)); Pose3 p2i(Rot3::Ypr(-0.1, -0.2, -0.4), Point3(1.2, -0.3, 0.2)); Vector6 v1i = (Vector6() << -0.3, 0, 0, 0.7, 0, 0.2).finished(); Vector6 v2i = (Vector6() << 0, 0, 0.4, 1.2, 0, -0.1).finished(); // landmark and measurements boost::shared_ptr K(new Cal3_S2(50, 50, 0, 40, 30)); Point3 land = Point3(3.4, 1.2, 20); Point3 landi = Point3(3.3, 1.3, 18); PinholeCamera cam1(pcam1, *K); Point2 meas1 = cam1.project(land); PinholeCamera cam2(pcam2, *K); Point2 meas2 = cam2.project(land); PinholeCamera cam3(pcam3, *K); Point2 meas3 = cam3.project(land); NonlinearFactorGraph graph; graph.add(PriorFactor(Symbol('x', 1), p1, model_prior)); graph.add(PriorFactor(Symbol('x', 2), p2, model_prior)); //graph.add(PriorFactor(Symbol('v', 1), v1, model_prior)); //graph.add(PriorFactor(Symbol('v', 2), v2, model_prior)); graph.add(GaussianProcessPriorPose3(Symbol('x', 1), Symbol('v', 1), Symbol('x', 2), Symbol('v', 2), delta_t, Qc_model)); graph.add(ProjectionFactor(meas1, model_cam, Qc_model, Symbol('x', 1), Symbol('v', 1), Symbol('x', 2), Symbol('v', 2), Symbol('l', 1), delta_t, tau1, K)); graph.add(ProjectionFactor(meas2, model_cam, Qc_model, Symbol('x', 1), Symbol('v', 1), Symbol('x', 2), Symbol('v', 2), Symbol('l', 1), delta_t, tau2, K)); graph.add(ProjectionFactor(meas3, model_cam, Qc_model, Symbol('x', 1), Symbol('v', 1), Symbol('x', 2), Symbol('v', 2), Symbol('l', 1), delta_t, tau3, K)); Values init_values; init_values.insert(Symbol('x', 1), p1i); init_values.insert(Symbol('v', 1), v1i); init_values.insert(Symbol('x', 2), p2i); init_values.insert(Symbol('v', 2), v2i); init_values.insert(Symbol('l', 1), landi); GaussNewtonParams parameters; parameters.setVerbosity("ERROR"); GaussNewtonOptimizer optimizer(graph, init_values, parameters); optimizer.optimize(); Values values = optimizer.values(); EXPECT_DOUBLES_EQUAL(0, graph.error(values), 1e-6); EXPECT(assert_equal(p1, values.at(Symbol('x', 1)), 1e-6)); EXPECT(assert_equal(p2, values.at(Symbol('x', 2)), 1e-6)); EXPECT(assert_equal(v1, values.at(Symbol('v', 1)), 1e-6)); EXPECT(assert_equal(v2, values.at(Symbol('v', 2)), 1e-6)); EXPECT(assert_equal(land, values.at(Symbol('l', 1)), 1e-6)); } /* ************************************************************************** */ /* main function */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } ================================================ FILE: gpslam/slam/tests/testGPInterpolatedRangeFactor2DLinear.cpp ================================================ /** * @file testGPInterpolatedRangeFactor2DLinear.cpp * @author Jing Dong **/ #include #include #include #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace gtsam; using namespace gpslam; typedef GPInterpolatedRangeFactor2DLinear RangeFactor; // error function wrapper for bind 10 params, by ignore default boost::none inline Vector errorWrapper(const RangeFactor& factor, const Vector3& pose1, const Vector3& vel1, const Vector3& pose2, const Vector3& vel2, const Point2& point) { return factor.evaluateError(pose1, vel1, pose2, vel2, point); } /* ************************************************************************** */ TEST(GPInterpolatedRangeFactor2DLinear, range) { noiseModel::Isotropic::shared_ptr model_range = noiseModel::Isotropic::Sigma(1, 0.1); Matrix Qc = 0.001 * Matrix::Identity(3,3); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); double dt = 0.1, tau = 0.04; Vector3 p1, p2; Vector3 v1, v2; Point2 land; double meas; RangeFactor factor; Vector expect, actual; Matrix expectH1, expectH2, expectH3, expectH4, expectH5; Matrix actualH1, actualH2, actualH3, actualH4, actualH5; // test at origin, land is in front of z p1 = (Vector3() << 0, 0, 0).finished(); p2 = (Vector3() << 0, 0, 0).finished(); v1 = (Vector3() << 0, 0, 0).finished(); v2 = (Vector3() << 0, 0, 0).finished(); land = Point2(0, 10); meas = 10; factor = RangeFactor(meas, 0, 0, 0, 0, 0, model_range, Qc_model, dt, tau); actual = factor.evaluateError(p1, v1, p2, v2, land, actualH1, actualH2, actualH3, actualH4, actualH5); expect = ((Vector(1) << 0).finished()); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, p2, v2, land)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, p2, v2, land)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, v2, land)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, _1, land)), v2, 1e-6); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, v2, _1)), land, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); // interpolat at origin: forward velocity p1 = (Vector3() << -0.04, 0, 0).finished(); p2 = (Vector3() << 0.06, 0, 0).finished(); v1 = (Vector3() << 1, 0, 0).finished(); v2 = (Vector3() << 1, 0, 0).finished(); land = Point2(0, 10); meas = 10; factor = RangeFactor(meas, 0, 0, 0, 0, 0, model_range, Qc_model, dt, tau); actual = factor.evaluateError(p1, v1, p2, v2, land, actualH1, actualH2, actualH3, actualH4, actualH5); expect = ((Vector(1) << 0).finished()); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, p2, v2, land)), p1, 1e-4); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, p2, v2, land)), v1, 1e-4); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, v2, land)), p2, 1e-4); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, _1, land)), v2, 1e-4); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, v2, _1)), land, 1e-4); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); // interpolat at origin: rotate p1 = (Vector3() << 0, 0, -0.04).finished(); p2 = (Vector3() << 0, 0, 0.06).finished(); v1 = (Vector3() << 0, 0, 1).finished(); v2 = (Vector3() << 0, 0, 1).finished(); land = Point2(0, 10); meas = 10; factor = RangeFactor(meas, 0, 0, 0, 0, 0, model_range, Qc_model, dt, tau); actual = factor.evaluateError(p1, v1, p2, v2, land, actualH1, actualH2, actualH3, actualH4, actualH5); expect = ((Vector(1) << 0).finished()); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, p2, v2, land)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, p2, v2, land)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, v2, land)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, _1, land)), v2, 1e-6); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, v2, _1)), land, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); // interpolat at origin: rotate with non-zero rotation bias p1 = (Vector3() << 0, 0, 10 * M_PI - 0.04).finished(); p2 = (Vector3() << 0, 0, 10 * M_PI + 0.06).finished(); v1 = (Vector3() << 0, 0, 1).finished(); v2 = (Vector3() << 0, 0, 1).finished(); land = Point2(0, 10); meas = 10; factor = RangeFactor(meas, 0, 0, 0, 0, 0, model_range, Qc_model, dt, tau); actual = factor.evaluateError(p1, v1, p2, v2, land, actualH1, actualH2, actualH3, actualH4, actualH5); expect = ((Vector(1) << 0).finished()); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, p2, v2, land)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, p2, v2, land)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, v2, land)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, _1, land)), v2, 1e-6); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, v2, _1)), land, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); // forward velocity with random landmark: ground truth measurement by pinhole camera p1 = (Vector3() << 0, 0, 0).finished(); p2 = (Vector3() << 1.5, 0, 0).finished(); v1 = (Vector3() << 15, 0, 0).finished(); v2 = (Vector3() << 15, 0, 0).finished(); // ground truth pose: Pose2 ture_pose = Pose2(0.6, 0, 0); land = Point2(3.4, 1.2); meas = ture_pose.range(land); factor = RangeFactor(meas, 0, 0, 0, 0, 0, model_range, Qc_model, dt, tau); actual = factor.evaluateError(p1, v1, p2, v2, land, actualH1, actualH2, actualH3, actualH4, actualH5); expect = ((Vector(1) << 0).finished()); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, p2, v2, land)), p1, 1e-4); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, p2, v2, land)), v1, 1e-4); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, v2, land)), p2, 1e-4); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, _1, land)), v2, 1e-4); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, v2, _1)), land, 1e-4); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); // random stuff to test jacobians p1 = (Vector3() << 5.34, 7.1, -4.32).finished(); p2 = (Vector3() << 1.5, -2.2, 3.0).finished(); v1 = (Vector3() << 15, 21.3, 32).finished(); v2 = (Vector3() << -15, 4.2, -30).finished(); // ground truth pose: land = Point2(3.4, 1.2); factor = RangeFactor(meas, 0, 0, 0, 0, 0, model_range, Qc_model, dt, tau); actual = factor.evaluateError(p1, v1, p2, v2, land, actualH1, actualH2, actualH3, actualH4, actualH5); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, p2, v2, land)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, p2, v2, land)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, v2, land)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, _1, land)), v2, 1e-6); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, v2, _1)), land, 1e-6); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); } /* ************************************************************************** */ TEST(GPInterpolatedRangeFactor2DLinear, optimization) { /** * A simple graph: * * l1 - pl1_loss * | * range1,2,3 * / \ * x1 x2 * \ / * gp * / \ * v1 v2 * | | * pv1 pv2 * * p1 and p2 are constrained by GP prior and measurement, velcity is known. * 3 measurements are given in different places (on a line) * landmark need a prior since it's a diverge example */ const double rotation_bias = 10 * M_PI; noiseModel::Isotropic::shared_ptr model_prior = noiseModel::Isotropic::Sigma(3, 0.01); noiseModel::Isotropic::shared_ptr model_prior2_loss = noiseModel::Isotropic::Sigma(2, 0.1); noiseModel::Isotropic::shared_ptr model_cam = noiseModel::Isotropic::Sigma(1, 0.1); double delta_t = 0.5, tau1 = 0.05, tau2 = 0.25, tau3 = 0.45; Matrix Qc = 0.01 * Matrix::Identity(3,3); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); // ground truth Vector3 p1 = (Vector3() << 0,0, rotation_bias + 0).finished(), p2 = (Vector3() << 5,0, rotation_bias + 0).finished(); Vector3 pcam1 = (Vector3() << 0.5,0,rotation_bias + 0).finished(), pcam2 = (Vector3() << 2.5,0, rotation_bias + 0).finished(), pcam3 = (Vector3() << 4.5,0, rotation_bias + 0).finished(); Vector3 v1 = (Vector3() << 10, 0, 0).finished(); Vector3 v2 = (Vector3() << 10, 0, 0).finished(); // init values Vector3 p1i = (Vector3() << 0.1, 0.1, rotation_bias - 0.1).finished(); Vector3 p2i = (Vector3() << 5.1, -0.1, rotation_bias + 0.1).finished(); Vector3 v1i = (Vector3() << 9.8, 0, 0.2).finished(); Vector3 v2i = (Vector3() << 10.2, 0, -0.1).finished(); // landmark and measurements Point2 land = Point2(2.4, 3.2); Point2 landi = Point2(2.3, 3.1); double meas1 = Pose2(pcam1(0), pcam1(1), pcam1(2)).range(land); double meas2 = Pose2(pcam2(0), pcam2(1), pcam2(2)).range(land); double meas3 = Pose2(pcam3(0), pcam3(1), pcam3(2)).range(land); NonlinearFactorGraph graph; graph.add(PriorFactor(Symbol('x', 1), p1, model_prior)); graph.add(PriorFactor(Symbol('x', 2), p2, model_prior)); graph.add(PriorFactor(Symbol('l', 1), land, model_prior2_loss)); graph.add(PriorFactor(Symbol('v', 1), v1, model_prior)); graph.add(PriorFactor(Symbol('v', 2), v2, model_prior)); graph.add(GaussianProcessPriorLinear<3>(Symbol('x', 1), Symbol('v', 1), Symbol('x', 2), Symbol('v', 2), delta_t, Qc_model)); graph.add(RangeFactor(meas1, Symbol('x', 1), Symbol('v', 1), Symbol('x', 2), Symbol('v', 2), Symbol('l', 1), model_cam, Qc_model, delta_t, tau1)); graph.add(RangeFactor(meas2, Symbol('x', 1), Symbol('v', 1), Symbol('x', 2), Symbol('v', 2), Symbol('l', 1), model_cam, Qc_model, delta_t, tau2)); graph.add(RangeFactor(meas3, Symbol('x', 1), Symbol('v', 1), Symbol('x', 2), Symbol('v', 2), Symbol('l', 1), model_cam, Qc_model, delta_t, tau3)); Values init_values; init_values.insert(Symbol('x', 1), p1i); init_values.insert(Symbol('v', 1), v1i); init_values.insert(Symbol('x', 2), p2i); init_values.insert(Symbol('v', 2), v2i); init_values.insert(Symbol('l', 1), landi); GaussNewtonParams parameters; parameters.setVerbosity("ERROR"); GaussNewtonOptimizer optimizer(graph, init_values, parameters); optimizer.optimize(); Values values = optimizer.values(); EXPECT_DOUBLES_EQUAL(0, graph.error(values), 1e-4); EXPECT(assert_equal(p1, values.at(Symbol('x', 1)), 1e-4)); EXPECT(assert_equal(p2, values.at(Symbol('x', 2)), 1e-4)); EXPECT(assert_equal(v1, values.at(Symbol('v', 1)), 1e-4)); EXPECT(assert_equal(v2, values.at(Symbol('v', 2)), 1e-4)); EXPECT(assert_equal(land, values.at(Symbol('l', 1)), 1e-4)); } /* ************************************************************************** */ /* main function */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } ================================================ FILE: gpslam/slam/tests/testGPInterpolatedRangeFactorPose2.cpp ================================================ /** * @file testGPInterpolatedRangeFactorPose2.cpp * @author Jing Dong **/ #include #include #include #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace gtsam; using namespace gpslam; typedef GPInterpolatedRangeFactorPose2 RangeFactor; // error function wrapper for bind 10 params, by ignore default boost::none inline Vector errorWrapper(const RangeFactor& factor, const Pose2& pose1, const Vector3& vel1, const Pose2& pose2, const Vector3& vel2, const Point2& point) { return factor.evaluateError(pose1, vel1, pose2, vel2, point); } /* ************************************************************************** */ TEST(GPInterpolatedRangeFactorPose2, range) { noiseModel::Isotropic::shared_ptr model_range = noiseModel::Isotropic::Sigma(1, 0.1); Matrix Qc = 0.001 * Matrix::Identity(3,3); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); double dt = 0.1, tau = 0.04; Pose2 p1, p2; Vector3 v1, v2; Point2 land; double meas; RangeFactor factor; Vector expect, actual; Matrix expectH1, expectH2, expectH3, expectH4, expectH5; Matrix actualH1, actualH2, actualH3, actualH4, actualH5; // test at origin, land is in front of z p1 = Pose2(0, 0, 0); p2 = Pose2(0, 0, 0); v1 = (Vector3() << 0, 0, 0).finished(); v2 = (Vector3() << 0, 0, 0).finished(); land = Point2(0, 10); meas = 10; factor = RangeFactor(meas, model_range, Qc_model, 0, 0, 0, 0, 0, dt, tau); actual = factor.evaluateError(p1, v1, p2, v2, land, actualH1, actualH2, actualH3, actualH4, actualH5); expect = ((Vector(1) << 0).finished()); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, p2, v2, land)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, p2, v2, land)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, v2, land)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, _1, land)), v2, 1e-6); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, v2, _1)), land, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); // interpolat at origin: forward velocity p1 = Pose2(-0.04, 0, 0); p2 = Pose2(0.06, 0, 0); v1 = (Vector3() << 1, 0, 0).finished(); v2 = (Vector3() << 1, 0, 0).finished(); land = Point2(0, 10); meas = 10; factor = RangeFactor(meas, model_range, Qc_model, 0, 0, 0, 0, 0, dt, tau); actual = factor.evaluateError(p1, v1, p2, v2, land, actualH1, actualH2, actualH3, actualH4, actualH5); expect = ((Vector(1) << 0).finished()); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, p2, v2, land)), p1, 1e-4); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, p2, v2, land)), v1, 1e-4); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, v2, land)), p2, 1e-4); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, _1, land)), v2, 1e-4); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, v2, _1)), land, 1e-4); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); // interpolat at origin: rotate p1 = Pose2(0, 0, -0.04); p2 = Pose2(0, 0, 0.06); v1 = (Vector3() << 0, 0, 1).finished(); v2 = (Vector3() << 0, 0, 1).finished(); land = Point2(0, 10); meas = 10; factor = RangeFactor(meas, model_range, Qc_model, 0, 0, 0, 0, 0, dt, tau); actual = factor.evaluateError(p1, v1, p2, v2, land, actualH1, actualH2, actualH3, actualH4, actualH5); expect = ((Vector(1) << 0).finished()); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, p2, v2, land)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, p2, v2, land)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, v2, land)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, _1, land)), v2, 1e-6); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, v2, _1)), land, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); // forward velocity with random landmark: ground truth measurement by pinhole camera p1 = Pose2(0, 0, 0); p2 = Pose2(1.5, 0, 0); v1 = (Vector3() << 15, 0, 0).finished(); v2 = (Vector3() << 15, 0, 0).finished(); // ground truth pose: Pose2 ture_pose = Pose2(0.6, 0, 0); land = Point2(3.4, 1.2); meas = ture_pose.range(land); factor = RangeFactor(meas, model_range, Qc_model, 0, 0, 0, 0, 0, dt, tau); actual = factor.evaluateError(p1, v1, p2, v2, land, actualH1, actualH2, actualH3, actualH4, actualH5); expect = ((Vector(1) << 0).finished()); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, p2, v2, land)), p1, 1e-4); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, p2, v2, land)), v1, 1e-4); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, v2, land)), p2, 1e-4); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, _1, land)), v2, 1e-4); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, v2, _1)), land, 1e-4); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); // random stuff to test jacobians p1 = Pose2(5.34, 7.1, -4.32); p2 = Pose2(1.5, -2.2, 3.0); v1 = (Vector3() << 15, 21.3, 32).finished(); v2 = (Vector3() << -15, 4.2, -30).finished(); // ground truth pose: land = Point2(3.4, 1.2); factor = RangeFactor(meas, model_range, Qc_model, 0, 0, 0, 0, 0, dt, tau); actual = factor.evaluateError(p1, v1, p2, v2, land, actualH1, actualH2, actualH3, actualH4, actualH5); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, p2, v2, land)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, p2, v2, land)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, v2, land)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, _1, land)), v2, 1e-6); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, v2, _1)), land, 1e-6); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); } /* ************************************************************************** */ TEST(GPInterpolatedRangeFactorPose2, optimization) { /** * A simple graph: * * l1 - pl1_loss * | * range1,2,3 * / \ * x1 x2 * \ / * gp * / \ * v1 v2 * | | * pv1 pv2 * * p1 and p2 are constrained by GP prior and measurement, velcity is known. * 3 measurements are given in different places (on a line) * landmark need a prior since it's a diverge example */ noiseModel::Isotropic::shared_ptr model_prior = noiseModel::Isotropic::Sigma(3, 0.01); noiseModel::Isotropic::shared_ptr model_prior2_loss = noiseModel::Isotropic::Sigma(2, 0.1); noiseModel::Isotropic::shared_ptr model_cam = noiseModel::Isotropic::Sigma(1, 0.1); double delta_t = 0.5, tau1 = 0.05, tau2 = 0.25, tau3 = 0.45; Matrix Qc = 0.01 * Matrix::Identity(3,3); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); // ground truth Pose2 p1(0,0,0), p2(5,0,0); Pose2 pcam1(0.5,0,0), pcam2(2.5,0,0), pcam3(4.5,0,0); Vector3 v1 = (Vector3() << 10, 0, 0).finished(); Vector3 v2 = (Vector3() << 10, 0, 0).finished(); // init values Pose2 p1i(0.1, 0.1, -0.1); Pose2 p2i(5.1, -0.1, 0.1); Vector3 v1i = (Vector3() << 9.8, 0, 0.2).finished(); Vector3 v2i = (Vector3() << 10.2, 0, -0.1).finished(); // landmark and measurements Point2 land = Point2(2.4, 3.2); Point2 landi = Point2(2.3, 3.1); double meas1 = pcam1.range(land); double meas2 = pcam2.range(land); double meas3 = pcam3.range(land); NonlinearFactorGraph graph; graph.add(PriorFactor(Symbol('x', 1), p1, model_prior)); graph.add(PriorFactor(Symbol('x', 2), p2, model_prior)); graph.add(PriorFactor(Symbol('l', 1), land, model_prior2_loss)); graph.add(PriorFactor(Symbol('v', 1), v1, model_prior)); graph.add(PriorFactor(Symbol('v', 2), v2, model_prior)); graph.add(GaussianProcessPriorPose2(Symbol('x', 1), Symbol('v', 1), Symbol('x', 2), Symbol('v', 2), delta_t, Qc_model)); graph.add(RangeFactor(meas1, model_cam, Qc_model, Symbol('x', 1), Symbol('v', 1), Symbol('x', 2), Symbol('v', 2), Symbol('l', 1), delta_t, tau1)); graph.add(RangeFactor(meas2, model_cam, Qc_model, Symbol('x', 1), Symbol('v', 1), Symbol('x', 2), Symbol('v', 2), Symbol('l', 1), delta_t, tau2)); graph.add(RangeFactor(meas3, model_cam, Qc_model, Symbol('x', 1), Symbol('v', 1), Symbol('x', 2), Symbol('v', 2), Symbol('l', 1), delta_t, tau3)); Values init_values; init_values.insert(Symbol('x', 1), p1i); init_values.insert(Symbol('v', 1), v1i); init_values.insert(Symbol('x', 2), p2i); init_values.insert(Symbol('v', 2), v2i); init_values.insert(Symbol('l', 1), landi); GaussNewtonParams parameters; parameters.setVerbosity("ERROR"); GaussNewtonOptimizer optimizer(graph, init_values, parameters); optimizer.optimize(); Values values = optimizer.values(); EXPECT_DOUBLES_EQUAL(0, graph.error(values), 1e-4); EXPECT(assert_equal(p1, values.at(Symbol('x', 1)), 