/* ************************************************************************* */
TEST( StereoFactor, singlePoint)
{
NonlinearFactorGraph graph;
graph.add(NonlinearEquality<Pose3>(X(1), camera1));
StereoPoint2 measurement(320, 320.0-50, 240);
// arguments: measurement, sigma, cam#, measurement #, K, baseline (m)
graph.add(GenericStereoFactor<Pose3, Point3>(measurement, model, X(1), L(1), K));
// Create a configuration corresponding to the ground truth
Values values;
values.insert(X(1), camera1); // add camera at z=6.25m looking towards origin
Point3 l1(0, 0, 0);
values.insert(L(1), l1); // add point at origin;
GaussNewtonOptimizer optimizer(graph, values);
// We expect the initial to be zero because config is the ground truth
DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9);
// Iterate once, and the config should not have changed
optimizer.iterate();
DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9);
// Complete solution
optimizer.optimize();
DOUBLES_EQUAL(0.0, optimizer.error(), 1e-6);
}
int main(const int argc, const char *argv[]) {
// Read graph from file
string g2oFile;
if (argc < 2)
g2oFile = findExampleDataFile("noisyToyGraph.txt");
else
g2oFile = argv[1];
NonlinearFactorGraph::shared_ptr graph;
Values::shared_ptr initial;
boost::tie(graph, initial) = readG2o(g2oFile);
// Add prior on the pose having index (key) = 0
NonlinearFactorGraph graphWithPrior = *graph;
noiseModel::Diagonal::shared_ptr priorModel = //
noiseModel::Diagonal::Variances((Vector(3) << 1e-6, 1e-6, 1e-8));
graphWithPrior.add(PriorFactor<Pose2>(0, Pose2(), priorModel));
graphWithPrior.print();
std::cout << "Computing LAGO estimate" << std::endl;
Values estimateLago = lago::initialize(graphWithPrior);
std::cout << "done!" << std::endl;
if (argc < 3) {
estimateLago.print("estimateLago");
} else {
const string outputFile = argv[2];
std::cout << "Writing results to file: " << outputFile << std::endl;
writeG2o(*graph, estimateLago, outputFile);
std::cout << "done! " << std::endl;
}
return 0;
}
//*************************************************************************
TEST (EssentialMatrixFactor2, extraMinimization) {
// Additional test with camera moving in positive X direction
// We start with a factor graph and add constraints to it
// Noise sigma is 1, assuming pixel measurements
NonlinearFactorGraph graph;
for (size_t i = 0; i < data.number_tracks(); i++)
graph.add(EssentialMatrixFactor2(100, i, pA(i), pB(i), model2, K));
// Check error at ground truth
Values truth;
truth.insert(100, trueE);
for (size_t i = 0; i < data.number_tracks(); i++) {
Point3 P1 = data.tracks[i].p;
truth.insert(i, double(baseline / P1.z()));
}
EXPECT_DOUBLES_EQUAL(0, graph.error(truth), 1e-8);
// Optimize
LevenbergMarquardtParams parameters;
// parameters.setVerbosity("ERROR");
LevenbergMarquardtOptimizer optimizer(graph, truth, parameters);
Values result = optimizer.optimize();
// Check result
EssentialMatrix actual = result.at<EssentialMatrix>(100);
EXPECT(assert_equal(trueE, actual, 1e-1));
for (size_t i = 0; i < data.number_tracks(); i++)
EXPECT_DOUBLES_EQUAL(truth.at<double>(i), result.at<double>(i), 1e-1);
// Check error at result
EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-4);
}
//*************************************************************************
TEST (EssentialMatrixFactor3, minimization) {
// As before, we start with a factor graph and add constraints to it
NonlinearFactorGraph graph;
for (size_t i = 0; i < 5; i++)
// but now we specify the rotation bRc
graph.add(EssentialMatrixFactor3(100, i, pA(i), pB(i), cRb, model2));
// Check error at ground truth
Values truth;
truth.insert(100, bodyE);
for (size_t i = 0; i < 5; i++) {
Point3 P1 = data.tracks[i].p;
truth.insert(i, double(baseline / P1.z()));
}
EXPECT_DOUBLES_EQUAL(0, graph.error(truth), 1e-8);
// Optimize
LevenbergMarquardtParams parameters;
// parameters.setVerbosity("ERROR");