1e-4)); EXPECT(assert_equal(p2, values.at(Symbol('x', 2)), 1e-4)); EXPECT(assert_equal(v1, values.at(Symbol('v', 1)), 1e-4)); EXPECT(assert_equal(v2, values.at(Symbol('v', 2)), 1e-4)); EXPECT(assert_equal(land, values.at(Symbol('l', 1)), 1e-4)); } /* ************************************************************************** */ /* main function */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } ================================================ FILE: gpslam/slam/tests/testGPInterpolatedRangeFactorPose3.cpp ================================================ /** * @file testGPInterpolatedRangeFactorPose3.cpp * @author Jing Dong **/ #include #include #include #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace gtsam; using namespace gpslam; typedef GPInterpolatedRangeFactorPose3 RangeFactor; // error function wrapper for bind 10 params, by ignore default boost::none inline Vector errorWrapper(const RangeFactor& factor, const Pose3& pose1, const Vector6& vel1, const Pose3& pose2, const Vector6& vel2, const Point3& point) { return factor.evaluateError(pose1, vel1, pose2, vel2, point); } /* ************************************************************************** */ TEST(GPInterpolatedRangeFactorPose3, range) { noiseModel::Isotropic::shared_ptr model_range = noiseModel::Isotropic::Sigma(1, 0.1); Matrix Qc = 0.001 * Matrix::Identity(6,6); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); double dt = 0.1, tau = 0.04; Pose3 body_T_sensor = Pose3(Rot3::Ypr(1.0, 0.4, 0.5), Point3(0.3, 0.6, -0.7)); Pose3 p1, p2; Vector6 v1, v2; Point3 land; double meas; RangeFactor factor; Vector expect, actual; Matrix expectH1, expectH2, expectH3, expectH4, expectH5; Matrix actualH1, actualH2, actualH3, actualH4, actualH5; // test at origin, land is in front of z p1 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)); p2 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)); v1 = (Vector6() << 0, 0, 0, 0, 0, 0).finished(); v2 = (Vector6() << 0, 0, 0, 0, 0, 0).finished(); land = Point3(0, 0, 10); meas = 10; factor = RangeFactor(meas, model_range, Qc_model, 0, 0, 0, 0, 0, dt, tau); actual = factor.evaluateError(p1, v1, p2, v2, land, actualH1, actualH2, actualH3, actualH4, actualH5); expect = ((Vector(1) << 0).finished()); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, p2, v2, land)), p1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, p2, v2, land)), v1, 1e-6); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, v2, land)), p2, 1e-6); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, _1, land)), v2, 1e-6); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, v2, _1)), land, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); // interpolat at origin: forward velocity p1 = Pose3(Rot3::Ypr(0, 0, 0), Point3(-0.04, 0, 0)); p2 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0.06, 0, 0)); v1 = (Vector6() << 0, 0, 0, 1, 0, 0).finished(); v2 = (Vector6() << 0, 0, 0, 1, 0, 0).finished(); land = Point3(0, 0, 10); meas = 10; factor = RangeFactor(meas, model_range, Qc_model, 0, 0, 0, 0, 0, dt, tau); actual = factor.evaluateError(p1, v1, p2, v2, land, actualH1, actualH2, actualH3, actualH4, actualH5); expect = ((Vector(1) << 0).finished()); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, p2, v2, land)), p1, 1e-4); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, p2, v2, land)), v1, 1e-4); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, v2, land)), p2, 1e-4); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, _1, land)), v2, 1e-4); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, v2, _1)), land, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); // interpolat at origin: rotate p1 = Pose3(Rot3::Ypr(-0.04, 0, 0), Point3(0, 0, 0)); p2 = Pose3(Rot3::Ypr(0.06, 0, 0), Point3(0, 0, 0)); v1 = (Vector6() << 0, 0, 1, 0, 0, 0).finished(); v2 = (Vector6() << 0, 0, 1, 0, 0, 0).finished(); land = Point3(0, 0, 10); meas = 10; factor = RangeFactor(meas, model_range, Qc_model, 0, 0, 0, 0, 0, dt, tau); actual = factor.evaluateError(p1, v1, p2, v2, land, actualH1, actualH2, actualH3, actualH4, actualH5); expect = ((Vector(1) << 0).finished()); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, p2, v2, land)), p1, 1e-4); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, p2, v2, land)), v1, 1e-4); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, v2, land)), p2, 1e-4); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, _1, land)), v2, 1e-4); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, v2, _1)), land, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); // forward velocity with random landmark: ground truth measurement by pinhole camera // with body_P_sensor p1 = Pose3(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)); p2 = Pose3(Rot3::Ypr(0, 0, 0), Point3(1.5, 0, 0)); v1 = (Vector6() << 0, 0, 0, 15, 0, 0).finished(); v2 = (Vector6() << 0, 0, 0, 15, 0, 0).finished(); // ground truth pose: Pose3 ture_pose = Pose3(Rot3::Ypr(0, 0, 0), Point3(0.6, 0, 0)); land = Point3(3.4, 1.2, 10); meas = (ture_pose.compose(body_T_sensor)).range(land); factor = RangeFactor(meas, model_range, Qc_model, 0, 0, 0, 0, 0, dt, tau, body_T_sensor); actual = factor.evaluateError(p1, v1, p2, v2, land, actualH1, actualH2, actualH3, actualH4, actualH5); expect = ((Vector(1) << 0).finished()); expectH1 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, _1, v1, p2, v2, land)), p1, 1e-4); expectH2 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, _1, p2, v2, land)), v1, 1e-4); expectH3 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, _1, v2, land)), p2, 1e-4); expectH4 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, _1, land)), v2, 1e-4); expectH5 = numericalDerivative11(boost::function( boost::bind(&errorWrapper, factor, p1, v1, p2, v2, _1)), land, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); EXPECT(assert_equal(expectH3, actualH3, 1e-6)); //EXPECT(assert_equal(expectH4, actualH4, 1e-6)); EXPECT(assert_equal(expectH4, actualH4, 1e-5)); EXPECT(assert_equal(expectH5, actualH5, 1e-6)); } /* ************************************************************************** */ TEST(GPInterpolatedRangeFactorPose3, optimization) { /** * A simple graph: * * l1 - pl1_loss * | * range1,2,3 * / \ * x1 x2 * \ / * gp * / \ * v1 v2 * | | * pv1 pv2 * * p1 and p2 are constrained by GP prior and measurement, velcity is known. * 3 measurements are given in different places (on a line) * landmark need a prior since it's a diverge example */ noiseModel::Isotropic::shared_ptr model_prior = noiseModel::Isotropic::Sigma(6, 0.01); noiseModel::Isotropic::shared_ptr model_prior3_loss = noiseModel::Isotropic::Sigma(3, 0.1); noiseModel::Isotropic::shared_ptr model_cam = noiseModel::Isotropic::Sigma(1, 0.1); double delta_t = 0.1, tau1 = -0.1, tau2 = 0.05, tau3 = 0.2; Matrix Qc = 0.01 * Matrix::Identity(6,6); noiseModel::Gaussian::shared_ptr Qc_model = noiseModel::Gaussian::Covariance(Qc); // ground truth Pose3 p1(Rot3(), Point3(0,0,0)), p2(Rot3(), Point3(1,0,0)); Pose3 pcam1(Rot3(), Point3(-1,0,0)), pcam2(Rot3(), Point3(0.5,0,0)), pcam3(Rot3(), Point3(2,0,0)); Vector6 v1 = (Vector6() << 0, 0, 0, 10, 0, 0).finished(); Vector6 v2 = (Vector6() << 0, 0, 0, 10, 0, 0).finished(); // init values Pose3 p1i(Rot3::Ypr(0.1, 0.2, 0.4), Point3(0.2, 0.3, -0.2)); Pose3 p2i(Rot3::Ypr(-0.1, -0.2, -0.4), Point3(1.2, -0.3, 0.2)); Vector6 v1i = (Vector6() << -0.1, 0, 0, 0.8, 0, 0.2).finished(); Vector6 v2i = (Vector6() << 0, 0, 0.2, 1.2, 0, -0.1).finished(); // landmark and measurements Point3 land = Point3(0.4, 1.2, 3); Point3 landi = Point3(0.3, 1.1, 2.9); double meas1 = pcam1.range(land); double meas2 = pcam2.range(land); double meas3 = pcam3.range(land); NonlinearFactorGraph graph; graph.add(PriorFactor(Symbol('x', 1), p1, model_prior)); graph.add(PriorFactor(Symbol('x', 2), p2, model_prior)); graph.add(PriorFactor(Symbol('l', 1), land, model_prior3_loss)); graph.add(PriorFactor(Symbol('v', 1), v1, model_prior)); graph.add(PriorFactor(Symbol('v', 2), v2, model_prior)); graph.add(GaussianProcessPriorPose3(Symbol('x', 1), Symbol('v', 1), Symbol('x', 2), Symbol('v', 2), delta_t, Qc_model)); graph.add(RangeFactor(meas1, model_cam, Qc_model, Symbol('x', 1), Symbol('v', 1), Symbol('x', 2), Symbol('v', 2), Symbol('l', 1), delta_t, tau1)); graph.add(RangeFactor(meas2, model_cam, Qc_model, Symbol('x', 1), Symbol('v', 1), Symbol('x', 2), Symbol('v', 2), Symbol('l', 1), delta_t, tau2)); graph.add(RangeFactor(meas3, model_cam, Qc_model, Symbol('x', 1), Symbol('v', 1), Symbol('x', 2), Symbol('v', 2), Symbol('l', 1), delta_t, tau3)); Values init_values; init_values.insert(Symbol('x', 1), p1i); init_values.insert(Symbol('v', 1), v1i); init_values.insert(Symbol('x', 2), p2i); init_values.insert(Symbol('v', 2), v2i); init_values.insert(Symbol('l', 1), landi); GaussNewtonParams parameters; parameters.setVerbosity("ERROR"); GaussNewtonOptimizer optimizer(graph, init_values, parameters); optimizer.optimize(); Values values = optimizer.values(); EXPECT_DOUBLES_EQUAL(0, graph.error(values), 1e-6); EXPECT(assert_equal(p1, values.at(Symbol('x', 1)), 1e-6)); EXPECT(assert_equal(p2, values.at(Symbol('x', 2)), 1e-6)); EXPECT(assert_equal(v1, values.at(Symbol('v', 1)), 1e-6)); EXPECT(assert_equal(v2, values.at(Symbol('v', 2)), 1e-6)); EXPECT(assert_equal(land, values.at(Symbol('l', 1)), 1e-6)); } /* ************************************************************************** */ /* main function */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } ================================================ FILE: gpslam/slam/tests/testOdometryFactor2DLinear.cpp ================================================ /** * @file testRangeFactor2DLinear.cpp * @author Jing Dong **/ #include #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace gtsam; using namespace gpslam; /* ************************************************************************** */ TEST(OdometryFactor2DLinear, Factor) { noiseModel::Gaussian::shared_ptr model = noiseModel::Isotropic::Sigma(3, 1.0); Key key_pose1 = Symbol('x', 1), key_pose2 = Symbol('x', 2); Vector3 pose1, pose2, measured; OdometryFactor2DLinear factor; Matrix actualH1, actualH2; Matrix expectH1, expectH2; Vector actual, expect; // origin: zero case (not differentiable) pose1 = Vector3(0, 0, 0); pose2 = Vector3(0, 0, 0); measured = Vector3(0, 0, 0); factor = OdometryFactor2DLinear(key_pose1, key_pose2, measured, model); actual = factor.evaluateError(pose1, pose2); expect = (Vector(3) << 0, 0, 0).finished(); EXPECT(assert_equal(expect, actual, 1e-6)); // case 1 pose1 = Vector3(0, 0, 0); pose2 = Vector3(1, 0, 0); measured = Vector3(1, 0, 0); factor = OdometryFactor2DLinear(key_pose1, key_pose2, measured, model); actual = factor.evaluateError(pose1, pose2, actualH1, actualH2); expect = (Vector(3) << 0, 0, 0).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&OdometryFactor2DLinear::evaluateError, factor, _1, pose2, boost::none, boost::none)), pose1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&OdometryFactor2DLinear::evaluateError, factor, pose1, _1, boost::none, boost::none)), pose2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); // case 2 pose1 = Vector3(42, 24, 1.570796326794897); pose2 = Vector3(42, 25, 2.570796326794897); measured = Vector3(1, 0, 1.0); factor = OdometryFactor2DLinear(key_pose1, key_pose2, measured, model); actual = factor.evaluateError(pose1, pose2, actualH1, actualH2); expect = (Vector(3) << 0, 0, 0).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&OdometryFactor2DLinear::evaluateError, factor, _1, pose2, boost::none, boost::none)), pose1, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&OdometryFactor2DLinear::evaluateError, factor, pose1, _1, boost::none, boost::none)), pose2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); } /* ************************************************************************** */ /* main function */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } ================================================ FILE: gpslam/slam/tests/testRangeBearingFactor2DLinear.cpp ================================================ /** * @file testRangeBearingFactor2DLinear.cpp * @author Jing Dong **/ #include #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace gtsam; using namespace gpslam; /* ************************************************************************** */ TEST(RangeBearingFactor2DLinear, Factor) { noiseModel::Gaussian::shared_ptr model = noiseModel::Isotropic::Sigma(2, 1.0); Key key_pose = Symbol('x', 1), key_lnd = Symbol('l', 1); Vector3 pose; Point2 land; RangeBearingFactor2DLinear factor; Matrix actualH1, actualH2; Matrix expectH1, expectH2; Vector actual, expect; // case 1 pose = Vector3(3, 4, 0); land = Point2(7, 7); factor = RangeBearingFactor2DLinear(key_pose, key_lnd, 5.0, 0.643501108793284, model); actual = factor.evaluateError(pose, land, actualH1, actualH2); expect = (Vector(2) << 0, 0).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&RangeBearingFactor2DLinear::evaluateError, factor, _1, land, boost::none, boost::none)), pose, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&RangeBearingFactor2DLinear::evaluateError, factor, pose, _1, boost::none, boost::none)), land, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); // random case pose = Vector3(13.1, -4.8, 1.5); land = Point2(-5.4, 6.6); factor = RangeBearingFactor2DLinear(key_pose, key_lnd, 13.1, 0.0, model); actual = factor.evaluateError(pose, land, actualH1, actualH2); expect = (Vector(2) << 1.089334716657378, 8.630393461693233).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&RangeBearingFactor2DLinear::evaluateError, factor, _1, land, boost::none, boost::none)), pose, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&RangeBearingFactor2DLinear::evaluateError, factor, pose, _1, boost::none, boost::none)), land, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); } /* ************************************************************************** */ TEST(RangeBearingFactor2DLinear, Optimization) { /** * A simple graph: * * l * p /|\ * |/ | \ * x1-x2-x3 * * p is pose prior factor to fix the poses, poses are connected by between factor * calculated l correctly */ noiseModel::Gaussian::shared_ptr meas_model = noiseModel::Isotropic::Sigma(2, 0.1); noiseModel::Gaussian::shared_ptr prior_model = noiseModel::Isotropic::Sigma(3, 1.0); noiseModel::Gaussian::shared_ptr between_model = noiseModel::Isotropic::Sigma(3, 0.1); Key key_p1 = Symbol('x', 1), key_p2 = Symbol('x', 2), key_p3 = Symbol('x', 3); Key key_lnd = Symbol('l', 1); // ground truth Vector3 p1 = Vector3(0, 0, 0); Vector3 p2 = Vector3(1, 0, 0); Vector3 p3 = Vector3(2, 1, 0); Point2 lnd = Point2(0, 2); // meas double dist1 = 2.0, dist2 = 2.2360679775, dist3 = 2.2360679775; Rot2 bear1(1.570796326794897), bear2(2.034443935795703), bear3(2.677945044588987); Vector3 btw12 = Vector3(1, 0, 0), btw23 = Vector3(1, 1, 0); // noisy init Vector3 p1_init = Vector3(0.2, -0.5, 0.3); Vector3 p2_init = Vector3(0.8, 0.2, 0.1); Vector3 p3_init = Vector3(2.4, 1.3, -0.4); Point2 lnd_init = Point2(0.1, 2.2); NonlinearFactorGraph graph; graph.add(PriorFactor(key_p1, p1, prior_model)); graph.add(BetweenFactor(key_p1, key_p2, btw12, between_model)); graph.add(BetweenFactor(key_p2, key_p3, btw23, between_model)); graph.add(RangeBearingFactor2DLinear(key_p1, key_lnd, dist1, bear1, meas_model)); graph.add(RangeBearingFactor2DLinear(key_p2, key_lnd, dist2, bear2, meas_model)); graph.add(RangeBearingFactor2DLinear(key_p3, key_lnd, dist3, bear3, meas_model)); Values init_values; init_values.insert(key_p1, p1_init); init_values.insert(key_p2, p2_init); init_values.insert(key_p3, p3_init); init_values.insert(key_lnd, lnd_init); GaussNewtonParams parameters; GaussNewtonOptimizer optimizer(graph, init_values, parameters); optimizer.optimize(); Values values = optimizer.values(); EXPECT_DOUBLES_EQUAL(0, graph.error(values), 1e-6); EXPECT(assert_equal(p1, values.at(key_p1), 1e-6)); EXPECT(assert_equal(p2, values.at(key_p2), 1e-6)); EXPECT(assert_equal(p3, values.at(key_p3), 1e-6)); EXPECT(assert_equal(lnd, values.at(key_lnd), 1e-6)); } /* ************************************************************************** */ /* main function */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } ================================================ FILE: gpslam/slam/tests/testRangeFactor2DLinear.cpp ================================================ /** * @file testRangeFactor2DLinear.cpp * @author Jing Dong **/ #include #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace gtsam; using namespace gpslam; /* ************************************************************************** */ TEST(RangeFactor2DLinear, Factor) { noiseModel::Gaussian::shared_ptr model = noiseModel::Isotropic::Sigma(1, 1.0); Key key_pose = Symbol('x', 1), key_lnd = Symbol('l', 1); Vector3 pose; Point2 land; RangeFactor2DLinear factor; Matrix actualH1, actualH2; Matrix expectH1, expectH2; Vector actual, expect; // origin: zero case (not differentiable) pose = Vector3(0, 0, 0); land = Point2(0, 0); factor = RangeFactor2DLinear(key_pose, key_lnd, 0.0, model); actual = factor.evaluateError(pose, land); expect = (Vector(1) << 0).finished(); EXPECT(assert_equal(expect, actual, 1e-6)); // case 1 pose = Vector3(3, 4, 5); land = Point2(7, 7); factor = RangeFactor2DLinear(key_pose, key_lnd, 5.0, model); actual = factor.evaluateError(pose, land, actualH1, actualH2); expect = (Vector(1) << 0).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&RangeFactor2DLinear::evaluateError, factor, _1, land, boost::none, boost::none)), pose, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&RangeFactor2DLinear::evaluateError, factor, pose, _1, boost::none, boost::none)), land, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); // random case pose = Vector3(13.1, -4.8, 1.5); land = Point2(-5.4, 6.6); factor = RangeFactor2DLinear(key_pose, key_lnd, 13.1, model); actual = factor.evaluateError(pose, land, actualH1, actualH2); expect = (Vector(1) << 8.630393461693233).finished(); expectH1 = numericalDerivative11(boost::function( boost::bind(&RangeFactor2DLinear::evaluateError, factor, _1, land, boost::none, boost::none)), pose, 1e-6); expectH2 = numericalDerivative11(boost::function( boost::bind(&RangeFactor2DLinear::evaluateError, factor, pose, _1, boost::none, boost::none)), land, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); EXPECT(assert_equal(expectH2, actualH2, 1e-6)); } /* ************************************************************************** */ TEST(RangeFactor2DLinear, Optimization) { /** * A simple graph: * * l * p /|\ * |/ | \ * x1-x2-x3 * * p is pose prior factor to fix the poses, poses are connected by between factor * calculated l correctly */ noiseModel::Gaussian::shared_ptr meas_model = noiseModel::Isotropic::Sigma(1, 0.1); noiseModel::Gaussian::shared_ptr prior_model = noiseModel::Isotropic::Sigma(3, 1.0); noiseModel::Gaussian::shared_ptr between_model = noiseModel::Isotropic::Sigma(3, 0.1); Key key_p1 = Symbol('x', 1), key_p2 = Symbol('x', 2), key_p3 = Symbol('x', 3); Key key_lnd = Symbol('l', 1); // ground truth Vector3 p1 = Vector3(0, 0, 0); Vector3 p2 = Vector3(1, 0, 0); Vector3 p3 = Vector3(2, 1, 0); Point2 lnd = Point2(0, 2); // meas double dist1 = 2.0, dist2 = 2.2360679775, dist3 = 2.2360679775; Vector3 btw12 = Vector3(1, 0, 0), btw23 = Vector3(1, 1, 0); // noisy init Vector3 p1_init = Vector3(0.2, -0.5, 0.3); Vector3 p2_init = Vector3(0.8, 0.2, 0.1); Vector3 p3_init = Vector3(2.4, 1.3, -0.4); Point2 lnd_init = Point2(0.1, 2.2); NonlinearFactorGraph graph; graph.add(PriorFactor(key_p1, p1, prior_model)); graph.add(BetweenFactor(key_p1, key_p2, btw12, between_model)); graph.add(BetweenFactor(key_p2, key_p3, btw23, between_model)); graph.add(RangeFactor2DLinear(key_p1, key_lnd, dist1, meas_model)); graph.add(RangeFactor2DLinear(key_p2, key_lnd, dist2, meas_model)); graph.add(RangeFactor2DLinear(key_p3, key_lnd, dist3, meas_model)); Values init_values; init_values.insert(key_p1, p1_init); init_values.insert(key_p2, p2_init); init_values.insert(key_p3, p3_init); init_values.insert(key_lnd, lnd_init); GaussNewtonParams parameters; GaussNewtonOptimizer optimizer(graph, init_values, parameters); optimizer.optimize(); Values values = optimizer.values(); EXPECT_DOUBLES_EQUAL(0, graph.error(values), 1e-6); EXPECT(assert_equal(p1, values.at(key_p1), 1e-6)); EXPECT(assert_equal(p2, values.at(key_p2), 1e-6)); EXPECT(assert_equal(p3, values.at(key_p3), 1e-6)); EXPECT(assert_equal(lnd, values.at(key_lnd), 1e-6)); } /* ************************************************************************** */ /* main function */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } ================================================ FILE: gpslam/slam/tests/testSerializationSLAM.cpp ================================================ /** * @file testSerialization.cpp * @brief test serialization of all factors * @author Jing Dong **/ #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace gtsam; using namespace gpslam; using namespace