LevenbergMarquardtOptimizer optimizer(graph, truth, parameters);
Values result = optimizer.optimize();
// Check result
EssentialMatrix actual = result.at<EssentialMatrix>(100);
EXPECT(assert_equal(bodyE, actual, 1e-1));
for (size_t i = 0; i < 5; i++)
EXPECT_DOUBLES_EQUAL(truth.at<double>(i), result.at<double>(i), 1e-1);
// Check error at result
EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-4);
}
/* ************************************************************************* */
TEST( dataSet, readG2oTukey)
{
const string g2oFile = findExampleDataFile("pose2example");
NonlinearFactorGraph::shared_ptr actualGraph;
Values::shared_ptr actualValues;
bool is3D = false;
boost::tie(actualGraph, actualValues) = readG2o(g2oFile, is3D, KernelFunctionTypeTUKEY);
noiseModel::Diagonal::shared_ptr baseModel = noiseModel::Diagonal::Precisions((Vector(3) << 44.721360, 44.721360, 30.901699));
SharedNoiseModel model = noiseModel::Robust::Create(noiseModel::mEstimator::Tukey::Create(4.6851), baseModel);
NonlinearFactorGraph expectedGraph;
expectedGraph.add(BetweenFactor<Pose2>(0, 1, Pose2(1.030390, 0.011350, -0.081596), model));
expectedGraph.add(BetweenFactor<Pose2>(1, 2, Pose2(1.013900, -0.058639, -0.220291), model));
expectedGraph.add(BetweenFactor<Pose2>(2, 3, Pose2(1.027650, -0.007456, -0.043627), model));
expectedGraph.add(BetweenFactor<Pose2>(3, 4, Pose2(-0.012016, 1.004360, 1.560229), model));
expectedGraph.add(BetweenFactor<Pose2>(4, 5, Pose2(1.016030, 0.014565, -0.030930), model));
expectedGraph.add(BetweenFactor<Pose2>(5, 6, Pose2(1.023890, 0.006808, -0.007452), model));
expectedGraph.add(BetweenFactor<Pose2>(6, 7, Pose2(0.957734, 0.003159, 0.082836), model));
expectedGraph.add(BetweenFactor<Pose2>(7, 8, Pose2(-1.023820, -0.013668, -3.084560), model));
expectedGraph.add(BetweenFactor<Pose2>(8, 9, Pose2(1.023440, 0.013984, -0.127624), model));
expectedGraph.add(BetweenFactor<Pose2>(9,10, Pose2(1.003350, 0.022250, -0.195918), model));
expectedGraph.add(BetweenFactor<Pose2>(5, 9, Pose2(0.033943, 0.032439, 3.073637), model));
expectedGraph.add(BetweenFactor<Pose2>(3,10, Pose2(0.044020, 0.988477, -1.553511), model));
EXPECT(assert_equal(expectedGraph,*actualGraph,1e-5));
}
/* ************************************************************************** */
TEST(JointLimitFactorPose2Vector, optimization_2) {
// over down limit
// settings
noiseModel::Gaussian::shared_ptr cost_model = noiseModel::Isotropic::Sigma(5, 0.001);
noiseModel::Gaussian::shared_ptr prior_model = noiseModel::Isotropic::Sigma(5, 1000);
Key qkey = Symbol('x', 0);
Vector5 dlimit = (Vector5() << 0, 0, 0, -5.0, -10.0).finished();
Vector5 ulimit = (Vector5() << 0, 0, 0, 5, 10.0).finished();
Vector5 thresh = (Vector5() << 0, 0, 0, 2.0, 2.0).finished();
Pose2Vector conf(Pose2(1, -2, 3), Vector2(-10.0, -10.0));
NonlinearFactorGraph graph;
graph.add(JointLimitFactorPose2Vector(qkey, cost_model, dlimit, ulimit, thresh));
graph.add(PriorFactor<Pose2Vector>(qkey, conf, prior_model));
Values init_values;
init_values.insert(qkey, conf);
GaussNewtonParams parameters;
parameters.setVerbosity("ERROR");
parameters.setAbsoluteErrorTol(1e-12);
GaussNewtonOptimizer optimizer(graph, init_values, parameters);
optimizer.optimize();
Values results = optimizer.values();
Vector conf_limit = (Vector(2) << -3.0, -8.0).finished();
EXPECT(assert_equal(conf_limit, results.at<Pose2Vector>(qkey).configuration(), 1e-6));
}
/* ************************************************************************* */
void NonlinearISAM::update(const NonlinearFactorGraph& newFactors,
const Values& initialValues) {
if(newFactors.size() > 0) {
// Reorder and relinearize every reorderInterval updates
if(reorderInterval_ > 0 && ++reorderCounter_ >= reorderInterval_) {
reorder_relinearize();
reorderCounter_ = 0;
}
factors_.push_back(newFactors);
// Linearize new factors and insert them
// TODO: optimize for whole config?