gtsam::serializationTestHelpers; BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal"); /* ************************************************************************** */ // data static SharedNoiseModel unit1 = noiseModel::Unit::Create(1); static SharedNoiseModel unit2 = noiseModel::Unit::Create(2); static SharedNoiseModel unit3 = noiseModel::Unit::Create(3); static SharedNoiseModel Qcmodel_6 = noiseModel::Isotropic::Sigma(6, 0.1); static Cal3_S2::shared_ptr K(new Cal3_S2()); // factors static GPInterpolatedGPSFactorPose3 gp_gps_pose3(Point3(0.3, 0.6, 0.9), unit2, Qcmodel_6, 1, 2, 3, 4, 0.1, 0.04); static GPInterpolatedGPSFactorPose3VW gp_gps_pose3vw(Point3(0.3, 0.6, 0.9), unit2, Qcmodel_6, 1, 2, 3, 4, 5, 6, 0.1, 0.04); static GPInterpolatedProjectionFactorPose3 gp_proj(Point2(10, 20), unit2, Qcmodel_6, 1, 2, 3, 4, 5, 0.1, 0.04, K); static GPInterpolatedRangeFactorPose3 gp_range(10.0, unit1, Qcmodel_6, 1, 2, 3, 4, 5, 0.1, 0.04); static OdometryFactor2DLinear odom_linear2(1, 2, Vector3(0.1, 0.2, 3.0), unit3); static RangeFactor2DLinear range_linear2(1, 2, 10.0, unit1); static RangeBearingFactor2DLinear rangebearing_linear2(1, 2, 0.1, 10.0, unit2); /* ************************************************************************** */ TEST(SerializationSLAM, text) { EXPECT(equalsObj(gp_gps_pose3)); EXPECT(equalsObj(gp_gps_pose3vw)); EXPECT(equalsObj(gp_proj)); EXPECT(equalsObj(gp_range)); EXPECT(equalsObj(odom_linear2)); EXPECT(equalsObj(range_linear2)); EXPECT(equalsObj(rangebearing_linear2)); } /* ************************************************************************** */ TEST(SerializationSLAM, xml) { EXPECT(equalsXML(gp_gps_pose3)); EXPECT(equalsXML(gp_gps_pose3vw)); EXPECT(equalsXML(gp_proj)); EXPECT(equalsXML(gp_range)); EXPECT(equalsXML(odom_linear2)); EXPECT(equalsXML(range_linear2)); EXPECT(equalsXML(rangebearing_linear2)); } /* ************************************************************************** */ TEST(SerializationSLAM, binary) { EXPECT(equalsBinary(gp_gps_pose3)); EXPECT(equalsBinary(gp_gps_pose3vw)); EXPECT(equalsBinary(gp_proj)); EXPECT(equalsBinary(gp_range)); EXPECT(equalsBinary(odom_linear2)); EXPECT(equalsBinary(range_linear2)); EXPECT(equalsBinary(rangebearing_linear2)); } /* ************************************************************************** */ /* main function */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } ================================================ FILE: gpslam.h ================================================ // GP-SLAM wrapper // delearation class gtsam::Vector6; class gtsam::Vector3; class gtsam::Rot2; class gtsam::Point2; class gtsam::Pose2; class gtsam::Rot3; class gtsam::Point3; class gtsam::Pose3; class gtsam::Unit3; class gtsam::Cal3_S2; class gtsam::GaussianFactorGraph; class gtsam::Values; virtual class gtsam::noiseModel::Base; virtual class gtsam::NonlinearFactor; virtual class gtsam::NonlinearFactorGraph; virtual class gtsam::NoiseModelFactor; namespace gpslam { //////////////////////////////////////////////////////////////////////////////// // Lie classes //////////////////////////////////////////////////////////////////////////////// // prior factor #include virtual class GaussianProcessPriorPose3 : gtsam::NoiseModelFactor { GaussianProcessPriorPose3(size_t key1, size_t key2, size_t key3, size_t key4, double delta, const gtsam::noiseModel::Base* Qc_model); }; #include virtual class GaussianProcessPriorPose3VW : gtsam::NoiseModelFactor { GaussianProcessPriorPose3VW(size_t key1, size_t key2, size_t key3, size_t key4, size_t key5, size_t key6, double delta, const gtsam::noiseModel::Base* Qc_model); }; #include virtual class GaussianProcessPriorPose2 : gtsam::NoiseModelFactor { GaussianProcessPriorPose2(size_t key1, size_t key2, size_t key3, size_t key4, double delta, const gtsam::noiseModel::Base* Qc_model); }; #include virtual class GaussianProcessPriorRot3 : gtsam::NoiseModelFactor { GaussianProcessPriorRot3(size_t key1, size_t key2, size_t key3, size_t key4, double delta, const gtsam::noiseModel::Base* Qc_model); }; // util class for all interpolated measurements #include class GaussianProcessInterpolatorPose3 { GaussianProcessInterpolatorPose3(const gtsam::noiseModel::Base* Qc_model, double delta_t, double tau); gtsam::Pose3 interpolatePose(const gtsam::Pose3& pose1, Vector vel1, const gtsam::Pose3& pose2, Vector vel2) const; }; #include class GaussianProcessInterpolatorPose3VW { GaussianProcessInterpolatorPose3VW(const gtsam::noiseModel::Base* Qc_model, double delta_t, double tau); gtsam::Pose3 interpolatePose(const gtsam::Pose3& pose1, Vector vel1, Vector w1, const gtsam::Pose3& pose2, Vector vel2, Vector w2) const; }; #include class GaussianProcessInterpolatorPose2 { GaussianProcessInterpolatorPose2(const gtsam::noiseModel::Base* Qc_model, double delta_t, double tau); gtsam::Pose2 interpolatePose(const gtsam::Pose2& pose1, Vector vel1, const gtsam::Pose2& pose2, Vector vel2) const; }; #include class GaussianProcessInterpolatorRot3 { GaussianProcessInterpolatorRot3(const gtsam::noiseModel::Base* Qc_model, double delta_t, double tau); gtsam::Rot3 interpolatePose(const gtsam::Rot3& pose1, Vector vel1, const gtsam::Rot3& pose2, Vector vel2) const; }; // projection factor #include template virtual class GPInterpolatedProjectionFactorPose3 : gtsam::NoiseModelFactor { GPInterpolatedProjectionFactorPose3(const gtsam::Point2& measured, const gtsam::noiseModel::Base* cam_model, const gtsam::noiseModel::Base* Qc_model, size_t pose1Key, size_t vel1Key, size_t pose2Key, size_t vel2Key, size_t pointKey, double delta_t, double tau, const CALIBRATION* k); GPInterpolatedProjectionFactorPose3(const gtsam::Point2& measured, const gtsam::noiseModel::Base* cam_model, const gtsam::noiseModel::Base* Qc_model, size_t pose1Key, size_t vel1Key, size_t pose2Key, size_t vel2Key, size_t pointKey, double delta_t, double tau, const CALIBRATION* k, const gtsam::Pose3& body_P_sensor); GPInterpolatedProjectionFactorPose3(const gtsam::Point2& measured, const gtsam::noiseModel::Base* cam_model, const gtsam::noiseModel::Base* Qc_model, size_t pose1Key, size_t vel1Key, size_t pose2Key, size_t vel2Key, size_t pointKey, double delta_t, double tau, const CALIBRATION* k, const gtsam::Pose3& body_P_sensor, bool throwCheirality, bool verboseCheirality); }; typedef gpslam::GPInterpolatedProjectionFactorPose3 GPInterpolatedProjectionFactorPose3Cal3_S2; // range factor #include virtual class RangeFactorPose2 : gtsam::NoiseModelFactor { RangeFactorPose2(size_t posekey, size_t landkey, double measured, const gtsam::noiseModel::Base* model); }; #include virtual class GPInterpolatedRangeFactorPose2 : gtsam::NoiseModelFactor { GPInterpolatedRangeFactorPose2(double measured, const gtsam::noiseModel::Base* meas_model, const gtsam::noiseModel::Base* Qc_model, size_t pose1Key, size_t vel1Key, size_t pose2Key, size_t vel2Key, size_t pointKey, double delta_t, double tau); GPInterpolatedRangeFactorPose2(double measured, const gtsam::noiseModel::Base* meas_model, const gtsam::noiseModel::Base* Qc_model, size_t pose1Key, size_t vel1Key, size_t pose2Key, size_t vel2Key, size_t pointKey, double delta_t, double tau, const gtsam::Pose2& body_P_sensor); }; #include virtual class GPInterpolatedRangeFactorPose3 : gtsam::NoiseModelFactor { GPInterpolatedRangeFactorPose3(double measured, const gtsam::noiseModel::Base* meas_model, const gtsam::noiseModel::Base* Qc_model, size_t pose1Key, size_t vel1Key, size_t pose2Key, size_t vel2Key, size_t pointKey, double delta_t, double tau); GPInterpolatedRangeFactorPose3(double measured, const gtsam::noiseModel::Base* meas_model, const gtsam::noiseModel::Base* Qc_model, size_t pose1Key, size_t vel1Key, size_t pose2Key, size_t vel2Key, size_t pointKey, double delta_t, double tau, const gtsam::Pose3& body_P_sensor); }; // attitude factor #include virtual class GPInterpolatedAttitudeFactorRot3 : gtsam::NoiseModelFactor { GPInterpolatedAttitudeFactorRot3( size_t poseKey1, size_t velKey1, size_t poseKey2, size_t velKey2, double delta_t, double tau, const gtsam::noiseModel::Base* Qc_model, const gtsam::noiseModel::Base* meas_model, const gtsam::Unit3& nZ, const gtsam::Unit3& bRef); GPInterpolatedAttitudeFactorRot3( size_t poseKey1, size_t velKey1, size_t poseKey2, size_t velKey2, double delta_t, double tau, const gtsam::noiseModel::Base* Qc_model, const gtsam::noiseModel::Base* meas_model, const gtsam::Unit3& nZ); }; /// get body-centric velocity from two poses and delta_t Vector getBodyCentricVb(const gtsam::Pose3& pose1, const gtsam::Pose3& pose2, double delta_t); Vector getBodyCentricVs(const gtsam::Pose3& pose1, const gtsam::Pose3& pose2, double delta_t); //////////////////////////////////////////////////////////////////////////////// // Linear classes //////////////////////////////////////////////////////////////////////////////// // prior factor #include // template DOF list template virtual class GaussianProcessPriorLinear : gtsam::NoiseModelFactor { GaussianProcessPriorLinear(size_t key1, size_t key2, size_t key3, size_t key4, double delta, const gtsam::noiseModel::Base* Qc_model); }; // util class for all interpolated measurements #include // template DOF list template class GaussianProcessInterpolatorLinear { GaussianProcessInterpolatorLinear(const gtsam::noiseModel::Base* Qc_model, double delta_t, double tau); Vector interpolatePose(Vector pose1, Vector vel1, Vector pose2, Vector vel2) const; Vector interpolateVelocity(Vector pose1, Vector vel1, Vector pose2, Vector vel2) const; }; // odometry factor #include virtual class OdometryFactor2DLinear : gtsam::NoiseModelFactor { OdometryFactor2DLinear(size_t pose1Key, size_t pose2Key, Vector odomMeasured, const gtsam::noiseModel::Base* model); }; // range factor #include virtual class RangeFactor2DLinear : gtsam::NoiseModelFactor { RangeFactor2DLinear(size_t posekey, size_t landkey, double measured, const gtsam::noiseModel::Base* model); }; #include virtual class GPInterpolatedRangeFactor2DLinear : gtsam::NoiseModelFactor { GPInterpolatedRangeFactor2DLinear(double measured, size_t pose1Key, size_t vel1Key, size_t pose2Key, size_t vel2Key, size_t pointKey, const gtsam::noiseModel::Base* meas_model, const gtsam::noiseModel::Base* Qc_model, double delta_t, double tau); }; // bearing range factor #include virtual class RangeBearingFactor2DLinear : gtsam::NoiseModelFactor { RangeBearingFactor2DLinear(size_t posekey, size_t landkey, double measured, const gtsam::Rot2& bearing, const gtsam::noiseModel::Base* model); }; } ================================================ FILE: matlab/AHRSexample.m ================================================ % AHRS example without using GP % Jing 02.08.2016 clear close all import gtsam.