linPoint_.insert(initialValues);
// Augment ordering
// TODO: allow for ordering constraints within the new variables
// FIXME: should just loop over new values
BOOST_FOREACH(const NonlinearFactorGraph::sharedFactor& factor, newFactors)
BOOST_FOREACH(Key key, factor->keys())
ordering_.tryInsert(key, ordering_.nVars()); // will do nothing if already present
boost::shared_ptr<GaussianFactorGraph> linearizedNewFactors = newFactors.linearize(linPoint_, ordering_);
// Update ISAM
isam_.update(*linearizedNewFactors);
}
}
/* ************************************************************************* */
TEST ( NonlinearEquality, allow_error_optimize_with_factors ) {
// create a hard constraint
Symbol key1('x',1);
Pose2 feasible1(1.0, 2.0, 3.0);
// initialize away from the ideal
Values init;
Pose2 initPose(0.0, 2.0, 3.0);
init.insert(key1, initPose);
double error_gain = 500.0;
PoseNLE nle(key1, feasible1, error_gain);
// create a soft prior that conflicts
PosePrior prior(key1, initPose, noiseModel::Isotropic::Sigma(3, 0.1));
// add to a graph
NonlinearFactorGraph graph;
graph.add(nle);
graph.add(prior);
// optimize
Ordering ordering;
ordering.push_back(key1);
Values actual = LevenbergMarquardtOptimizer(graph, init, ordering).optimize();
// verify
Values expected;
expected.insert(key1, feasible1);
EXPECT(assert_equal(expected, actual));
}
/* ************************************************************************* */
TEST ( NonlinearEquality, allow_error_optimize ) {
Symbol key1('x',1);
Pose2 feasible1(1.0, 2.0, 3.0);
double error_gain = 500.0;
PoseNLE nle(key1, feasible1, error_gain);
// add to a graph
NonlinearFactorGraph graph;
graph.add(nle);
// initialize away from the ideal
Pose2 initPose(0.0, 2.0, 3.0);
Values init;
init.insert(key1, initPose);
// optimize
Ordering ordering;
ordering.push_back(key1);
Values result = LevenbergMarquardtOptimizer(graph, init, ordering).optimize();
// verify
Values expected;
expected.insert(key1, feasible1);
EXPECT(assert_equal(expected, result));
}
/* ************************************************************************* */
TEST(DoglegOptimizer, Iterate) {
// really non-linear factor graph
NonlinearFactorGraph fg = example::createReallyNonlinearFactorGraph();
// config far from minimum
Point2 x0(3,0);
Values config;
config.insert(X(1), x0);
double Delta = 1.0;
for(size_t it=0; it<10; ++it) {
GaussianBayesNet gbn = *fg.linearize(config)->eliminateSequential();
// Iterate assumes that linear error = nonlinear error at the linearization point, and this should be true
double nonlinearError = fg.error(config);
double linearError = GaussianFactorGraph(gbn).error(config.zeroVectors());
DOUBLES_EQUAL(nonlinearError, linearError, 1e-5);
// cout << "it " << it << ", Delta = " << Delta << ", error = " << fg->error(*config) << endl;
VectorValues dx_u = gbn.optimizeGradientSearch();
VectorValues dx_n = gbn.optimize();
DoglegOptimizerImpl::IterationResult result = DoglegOptimizerImpl::Iterate(Delta, DoglegOptimizerImpl::SEARCH_EACH_ITERATION, dx_u, dx_n, gbn, fg, config, fg.error(config));
Delta = result.Delta;
EXPECT(result.f_error < fg.error(config)); // Check that error decreases
Values newConfig(config.retract(result.dx_d));
config = newConfig;
DOUBLES_EQUAL(fg.error(config), result.f_error, 1e-5); // Check that error is correctly filled in
}
}
/* ************************************************************************** */
TEST(GaussianPriorWorkspacePoseArm, optimization) {
noiseModel::Gaussian::shared_ptr cost_model = noiseModel::Isotropic::Sigma(6, 0.1);
Vector a = (Vector(2) << 1, 1).finished();
Vector alpha = (Vector(2) << 0, 0).finished();
Vector d = (Vector(2) << 0, 0).finished();
ArmModel arm = ArmModel(Arm(2, a, alpha, d), BodySphereVector());
Pose3 des = Pose3(Rot3(), Point3(2, 0, 0));
Key qkey = Symbol('x', 0);
Vector q = (Vector(2) << 0, 0).finished();
Vector qinit = (Vector(2) << M_PI/2, M_PI/2).finished();
NonlinearFactorGraph graph;
graph.add(GaussianPriorWorkspacePoseArm(qkey, arm, 1, des, cost_model));
Values init_values;
init_values.insert(qkey, qinit);
LevenbergMarquardtParams parameters;
parameters.setVerbosity("ERROR");
parameters.setAbsoluteErrorTol(1e-12);
LevenbergMarquardtOptimizer optimizer(graph, init_values, parameters);
optimizer.optimize();
Values results = optimizer.values();
EXPECT_DOUBLES_EQUAL(0, graph.error(results), 1e-3);
EXPECT(assert_equal(q, results.at<Vector>(qkey), 1e-3));
}
/* ************************************************************************* */
TEST( testNonlinearEqualityConstraint, unary_simple_optimization ) {
// create a single-node graph with a soft and hard constraint to
// ensure that the hard constraint overrides the soft constraint
Point2 truth_pt(1.0, 2.0);
Symbol key('x',1);
double mu = 10.0;
eq2D::UnaryEqualityConstraint::shared_ptr constraint(
new eq2D::UnaryEqualityConstraint(truth_pt, key, mu));
Point2 badPt(100.0, -200.0);
simulated2D::Prior::shared_ptr factor(
new simulated2D::Prior(badPt, soft_model, key));
NonlinearFactorGraph graph;
graph.push_back(constraint);
graph.push_back(factor);
Values initValues;
initValues.insert(key, badPt);
// verify error values
EXPECT(constraint->active(initValues));
Values expected;
expected.insert(key, truth_pt);
EXPECT(constraint->active(expected));
EXPECT_DOUBLES_EQUAL(0.0, constraint->error(expected), tol);
Values actual = LevenbergMarquardtOptimizer(graph, initValues).optimize();
EXPECT(assert_equal(expected, actual, tol));
}
//*************************************************************************
TEST (EssentialMatrixFactor2, minimization) {
// Here we want to optimize for E and inverse depths at the same time
// We start with a factor graph and add constraints to it
// Noise sigma is 1cm, assuming metric measurements
NonlinearFactorGraph graph;
for (size_t i = 0; i < 5; i++)
graph.add(EssentialMatrixFactor2(100, i, pA(i), pB(i), model2));
// Check error at ground truth
Values truth;
truth.insert(100, trueE);
for (size_t i = 0; i < 5; i++) {
Point3 P1 = data.tracks[i].p;
truth.insert(i, double(baseline / P1.z()));
}
EXPECT_DOUBLES_EQUAL(0, graph.error(truth), 1e-8);
// Optimize
LevenbergMarquardtParams parameters;
// parameters.setVerbosity("ERROR");
LevenbergMarquardtOptimizer optimizer(graph, truth, parameters);
Values result = optimizer.optimize();
// Check result
EssentialMatrix actual = result.at<EssentialMatrix>(100);
EXPECT(assert_equal(trueE, actual, 1e-1));
for (size_t i = 0; i < 5; i++)
EXPECT_DOUBLES_EQUAL(truth.at<double>(i), result.at<double>(i), 1e-1);
// Check error at result
EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-4);
}
int main(int argc, char* argv[]) {
// parse options and read BAL file
SfM_data db = preamble(argc, argv);
// Build graph using conventional GeneralSFMFactor
NonlinearFactorGraph graph;
for (size_t j = 0; j < db.number_tracks(); j++) {
BOOST_FOREACH (const SfM_Measurement& m, db.tracks[j].measurements) {
size_t i = m.first;
Point2 z = m.second;
Pose3_ camTnav_(C(i));
Cal3Bundler_ calibration_(K(i));
Point3_ nav_point_(P(j));
graph.addExpressionFactor(
gNoiseModel, z,
uncalibrate(calibration_, // now using transform_from !!!:
project(transform_from(camTnav_, nav_point_))));
}
}
Values initial;
size_t i = 0, j = 0;
BOOST_FOREACH (const SfM_Camera& camera, db.cameras) {
initial.insert(C(i), camera.pose().inverse()); // inverse !!!