* import gpslam.* %% settings useGyro = true; useAcc = true; useGaussNewton = false; useGyroInit = true; datasetMaxTime = 90.0; optimizeStopRelErr = 1e-6; maxIteration = 100; % noisemodel biasPriorModel = noiseModel.Diagonal.Sigmas([1 1 1]' * 1e-2); biasBetweenModel = noiseModel.Diagonal.Sigmas([1 1 1]' * 1e-4); gyroNoiseModel = noiseModel.Diagonal.Sigmas([1 1 1]' * 1e-4); gyroNoiseModelMat = [1 0 0; 0 1 0; 0 0 1] * 1e-3; accNoiseModel = noiseModel.Diagonal.Sigmas([1 1]' * 0.1); firstRotPriorModel = noiseModel.Diagonal.Sigmas([1 1 1]' * 0.1); %% load data dataset_path = '/home/jing/data/imu/mocap_022304/parsed_matlab/'; att_mocap = true; % IMU format: seq, time(sec), gyro_x/y/z, acc_x/y/z imu_filename = 'RAW_IMU_DATA_matlab.txt'; % ATT format: seq, time(sec), ori_x/y/z/w % att_filename = 'ATTITUDE_IMU_DATA_matlab.txt'; att_filename = 'MOCAP_POSE_DATA_matlab.txt'; IMU = load(strcat(dataset_path, imu_filename)); ATT = load(strcat(dataset_path, att_filename)); % mocap reformat if att_mocap ATT = ATT(:, [1:2, 6:9]); end nr_imu = size(IMU, 1); nr_att = size(ATT, 1); % convert ATT to ypr format load_att_ypr = false; % ATT_YPR format: y/p/r ATT_YPR = zeros(nr_att, 3); att_ypr_filename = 'ATT_YPR_matlab.mat'; if load_att_ypr load(strcat(dataset_path, att_ypr_filename), 'ATT_YPR'); else for i=1:nr_att % wxyz in gtsam Rot3 constructor rot3 = Rot3.Quaternion(ATT(i, 6), ATT(i, 3), ATT(i, 4), ATT(i, 5)); ATT_YPR(i,:) = rot3.ypr(); end save(strcat(dataset_path, att_ypr_filename), 'ATT_YPR'); end % % mocap reformat % if att_mocap % ATT_YPR(:,2:3) = [ATT_YPR(:,3), -ATT_YPR(:,2)]; % end %% plot gound truth figure(2) % pitch subplot(3,1,1) hold on plot(ATT(:, 2), ATT_YPR(:,2), 'g-'); axis([0 datasetMaxTime -pi pi]) hold off title('Pitch') % roll subplot(3,1,2) hold on plot(ATT(:, 2), ATT_YPR(:,3), 'g-'); axis([0 datasetMaxTime -pi pi]) hold off title('Roll') % yaw subplot(3,1,3) hold on plot(ATT(:, 2), ATT_YPR(:,1), 'g-'); axis([0 datasetMaxTime -pi pi]) hold off title('Yaw') %% build factor graph using gyro and acc graph = NonlinearFactorGraph; gyro_graph = NonlinearFactorGraph; init_values = Values; meas_time = 0; var_idx = 1; while meas_time < datasetMaxTime & var_idx <= nr_imu meas_time = IMU(var_idx, 2); fprintf('Time: %d\n', meas_time) % first bias: add prior if var_idx == 1 graph.add(PriorFactorRot3(symbol('x', 1), Rot3, firstRotPriorModel)); insertVectorPriorFactor3(graph, symbol('b', 1), zeros(3,1), biasPriorModel); gyro_graph.add(PriorFactorRot3(symbol('x', 1), Rot3, firstRotPriorModel)); insertVectorPriorFactor3(gyro_graph, symbol('b', 1), zeros(3,1), biasPriorModel); else % gyro factors biasHat = zeros(3,1); delta_t = IMU(var_idx, 2) - IMU(var_idx-1, 2); pim = PreintegratedAhrsMeasurements(biasHat, gyroNoiseModelMat); pim.integrateMeasurement(IMU(var_idx, 3:5)', delta_t); zcoriolis = zeros(3,1); gyro_graph.add(AHRSFactor(symbol('x', var_idx - 1), symbol('x', var_idx), ... symbol('b', var_idx - 1), pim, zcoriolis)); if useGyro graph.add(AHRSFactor(symbol('x', var_idx - 1), symbol('x', var_idx), ... symbol('b', var_idx - 1), pim, zcoriolis)); end % bias factors insertVectorBetweenFactor3(graph, symbol('b', var_idx - 1), symbol('b', var_idx), ... zeros(3,1), biasBetweenModel); insertVectorBetweenFactor3(gyro_graph, symbol('b', var_idx - 1), symbol('b', var_idx), ... zeros(3,1), biasBetweenModel); end % acc factors if useAcc % TODO: what's the correct acc input format? graph.add(Rot3AttitudeFactor(symbol('x', var_idx), ... Unit3(Point3(0, 0, 1)), accNoiseModel, ... Unit3(Point3(IMU(var_idx, 6), IMU(var_idx, 7), IMU(var_idx, 8))))); end % next iter var_idx = var_idx + 1; end nr_opt = var_idx - 1; %% init values % init zero rotation values for i=1:nr_opt init_values.insert(symbol('x', i), Rot3); init_values.insert(symbol('b', i), zeros(3,1)); end if useGyroInit % optimize gyro only graph fprintf('Optimizing Gyro only graph ... \n\n'); if useGaussNewton params = GaussNewtonParams; optimizer = GaussNewtonOptimizer(gyro_graph, init_values, params); else params = LevenbergMarquardtParams; optimizer = LevenbergMarquardtOptimizer(gyro_graph, init_values, params); end gyro_only_results = optimizer.optimize(); for i=1:nr_opt init_values.update(symbol('x', i), gyro_only_results.atRot3(symbol('x', i))); end end %% optimize! if useGaussNewton params = GaussNewtonParams; optimizer = GaussNewtonOptimizer(graph, init_values, params); else params = LevenbergMarquardtParams; optimizer = LevenbergMarquardtOptimizer(graph, init_values, params); end % optimize fprintf('init error: %d\n', optimizer.error()); iter_time = []; opt_last_err = 1e20; iter_count = 0; tic while (opt_last_err - optimizer.error())/opt_last_err > optimizeStopRelErr ... && iter_count < maxIteration opt_last_err = optimizer.error(); optimizer.iterate(); iter_count = iter_count + 1; fprintf('iter %d: new error: %d\n', iter_count, optimizer.error()); end fprintf('Total Optimization Time: %d\n', toc) results = optimizer.values; %% prepare results OPT = zeros(nr_opt, 3); GYRO = zeros(nr_opt, 3); BIAS = zeros(nr_opt, 3); for i=1:nr_opt rot3 = results.atRot3(symbol('x', i)); OPT(i,:) = [rot3.yaw, rot3.pitch, rot3.roll]; BIAS(i,:) = [results.atVector(symbol('b', i))']; if useGyroInit rot3 = gyro_only_results.atRot3(symbol('x', i)); GYRO(i,:) = [rot3.yaw, rot3.pitch, rot3.roll]; end end %% plot figure % pitch subplot(3,1,1) hold on plot(ATT(:, 2), ATT_YPR(:,2), 'g-'); if useGyroInit plot(IMU(1:nr_opt, 2), GYRO(:,2), 'r-.'); end plot(IMU(1:nr_opt, 2), OPT(:,2), 'b-'); axis([0 datasetMaxTime -pi pi]) hold off title('Pitch') % roll subplot(3,1,2) hold on plot(ATT(:, 2), ATT_YPR(:,3), 'g-'); if useGyroInit plot(IMU(1:nr_opt, 2), GYRO(:,3), 'r-.'); end plot(IMU(1:nr_opt, 2), OPT(:,3), 'b-'); axis([0 datasetMaxTime -pi pi]) hold off title('Roll') % bias subplot(3,1,3) hold on plot(IMU(1:nr_opt, 2), BIAS(:,1), 'r-'); plot(IMU(1:nr_opt, 2), BIAS(:,2), 'g-'); plot(IMU(1:nr_opt, 2), BIAS(:,3), 'b-'); axis([0 datasetMaxTime -1 1]) hold off title('Bias') ================================================ FILE: matlab/GPAHRSexample.m ================================================ % AHRS example with GP, fuse asynchronous accelerometer and gyroscope data % @author Jing Dong % @date 02.15.2016 clear close all import gtsam.* import gpslam.* %% settings useGyro = true; % use gyroscope information useAcc = true; % use accelerometer information useGaussNewton = false; % use GN or LM solver datasetMaxTime = 50.0; % maximum dataset process time optimizeStopRelErr = 1e-6; % relative error threshold to stop optimization maxIteration = 100; % max iteration to stop optimization % GP settings QcModel = noiseModel.Diagonal.Sigmas([1 1 1]' * 100); % noisemodel biasPriorModel = noiseModel.Diagonal.Sigmas([1 1 1]' * 1e-2); biasBetweenModel = noiseModel.Diagonal.Sigmas([1 1 1]' * 1e-4); gyroNoiseModel = noiseModel.Diagonal.Sigmas([1 1 1]' * 1e-4); gyroNoiseModelMat = [1 0 0; 0 1 0; 0 0 1] * 1e-3; accNoiseModel = noiseModel.Diagonal.Sigmas([1 1]' * 0.1); firstRotPriorModel = noiseModel.Diagonal.Sigmas([1 1 1]' * 0.1); %% load data % Collected dataset has synchronous acc/gyro data. % To create an asynchronous dataset, we skip some measurements in different % frequency. Here we setup the data rate you want for acc/gyro data. % Time unit is second gyro_dt = 0.005; acc_dt = 0.02; dataset_path = 'data/'; % IMU format: seq, time(sec), gyro_x/y/z, acc_x/y/z imu_filename = 'RAW_IMU_DATA_matlab.txt'; % ATT format: seq, time(sec), ori_x/y/z/w att_filename = 'MOCAP_POSE_DATA_matlab.txt'; IMU = load(strcat(dataset_path, imu_filename)); MOCAP = load(strcat(dataset_path, att_filename)); % get attitute data from motion captured poses ATT = MOCAP(:, [1:2, 6:9]); nr_imu = size(IMU, 1); nr_att = size(ATT, 1); % ATT_YPR format yaw/pitch/roll : y/p/r ATT_YPR = zeros(nr_att, 3); for i=1:nr_att % wxyz in gtsam Rot3 constructor rot3 = Rot3.Quaternion(ATT(i, 6), ATT(i, 3), ATT(i, 4), ATT(i, 5)); ATT_YPR(i,:) = rot3.ypr(); end biasHat = zeros(3,1); % bias prior: zero zcoriolis = zeros(3,1); % coriolis force: ignore here %% build factor graph using gyro and acc graph = NonlinearFactorGraph; gyro_graph = NonlinearFactorGraph; meas_time = 0; last_gyro_meas_time = 0; last_acc_meas_time = 0; add_rot_state = false; % cached acc factor information, since they can only be added when state is % determined by gyro cached_acc_add_idx = []; nr_acc = 0; var_idx = 1; cached_state_meas_idx = []; meas_idx = 1; fprintf('building factor graph ...\n') while meas_time < datasetMaxTime & meas_idx <= nr_imu meas_time = IMU(meas_idx, 2); if (floor(meas_time) > floor(last_gyro_meas_time)) fprintf('Read dataset time: %ds ...\n', floor(meas_time)) end if meas_idx > 1 delta_t = IMU(meas_idx, 2) - IMU(meas_idx-1, 2); end % acc factors, based on time interval with last if useAcc & meas_time - last_acc_meas_time >= acc_dt cached_acc_add_idx = [cached_acc_add_idx, meas_idx]; % next iter last_acc_meas_time = meas_time; nr_acc = nr_acc + 1; end % process Gyro measurements and decide system states time stamps % add states: start, end, and time stamp meet interval if var_idx == 1 | meas_idx == nr_imu | meas_time - last_gyro_meas_time >= gyro_dt % first state: bias add prior if var_idx == 1 graph.add(PriorFactorRot3(symbol('x', 1), Rot3.Ypr(ATT_YPR(1,1), ... ATT_YPR(1,2), ATT_YPR(1,3)), firstRotPriorModel)); graph.add(PriorFactorVector(symbol('b', 1), zeros(3,1), biasPriorModel)); gyro_graph.add(PriorFactorRot3(symbol('x', 1), Rot3.Ypr(ATT_YPR(1,1), ... ATT_YPR(1,2), ATT_YPR(1,3)), firstRotPriorModel)); gyro_graph.add(PriorFactorVector(symbol('b', 1), zeros(3,1), biasPriorModel)); % check gyro rate: if dt > gyro_dt then add new state else dt = meas_time - last_gyro_meas_time; % for GP % integerate gyro for last step pim.integrateMeasurement(IMU(meas_idx, 3:5)', delta_t); % gyro factors gyro_graph.add(AHRSFactor(symbol('x', var_idx - 1), symbol('x', var_idx), ... symbol('b', var_idx - 1), pim, zcoriolis)); if useGyro graph.add(AHRSFactor(symbol('x', var_idx - 1), symbol('x', var_idx), ... symbol('b', var_idx - 1), pim, zcoriolis)); end % bias factors graph.add(BetweenFactorVector(symbol('b', var_idx - 1), symbol('b', var_idx), ... zeros(3,1), biasBetweenModel)); gyro_graph.add(BetweenFactorVector(symbol('b', var_idx - 1), symbol('b', var_idx), ... zeros(3,1), biasBetweenModel)); % GP prior graph.add(GaussianProcessPriorRot3(... symbol('x', var_idx -1), symbol('v', var_idx -1), ... symbol('x', var_idx), symbol('v', var_idx), ... dt, QcModel)); % add cached acc factor for i=1:numel(cached_acc_add_idx) acc_idx = cached_acc_add_idx(i); % check whether interpolated factor if acc_idx == meas_idx % non-inter % TODO: what's the correct acc input format? graph.add(Rot3AttitudeFactor(symbol('x', var_idx), ... Unit3(Point3(0, 0, 1)), accNoiseModel, ... Unit3(Point3(IMU(meas_idx, 6), IMU(meas_idx, 7), IMU(meas_idx, 8))))); else % inter tau = IMU(acc_idx, 2) - last_gyro_meas_time; % TODO: what's the correct acc input format? graph.add(GPInterpolatedAttitudeFactorRot3(... symbol('x', var_idx -1), symbol('v', var_idx -1), ... symbol('x', var_idx), symbol('v', var_idx), ... dt, tau, QcModel, accNoiseModel, Unit3(Point3(0, 0, 1)), ... Unit3(Point3(IMU(meas_idx, 6), IMU(meas_idx, 7), IMU(meas_idx, 8))))); end end cached_acc_add_idx = []; % clear cache end % prepare pre-integerated measurements pim = PreintegratedAhrsMeasurements(biasHat, gyroNoiseModelMat); % next iter: add state last_gyro_meas_time = meas_time; cached_state_meas_idx = [cached_state_meas_idx, meas_idx]; var_idx = var_idx + 1; add_rot_state = true; % not added as new state, just do pre-integeration else % just do integeration pim.integrateMeasurement(IMU(meas_idx, 3:5)', delta_t); % next iter: not add state add_rot_state = false; end % meas next iter meas_idx = meas_idx + 1; % actual dataset length used actual_time = meas_time; end nr_opt = var_idx - 1; fprintf('\nNumber of Gyroscope measurements used: %d\n', nr_opt) fprintf('Number of Accelerometer measurements used: %d\n', nr_acc) fprintf('\nActual Gyroscope data frequency: %fHz\n', nr_opt/actual_time) fprintf('Actual Accelerometer data frequency: %fHz\n', nr_acc/actual_time) %% init values init_values = Values; % init zero rotation values for i=1:nr_opt init_values.insert(symbol('x', i), Rot3); init_values.insert(symbol('b', i), zeros(3,1)); end % optimize gyro-only graph, update the initial values by gyro-only values fprintf('\nOptimizing Gyro only graph (for initialization) ... \n\n'); if useGaussNewton params = GaussNewtonParams; optimizer = GaussNewtonOptimizer(gyro_graph, init_values, params); else params = LevenbergMarquardtParams; optimizer = LevenbergMarquardtOptimizer(gyro_graph, init_values, params); end gyro_only_results = optimizer.optimize(); for i=1:nr_opt init_values.update(symbol('x', i), gyro_only_results.atRot3(symbol('x', i))); end % velocity for GP for i=1:nr_opt init_values.insert(symbol('v', i), zeros(3,1)); end %% optimize! if useGaussNewton params = GaussNewtonParams; optimizer = GaussNewtonOptimizer(graph, init_values, params); else params = LevenbergMarquardtParams; optimizer = LevenbergMarquardtOptimizer(graph, init_values, params); end % optimize fprintf('init error: %d\n', optimizer.error()); iter_time = []; opt_last_err = 1e20; iter_count = 0; tic while (opt_last_err - optimizer.error())/opt_last_err > optimizeStopRelErr ... && iter_count < maxIteration opt_last_err = optimizer.error(); optimizer.iterate(); iter_count = iter_count + 1; fprintf('iter %d: new error: %d\n', iter_count, optimizer.error()); end fprintf('Total Optimization Time: %f\n', toc) results = optimizer.values; %% prepare results OPT = zeros(nr_opt, 3); GYRO = zeros(nr_opt, 3); BIAS = zeros(nr_opt, 3); for i=1:nr_opt rot3 = results.atRot3(symbol('x', i)); OPT(i,:) = [rot3.yaw, rot3.pitch, rot3.roll]; BIAS(i,:) = [results.atVector(symbol('b', i))']; rot3 = gyro_only_results.atRot3(symbol('x', i)); GYRO(i,:) = [rot3.yaw, rot3.pitch, rot3.roll]; end %% plot % pitch h = figure(1); subplot(3,1,1) hold on plot(ATT(:, 2), ATT_YPR(:,2), '-', 'Color', [0, 0.8, 0]); plot(IMU(cached_state_meas_idx, 2), GYRO(:,2), 'r-.'); plot(IMU(cached_state_meas_idx, 2), OPT(:,2), 'b-'); axis([0 datasetMaxTime -pi pi]) hold off % marks title('Pitch') ylabel('Rad') xlabel('t (s)') box on legend('Ground truth', 'Gyro-only', 'Estimated', 'Location', 'northwest') % roll subplot(3,1,2); hold on plot(ATT(:, 2), ATT_YPR(:,3), '-', 'Color', [0, 0.8, 0]); plot(IMU(cached_state_meas_idx, 2), GYRO(:,3), 'r-.'); plot(IMU(cached_state_meas_idx, 2), OPT(:,3), 'b-'); axis([0 datasetMaxTime -pi pi]) hold off % marks title('Roll') ylabel('Rad') xlabel('t (s)') box on legend('Ground truth', 'Gyro-only', 'Estimated', 'Location', 'northwest') % bias subplot(3,1,3) hold on plot(IMU(cached_state_meas_idx, 2), BIAS(:,1), 'r-'); plot(IMU(cached_state_meas_idx, 2), BIAS(:,2), 'g-'); plot(IMU(cached_state_meas_idx, 2), BIAS(:,3), 'b-'); axis([0 datasetMaxTime -1e-2 1e-2]) hold off % marks box on title('Bias') xlabel('t (s)') legend('Pitch', 'Roll', 'Yaw', 'Location', 'northwest') ================================================ FILE: matlab/PlazaPose2.m ================================================ % 2D SLAM example using Range + Odometry data, Plaza datasets % dataset format: http://www.frc.ri.cmu.edu/projects/emergencyresponse/RangeData/log.html % @author Jing Dong % @date 02.05.2016 clear close all import gtsam.* import gpslam.* %% read datasets datafile = 'data/Plaza2.mat'; load(datafile); nr_pose = size(GT, 1); % total number of poses nr_land = size(TL, 1); % total number of landmarks nr_range = size(TD, 1); land_idx = TL(:,1); % landmark indices % get range measurments bias fixed by linear fitting, and remove outliers % range_trans is linear fitting coefficient % range_outlier_mask is 0-1 mask of whether measurement is outlier [range_trans, range_outlier_mask] = range_measure_fit(GT, TL, TD); %% settings useLinearPose2 = false; % use linear [x y \theta] or SE(2) system states addOdometry = true; % use odometry information initGroundTruth = false; % use ground truth do initialization addFirstPosePrior = true; % add pose prior to first pose (fix position of whole system) addFirstVelZeroPrior = false; % add velocity prior to first velocity addLandmarkPrior = true; % add (loss) prior to landmarks to fix scale and position of whole system useGaussNewton = false; % use GN or LM optimizeStopRelErr = 1e-6; % relative error thresh hold to stop the optimization % GP settings QcModel = noiseModel.Diagonal.Sigmas([1 1 1]' * 1e-1); % noise models firstPriorModel = noiseModel.Diagonal.Sigmas([1 1 pi]' * 1); odomNoiseModel = noiseModel.Diagonal.Sigmas([1 1 pi]' * 1e-3); rangeNoiseModel = noiseModel.Diagonal.Sigmas(0.5); landPriorNoiseModel = noiseModel.Diagonal.Sigmas([1 1]' * 1); %% initial factor graph graph = NonlinearFactorGraph; init_values = Values; % initial landmarks for i=1:nr_land land_point = Point2(TL(i,2), TL(i,3)); % init landmark values as ground truth init_values.insert(symbol('l', land_idx(i)), land_point); % prior if addLandmarkPrior graph.add(PriorFactorPoint2(symbol('l', land_idx(i)), land_point, ... landPriorNoiseModel)); end end % accumulated odometry poses DRp_pose2 = zeros(nr_pose, 3); DRp_pose2(1,:) = [GT(1, 2), GT(1, 3), GT(1, 4)+init_heading_offset]; last_pose = Pose2(GT(1, 2), GT(1, 3), GT(1, 4)+init_heading_offset); last_vec = [GT(1, 2), GT(1, 3), GT(1, 4)+init_heading_offset]'; % first pose and velocity prior if addFirstPosePrior if useLinearPose2 graph.add(PriorFactorVector(symbol('x', 1), last_vec, firstPriorModel)); else graph.add(PriorFactorPose2(symbol('x', 1), last_pose, firstPriorModel)); end end if addFirstVelZeroPrior graph.add(PriorFactorVector(symbol('v', 1), zeros(3,1), firstPriorModel)); end added_range_meas_idx = 1; % range measurement idx should be added next fprintf('building factor graph ...\n'); for pose_idx = 1:nr_pose if mod(pose_idx, 100) == 0 fprintf('read pose idx %d of %d ...\n', pose_idx, nr_pose); end curr_time = GT(pose_idx, 1); if pose_idx > 1 last_time = GT(pose_idx-1, 1); delta_t = curr_time - last_time; %% odometry & GP prior % get odom measurement pose odom_pose = Pose2(DR(pose_idx-1, 2), 0.0, DR(pose_idx-1, 3)); new_pose = last_pose.compose(odom_pose); % odom vector odom_vec_meas = [DR(pose_idx-1, 2), 0.0, DR(pose_idx-1, 3)]'; odom_vec = [new_pose.x() - last_pose.x(), new_pose.y() - last_pose.y(), ... odom_pose.theta()]'; new_vec = last_vec + odom_vec; % accumulate odom poses if useLinearPose2 DRp_pose2(pose_idx,:) = new_vec'; else DRp_pose2(pose_idx,:) = [new_pose.x(), new_pose.y(), new_pose.theta()]; end % add odometry factor if addOdometry if useLinearPose2 graph.add(OdometryFactor2DLinear(symbol('x', pose_idx-1), symbol('x', pose_idx), ... odom_vec_meas, odomNoiseModel)); else graph.add(BetweenFactorPose2(symbol('x', pose_idx-1), symbol('x', pose_idx), ... odom_pose, odomNoiseModel)); end end % add GP prior factor if useLinearPose2 graph.add(GaussianProcessPriorLinear3(symbol('x', pose_idx-1), ... symbol('v', pose_idx-1), symbol('x', pose_idx), symbol('v', pose_idx), ... delta_t, QcModel)); else graph.add(GaussianProcessPriorPose2(symbol('x', pose_idx-1), ... symbol('v', pose_idx-1), symbol('x', pose_idx), symbol('v', pose_idx), ... delta_t, QcModel)); end % for next iter last_pose = new_pose; last_vec = new_vec; %% add range measurements while added_range_meas_idx <= nr_range & TD(added_range_meas_idx, 1) <= curr_time % check outlier mask, remove outliers if ~range_outlier_mask(added_range_meas_idx) % get meas info tau = TD(added_range_meas_idx, 1) - last_time; % range bias fix meas_range = range_trans(1) * TD(added_range_meas_idx, 4) + range_trans(2); meas_land_idx = TD(added_range_meas_idx, 3); % fprintf('range %d from pose %d to land %d, tau = %d, delta_t = %d \n', ... % added_range_meas_idx, pose_idx, meas_land_idx, tau, delta_t); % add interpolate range factor if useLinearPose2 graph.add(GPInterpolatedRangeFactor2DLinear(meas_range, ... symbol('x', pose_idx-1), symbol('v', pose_idx-1), ... symbol('x', pose_idx), symbol('v', pose_idx), ... symbol('l', meas_land_idx), rangeNoiseModel, QcModel, ... delta_t, tau)); else graph.add(GPInterpolatedRangeFactorPose2(meas_range, ... rangeNoiseModel, QcModel, symbol('x', pose_idx-1), ... symbol('v', pose_idx-1), symbol('x', pose_idx), symbol('v', pose_idx), ... symbol('l', meas_land_idx), delta_t, tau)); end end added_range_meas_idx = added_range_meas_idx + 1; end end %% init values if useLinearPose2 % if not use ground truth, just use last pose to initialize if initGroundTruth init_pose = [GT(pose_idx, 2), GT(pose_idx, 3), GT(pose_idx, 4)+init_heading_offset]'; else init_pose = last_vec; end init_values.insert(symbol('x', pose_idx), init_pose); else if initGroundTruth init_pose = Pose2(GT(pose_idx, 2), GT(pose_idx, 3), GT(pose_idx, 4)+init_heading_offset); else init_pose = last_pose; end init_values.insert(symbol('x', pose_idx), init_pose); end init_vel = zeros(3,1); init_values.insert(symbol('v', pose_idx), init_vel); end %% optimize! if useGaussNewton params = GaussNewtonParams; optimizer = GaussNewtonOptimizer(graph, init_values, params); else params = LevenbergMarquardtParams; optimizer = LevenbergMarquardtOptimizer(graph, init_values, params); end % optimize fprintf('init error: %d\n', optimizer.error()); iter_time = []; opt_last_err = 1e20; % tic while (opt_last_err - optimizer.error())/opt_last_err > optimizeStopRelErr opt_last_err = optimizer.error(); tic optimizer.iterate(); iter_time = [iter_time, toc]; fprintf('new error: %d\n', optimizer.error()); end % fprintf('Total Optimization Time: %d\n', toc) results = optimizer.values; % average time fprintf('Average Optimization Iteration Time: %d\n', mean(iter_time)) %% evaluate error % extract results to matrix OPT = zeros(nr_pose, 3); OPT_LAND = zeros(nr_land, 2); for i=1:nr_pose if useLinearPose2 OPT(i, :) = results.atVector(symbol('x', i))'; else opt_pose2 = results.atPose2(symbol('x', i)); OPT(i, :) = [opt_pose2.x() opt_pose2.y(), opt_pose2.theta()]; end end for i=1:nr_land opt_land = results.atPoint2(symbol('l', land_idx(i))); OPT_LAND(i, :) = [opt_land.x() opt_land.y()]; end % position err pos_err = OPT(:,1:2) - GT(:,2:3); pos_err_sqrt = sqrt(pos_err(:,1).^2 + pos_err(:,2).^2); fprintf('Average Position Error: %d\n', mean(pos_err_sqrt)) % rotation err rot_err = OPT(:,3) - (GT(:,4)+init_heading_offset); for i=1:nr_pose while rot_err(i) < -pi rot_err(i) = rot_err(i) + 2*pi; end while rot_err(i) > pi rot_err(i) = rot_err(i) - 2*pi; end end fprintf('Average Rotation Error: %d\n', mean(abs(rot_err)) * 180 / pi) % land err err land_err = OPT_LAND(:,1:2) - TL(:,2:3); land_err_sqrt = sqrt(land_err(:,1).^2 + land_err(:,2).^2); fprintf('Average Landmark Error: %d\n', mean(land_err_sqrt)) %% plot results % plot results h = figure(1); hold on axis equal % plot traj plot(DRp(:,2), DRp(:,3), '-.', 'Color',[1 0 0]) plot(GT(:,2), GT(:,3), '-', 'Color',[0 0.7 0]) plot(OPT(:,1), OPT(:,2), '-', 'Color',[0 0 1]) % plot land plot(TL(:,2), TL(:,3), '*', 'Color',[0 0.7 0], 'MarkerSize', 8, 'Linewidth', 1.5) plot(OPT_LAND(:,1), OPT_LAND(:,2), '+', 'Color',[0 0 1], 'MarkerSize', 8, 'Linewidth', 1.5) % marks ax = gca; ax.XTick = [-100:20:100]; ax.YTick = [-100:20:100]; % box on legend('Dead Reckoned Path', 'Ground Truth Trajectory', 'Estimated Trajectory', ... 'Ground Truth Landmark', 'Estimated Landmark') xlabel('X (m)') ylabel('Y (m)') hold off ================================================ FILE: matlab/data/MOCAP_POSE_DATA_matlab.txt ================================================ 3606 0.004587 -0.094220 -1.468240 0.866052 0.028918 0.049933 0.997198 -0.047600 3607 0.013381 -0.094171 -1.468645 0.866101 0.029429 0.049597 0.997200 -0.047600 3608 0.021259 -0.094150 -1.468468 0.866059 0.029742 0.049973 0.997171 -0.047622 3609 0.028713 -0.094179 -1.469213 0.866074 0.029040 0.050119 0.997187 -0.047569 3610 0.038268 -0.093928 -1.468376 0.866039 0.030747 0.049680 0.997156 -0.047617 3611 0.046370 -0.093872 -1.469083 0.865883 0.031843 0.048793 0.997194 -0.046995 3612 0.054126 -0.093837 -1.468681 0.866069 0.031558 0.048520 0.997195 -0.047465 3613 0.064435 -0.093943 -1.468582 0.866094 0.031031 0.048807 0.997197 -0.047477 3614 0.071197 -0.093822 -1.468628 0.866057 0.031623 0.048390 0.997199 -0.047468 3615 0.078832 -0.094017 -1.468802 0.866074 0.031065 0.048753 0.997194 -0.047562 3616 0.088224 -0.094229 -1.468336 0.866044 0.029064 0.050040 0.997191 -0.047558 3617 0.095935 -0.094045 -1.468642 0.866114 0.030474 0.049073 0.997198 -0.047540 3618 0.104713 -0.094222 -1.468315 0.866052 0.029136 0.049961 0.997191 -0.047591 3619 0.113438 -0.094258 -1.468350 0.866025 0.028606 0.050078 0.997206 -0.047476 3620 0.120247 -0.094229 -1.468345 0.866048 0.029126 0.049992 0.997191 -0.047563 3621 0.130744 -0.094092 -1.468822 0.866110 0.030250 0.049250 0.997193 -0.047588 3622 0.137865 -0.094133 -1.469197 0.866087 0.029308 0.050081 0.997181 -0.047570 3623 0.147195 -0.094141 -1.468485 0.866095 0.029790 0.049375 0.997208 -0.047449 3624 0.154726 -0.094153 -1.468804 0.866091 0.029491 0.049649 0.997194 -0.047632 3625 0.162613 -0.094153 -1.469244 0.866091 0.029199 0.050075 0.997185 -0.047565 3626 0.171207 -0.094209 -1.468330 0.866040 0.029230 0.049995 0.997188 -0.047569 3627 0.179617 -0.094009 -1.469028 0.866117 0.030390 0.049391 0.997186 -0.047509 3628 0.188154 -0.094269 -1.468308 0.866013 0.028310 0.050188 0.997208 -0.047495 3629 0.196894 -0.094182 -1.468215 0.866063 0.029456 0.049856 0.997183 -0.047677 3630 0.204867 -0.094278 -1.468373 0.866004 0.028310 0.050156 0.997213 -0.047426 3631 0.213204 -0.093957 -1.468242 0.866068 0.030567 0.049091 0.997200 -0.047411 3632 0.220513 -0.093593 -1.468639 0.865963 0.032053 0.048433 0.997205 -0.047000 3633 0.228652 -0.094241 -1.468340 0.866045 0.028941 0.050025 0.997196 -0.047535 3634 0.237865 -0.093792 -1.468808 0.866054 0.031788 0.048408 0.997191 -0.047493 3635 0.247512 -0.094195 -1.468641 0.866081 0.029113 0.049758 0.997202 -0.047598 3636 0.254745 -0.093988 -1.468399 0.866054 0.030583 0.049700 0.997161 -0.047585 3637 0.262818 -0.094096 -1.468633 0.866101 0.030109 0.049164 0.997207 -0.047476 3638 0.271578 -0.094186 -1.469228 0.866074 0.029051 0.050112 0.997186 -0.047587 3639 0.278775 -0.094198 -1.468220 0.866059 0.029242 0.049910 0.997188 -0.047648 3640 0.288210 -0.093938 -1.468404 0.866022 0.030787 0.049629 0.997160 -0.047559 3641 0.296353 -0.093940 -1.468413 0.866065 0.030554 0.049829 0.997151 -0.047690 3642 0.304840 -0.094029 -1.468469 0.866104 0.030360 0.049138 0.997202 -0.047464 3643 0.313400 -0.094253 -1.468369 0.866018 0.028557 0.050086 0.997209 -0.047443 3644 0.320244 -0.094217 -1.468436 0.866042 0.029255 0.050012 0.997188 -0.047528 3645 0.330763 -0.094219 -1.468348 0.866047 0.029178 0.049988 0.997189 -0.047579 3646 0.337925 -0.094002 -1.468266 0.866050 0.030596 0.049401 0.997175 -0.047592 3647 0.346239 -0.094261 -1.468356 0.866031 0.028649 0.050130 0.997202 -0.047475 3648 0.355943 -0.093837 -1.468666 0.865986 0.031255 0.049532 0.997156 -0.047438 3649 0.363983 -0.093721 -1.468616 0.865949 0.031910 0.048937 0.997170 -0.047327 3650 0.371692 -0.093688 -1.468432 0.866031 0.031794 0.048255 0.997206 -0.047339 3651 0.379926 -0.094138 -1.469222 0.866085 0.029316 0.050085 0.997181 -0.047564 3652 0.387812 -0.094097 -1.468655 0.866113 0.030090 0.049322 0.997196 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59.308213 -0.004337 -0.002838 -0.009610 0.022636 0.320915 10.114336 14633 59.314125 -0.004368 -0.002173 -0.009868 0.014601 0.318000 10.120181 14634 59.320152 -0.003780 -0.001646 -0.010506 0.014505 0.327524 10.121767 14635 59.326147 -0.003438 -0.002078 -0.010596 0.018139 0.322780 10.122171 14636 59.332532 -0.004414 -0.002365 -0.010413 0.026681 0.309312 10.113318 14637 59.338388 -0.004512 -0.002465 -0.010007 0.024075 0.316053 10.094110 14638 59.344251 -0.003859 -0.002635 -0.009522 0.010190 0.334265 10.085477 14639 59.350262 -0.003852 -0.002518 -0.009470 -0.001153 0.330560 10.091651 14640 59.356390 -0.004592 -0.001942 -0.009570 -0.006024 0.318794 10.108621 14641 59.362386 -0.004790 -0.002029 -0.009587 0.001536 0.323050 10.116031 14642 59.368517 -0.004769 -0.002637 -0.010064 0.019569 0.330911 10.117379 14643 59.374513 -0.004517 -0.002593 -0.010085 0.022764 0.320365 10.103349 14644 59.380517 -0.004634 -0.002795 -0.010415 0.012331 0.313011 10.060814 14645 59.386707 -0.004576 -0.002767 -0.010496 0.005310 0.328036 10.063807 14646 59.392528 -0.004468 -0.002082 -0.010250 0.000475 0.335780 10.103084 14647 59.398869 -0.004346 -0.002084 -0.010073 -0.005261 0.329755 10.106202 ================================================ FILE: matlab/range_measure_fit.m ================================================ function [range_trans, range_outlier_mask] = range_measure_fit(GT, TL, TD) %RANGE_MEASURE_FIT fit range measurment bias be least-square with ground %truth % Detailed explanation goes here % Range fitting for the Plaza dataset using least square nr_pose = size(GT, 1); % time step to investigate nr_range = size(TD, 1); % time step to investigate T = GT(:,1); %% Construct data % Landmark locations ground truth lx = TL(:,2); ly = TL(:,3); l_true = [lx, ly]; % forward / inverse map of landmark index Lindx = TL(:,1); Lindx_inv = zeros(max(Lindx)+1, 1); for i=1:numel(Lindx) Lindx_inv(Lindx(i)+1) = i; end % Landmark range measurements Range = zeros(nr_range, 3); % [time index, landmark index, range; ... ] v = 1; % the current range measurement index t = TD(v, 1); % when the current range measurement took place i = 1; % pose indx while i <= nr_pose && v <= nr_range % Already passed the range measurement? t = TD(v, 1); if (T(i) >= t) % See the range measure is close to which time index % If close to i-1 if abs(T(i-1) - t) <= abs(T(i)-t) Range(v,1) = i-1; else Range(v,1) = i; end Range(v,2) = Lindx_inv(TD(v,3)+1); Range(v,3) = TD(v,4); v = v+1; else i = i+1; end end true_range = zeros(nr_range, 1); measured_range = zeros(nr_range, 1); for i = 1:nr_range x = GT(Range(i, 1), 2:3)'; l = l_true(Range(i, 2), :)'; true_range(i) = sqrt(sum((x-l).^2) ); measured_range(i) = Range(i, 3); end %% Least square b = true_range; A = [measured_range ones(nr_range, 1)]; x = A \ b; range_trans = x; %% outlier mask range_outlier_mask = zeros(nr_range, 1); outlier_limit = 2.0; for i=1:nr_range fit_range = range_trans(1) * measured_range(i) + range_trans(2); if abs(fit_range - true_range(i)) > outlier_limit range_outlier_mask(i) = 1; else range_outlier_mask(i) = 0; end end meas_range_inlier = []; true_range_inlier = []; meas_range_outlier = []; true_range_outlier = []; for i=1:nr_range if range_outlier_mask(i) meas_range_outlier = [meas_range_outlier; measured_range(i)]; true_range_outlier = [true_range_outlier; true_range(i)]; else meas_range_inlier = [meas_range_inlier; measured_range(i)]; true_range_inlier = [true_range_inlier; true_range(i)]; end end %% update estimate by inliers b = true_range_inlier; A = [meas_range_inlier ones(numel(meas_range_inlier), 1)]; x = A \ b; range_trans = x; % %% plot % figure(100) % hold on % title('Measurements fitting') % % plot(true_range_inlier, meas_range_inlier, 'b+') % % meas_range_updated = range_trans(1) * meas_range_inlier + range_trans(2); % plot(true_range_inlier, meas_range_updated, 'g+') % % plot([0, max(true_range_inlier)], [0, max(true_range_inlier)], 'k-') % % plot(true_range_outlier, meas_range_outlier, 'r+') % % legend('Raw inlier', 'Fitted inlier', 'Y = X', 'Raw outlier') % xlabel('Ground Truth Range (m)') % ylabel('Measured/Fitted Range (m)') % hold off