initial.insert(K(i), camera.calibration());
i += 1;
}
BOOST_FOREACH (const SfM_Track& track, db.tracks)
initial.insert(P(j++), track.p);
bool separateCalibration = true;
return optimize(db, graph, initial, separateCalibration);
}
/*******************************************************************************
* Camera: f = 1, Image: 100x100, center: 50, 50.0
* Pose (ground truth): (Xw, -Yw, -Zw, [0,0,2.0]')
* Known landmarks:
* 3D Points: (10,10,0) (-10,10,0) (-10,-10,0) (10,-10,0)
* Perfect measurements:
* 2D Point: (55,45) (45,45) (45,55) (55,55)
*******************************************************************************/
int main(int argc, char* argv[]) {
/* read camera intrinsic parameters */
Cal3_S2::shared_ptr calib(new Cal3_S2(1, 1, 0, 50, 50));
/* 1. create graph */
NonlinearFactorGraph graph;
/* 2. add factors to the graph */
// add measurement factors
SharedDiagonal measurementNoise = Diagonal::Sigmas((Vector(2) << 0.5, 0.5));
boost::shared_ptr<ResectioningFactor> factor;
graph.push_back(
boost::make_shared<ResectioningFactor>(measurementNoise, X(1), calib,
Point2(55, 45), Point3(10, 10, 0)));
graph.push_back(
boost::make_shared<ResectioningFactor>(measurementNoise, X(1), calib,
Point2(45, 45), Point3(-10, 10, 0)));
graph.push_back(
boost::make_shared<ResectioningFactor>(measurementNoise, X(1), calib,
Point2(45, 55), Point3(-10, -10, 0)));
graph.push_back(
boost::make_shared<ResectioningFactor>(measurementNoise, X(1), calib,
Point2(55, 55), Point3(10, -10, 0)));
/* 3. Create an initial estimate for the camera pose */
Values initial;
initial.insert(X(1),
Pose3(Rot3(1, 0, 0, 0, -1, 0, 0, 0, -1), Point3(0, 0, 2)));
/* 4. Optimize the graph using Levenberg-Marquardt*/
Values result = LevenbergMarquardtOptimizer(graph, initial).optimize();
result.print("Final result:\n");
return 0;
}
/* ************************************************************************* */
NonlinearFactorGraph planarSLAMGraph() {
NonlinearFactorGraph graph;
// Prior on pose x1 at the origin.
Pose2 prior(0.0, 0.0, 0.0);
auto priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1));
graph.add(PriorFactor<Pose2>(x1, prior, priorNoise));
// Two odometry factors
Pose2 odometry(2.0, 0.0, 0.0);
auto odometryNoise = noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1));
graph.add(BetweenFactor<Pose2>(x1, x2, odometry, odometryNoise));
graph.add(BetweenFactor<Pose2>(x2, x3, odometry, odometryNoise));
// Add Range-Bearing measurements to two different landmarks
auto measurementNoise = noiseModel::Diagonal::Sigmas(Vector2(0.1, 0.2));
Rot2 bearing11 = Rot2::fromDegrees(45), bearing21 = Rot2::fromDegrees(90),
bearing32 = Rot2::fromDegrees(90);
double range11 = std::sqrt(4.0 + 4.0), range21 = 2.0, range32 = 2.0;
graph.add(BearingRangeFactor<Pose2, Point2>(x1, l1, bearing11, range11, measurementNoise));
graph.add(BearingRangeFactor<Pose2, Point2>(x2, l1, bearing21, range21, measurementNoise));
graph.add(BearingRangeFactor<Pose2, Point2>(x3, l2, bearing32, range32, measurementNoise));
return graph;
}
/* ************************************************************************** */
TEST(GoalFactorArm, optimization_1) {
// use optimization to solve inverse kinematics
noiseModel::Gaussian::shared_ptr cost_model = noiseModel::Isotropic::Sigma(3, 0.1);
// 2 link simple example
Vector a = (Vector(2) << 1, 1).finished();
Vector alpha = (Vector(2) << 0, 0).finished();
Vector d = (Vector(2) << 0, 0).finished();
Arm arm(2, a, alpha, d);
Point3 goal(1.414213562373095, 1.414213562373095, 0);
Key qkey = Symbol('x', 0);
Vector q = (Vector(2) << M_PI/4.0, 0).finished();
Vector qinit = (Vector(2) << 0, 0).finished();
NonlinearFactorGraph graph;
graph.add(GoalFactorArm(qkey, cost_model, arm, goal));
Values init_values;
init_values.insert(qkey, qinit);
LevenbergMarquardtParams parameters;
parameters.setVerbosity("ERROR");
parameters.setAbsoluteErrorTol(1e-12);
LevenbergMarquardtOptimizer optimizer(graph, init_values, parameters);
optimizer.optimize();
Values results = optimizer.values();
EXPECT_DOUBLES_EQUAL(0, graph.error(results), 1e-3);
EXPECT(assert_equal(q, results.at<Vector>(qkey), 1e-3));
}
/* ************************************************************************* */
TEST( ConcurrentIncrementalSmootherDL, synchronize_1 )
{
// Create a set of optimizer parameters
ISAM2Params parameters;
parameters.optimizationParams = ISAM2DoglegParams();
// parameters.maxIterations = 1;
// Create a Concurrent Batch Smoother
ConcurrentIncrementalSmoother smoother(parameters);
// Create a simple separator *from* the filter
NonlinearFactorGraph smootherFactors, filterSumarization;
Values smootherValues, filterSeparatorValues;
filterSeparatorValues.insert(1, Pose3().compose(poseError));
filterSeparatorValues.insert(2, filterSeparatorValues.at<Pose3>(1).compose(poseOdometry).compose(poseError));
filterSumarization.push_back(LinearContainerFactor(PriorFactor<Pose3>(1, poseInitial, noisePrior).linearize(filterSeparatorValues), filterSeparatorValues));
filterSumarization.push_back(LinearContainerFactor(BetweenFactor<Pose3>(1, 2, poseOdometry, noiseOdometery).linearize(filterSeparatorValues), filterSeparatorValues));
// Create expected values: the smoother output will be empty for this case
NonlinearFactorGraph expectedSmootherSummarization;
Values expectedSmootherSeparatorValues;
NonlinearFactorGraph actualSmootherSummarization;
Values actualSmootherSeparatorValues;
smoother.presync();
smoother.getSummarizedFactors(actualSmootherSummarization, actualSmootherSeparatorValues);
smoother.synchronize(smootherFactors, smootherValues, filterSumarization, filterSeparatorValues);
smoother.postsync();
// Check
CHECK(assert_equal(expectedSmootherSummarization, actualSmootherSummarization, 1e-6));
CHECK(assert_equal(expectedSmootherSeparatorValues, actualSmootherSeparatorValues, 1e-6));
// Update the smoother
smoother.update();
// Check the factor graph. It should contain only the filter-provided factors
NonlinearFactorGraph expectedFactorGraph = filterSumarization;
NonlinearFactorGraph actualFactorGraph = smoother.getFactors();
CHECK(assert_equal(expectedFactorGraph, actualFactorGraph, 1e-6));
// Check the optimized value of smoother state
NonlinearFactorGraph allFactors;
allFactors.push_back(filterSumarization);
Values allValues;
allValues.insert(filterSeparatorValues);
Values expectedValues = BatchOptimize(allFactors, allValues,1);
Values actualValues = smoother.calculateEstimate();
CHECK(assert_equal(expectedValues, actualValues, 1e-6));
// Check the linearization point. The separator should remain identical to the filter provided values
Values expectedLinearizationPoint = filterSeparatorValues;
Values actualLinearizationPoint = smoother.getLinearizationPoint();
CHECK(assert_equal(expectedLinearizationPoint, actualLinearizationPoint, 1e-6));
}
/* ************************************************************************* */
TEST(Marginals, order) {
NonlinearFactorGraph fg;
fg += PriorFactor<Pose2>(0, Pose2(), noiseModel::Unit::Create(3));
fg += BetweenFactor<Pose2>(0, 1, Pose2(1,0,0), noiseModel::Unit::Create(3));
fg += BetweenFactor<Pose2>(1, 2, Pose2(1,0,0), noiseModel::Unit::Create(3));
fg += BetweenFactor<Pose2>(2, 3, Pose2(1,0,0), noiseModel::Unit::Create(3));
Values vals;
vals.insert(0, Pose2());
vals.insert(1, Pose2(1,0,0));
vals.insert(2, Pose2(2,0,0));
vals.insert(3, Pose2(3,0,0));
vals.insert(100, Point2(0,1));
vals.insert(101, Point2(1,1));
fg += BearingRangeFactor<Pose2,Point2>(0, 100,
vals.at<Pose2>(0).bearing(vals.at<Point2>(100)),
vals.at<Pose2>(0).range(vals.at<Point2>(100)), noiseModel::Unit::Create(2));
fg += BearingRangeFactor<Pose2,Point2>(0, 101,
vals.at<Pose2>(0).bearing(vals.at<Point2>(101)),
vals.at<Pose2>(0).range(vals.at<Point2>(101)), noiseModel::Unit::Create(2));
fg += BearingRangeFactor<Pose2,Point2>(1, 100,
vals.at<Pose2>(1).bearing(vals.at<Point2>(100)),
vals.at<Pose2>(1).range(vals.at<Point2>(100)), noiseModel::Unit::Create(2));
fg += BearingRangeFactor<Pose2,Point2>(1, 101,
vals.at<Pose2>(1).bearing(vals.at<Point2>(101)),
vals.at<Pose2>(1).range(vals.at<Point2>(101)), noiseModel::Unit::Create(2));
fg += BearingRangeFactor<Pose2,Point2>(2, 100,
vals.at<Pose2>(2).bearing(vals.at<Point2>(100)),
vals.at<Pose2>(2).range(vals.at<Point2>(100)), noiseModel::Unit::Create(2));
fg += BearingRangeFactor<Pose2,Point2>(2, 101,
vals.at<Pose2>(2).bearing(vals.at<Point2>(101)),
vals.at<Pose2>(2).range(vals.at<Point2>(101)), noiseModel::Unit::Create(2));
fg += BearingRangeFactor<Pose2,Point2>(3, 100,
vals.at<Pose2>(3).bearing(vals.at<Point2>(100)),
vals.at<Pose2>(3).range(vals.at<Point2>(100)), noiseModel::Unit::Create(2));
fg += BearingRangeFactor<Pose2,Point2>(3, 101,
vals.at<Pose2>(3).bearing(vals.at<Point2>(101)),
vals.at<Pose2>(3).range(vals.at<Point2>(101)), noiseModel::Unit::Create(2));
Marginals marginals(fg, vals);
KeySet set = fg.keys();
FastVector<Key> keys(set.begin(), set.end());
JointMarginal joint = marginals.jointMarginalCovariance(keys);
LONGS_EQUAL(3, (long)joint(0,0).rows());
LONGS_EQUAL(3, (long)joint(1,1).rows());
LONGS_EQUAL(3, (long)joint(2,2).rows());
LONGS_EQUAL(3, (long)joint(3,3).rows());
LONGS_EQUAL(2, (long)joint(100,100).rows());
LONGS_EQUAL(2, (long)joint(101,101).rows());
}
/* ************************************************************************* */
int main (int argc, char* argv[]) {
// Find default file, but if an argument is given, try loading a file
string filename = findExampleDataFile("dubrovnik-3-7-pre");
if (argc>1) filename = string(argv[1]);
// Load the SfM data from file
SfM_data mydata;
assert(readBAL(filename, mydata));
cout << boost::format("read %1% tracks on %2% cameras\n") % mydata.number_tracks() % mydata.number_cameras();
// Create a factor graph
NonlinearFactorGraph graph;
// We share *one* noiseModel between all projection factors
noiseModel::Isotropic::shared_ptr noise =
noiseModel::Isotropic::Sigma(2, 1.0); // one pixel in u and v
// Add measurements to the factor graph
size_t j = 0;
BOOST_FOREACH(const SfM_Track& track, mydata.tracks) {
BOOST_FOREACH(const SfM_Measurement& m, track.measurements) {
size_t i = m.first;
Point2 uv = m.second;
graph.push_back(MyFactor(uv, noise, C(i), P(j))); // note use of shorthand symbols C and P
}
j += 1;
}
// Add a prior on pose x1. This indirectly specifies where the origin is.
// and a prior on the position of the first landmark to fix the scale
graph.push_back(PriorFactor<SfM_Camera>(C(0), mydata.cameras[0], noiseModel::Isotropic::Sigma(9, 0.1)));
graph.push_back(PriorFactor<Point3> (P(0), mydata.tracks[0].p, noiseModel::Isotropic::Sigma(3, 0.1)));
// Create initial estimate
Values initial;
size_t i = 0; j = 0;
BOOST_FOREACH(const SfM_Camera& camera, mydata.cameras) initial.insert(C(i++), camera);
BOOST_FOREACH(const SfM_Track& track, mydata.tracks) initial.insert(P(j++), track.p);
/* Optimize the graph and print results */
Values result;
try {
LevenbergMarquardtParams params;
params.setVerbosity("ERROR");
LevenbergMarquardtOptimizer lm(graph, initial, params);
result = lm.optimize();
} catch (exception& e) {
cout << e.what();
}
cout << "final error: " << graph.error(result) << endl;
return 0;
}
/* ************************************************************************* */
int main(int argc, char* argv[]) {
// Define the camera calibration parameters
Cal3_S2::shared_ptr K(new Cal3_S2(50.0, 50.0, 0.0, 50.0, 50.0));
// Define the camera observation noise model
noiseModel::Isotropic::shared_ptr measurementNoise = noiseModel::Isotropic::Sigma(2, 1.0); // one pixel in u and v
// Create the set of ground-truth landmarks
vector<Point3> points = createPoints();
// Create the set of ground-truth poses
vector<Pose3> poses = createPoses();
// Create a factor graph
NonlinearFactorGraph graph;
// Add a prior on pose x1. This indirectly specifies where the origin is.
noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas((Vector(6) << Vector3::Constant(0.3), Vector3::Constant(0.1))); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw
graph.push_back(PriorFactor<Pose3>(Symbol('x', 0), poses[0], poseNoise)); // add directly to graph
// Simulated measurements from each camera pose, adding them to the factor graph
for (size_t i = 0; i < poses.size(); ++i) {
for (size_t j = 0; j < points.size(); ++j) {
SimpleCamera camera(poses[i], *K);
Point2 measurement = camera.project(points[j]);
graph.push_back(GenericProjectionFactor<Pose3, Point3, Cal3_S2>(measurement, measurementNoise, Symbol('x', i), Symbol('l', j), K));
}
}
// Because the structure-from-motion problem has a scale ambiguity, the problem is still under-constrained
// Here we add a prior on the position of the first landmark. This fixes the scale by indicating the distance
// between the first camera and the first landmark. All other landmark positions are interpreted using this scale.
noiseModel::Isotropic::shared_ptr pointNoise = noiseModel::Isotropic::Sigma(3, 0.1);
graph.push_back(PriorFactor<Point3>(Symbol('l', 0), points[0], pointNoise)); // add directly to graph
graph.print("Factor Graph:\n");
// Create the data structure to hold the initial estimate to the solution
// Intentionally initialize the variables off from the ground truth
Values initialEstimate;
for (size_t i = 0; i < poses.size(); ++i)
initialEstimate.insert(Symbol('x', i), poses[i].compose(Pose3(Rot3::rodriguez(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20))));
for (size_t j = 0; j < points.size(); ++j)
initialEstimate.insert(Symbol('l', j), points[j].compose(Point3(-0.25, 0.20, 0.15)));
initialEstimate.print("Initial Estimates:\n");
/* Optimize the graph and print results */
Values result = DoglegOptimizer(graph, initialEstimate).optimize();
result.print("Final results:\n");
return 0;
}
/* ************************************************************************* */
int main(int argc, char* argv[]) {
// Create the set of ground-truth
vector<Point3> points = createPoints();
vector<Pose3> poses = createPoses();
// Create the factor graph
NonlinearFactorGraph graph;
// Add a prior on pose x1.
noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas((Vector(6) << Vector3::Constant(0.3), Vector3::Constant(0.1)).finished()); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw
graph.push_back(PriorFactor<Pose3>(Symbol('x', 0), poses[0], poseNoise));
// Simulated measurements from each camera pose, adding them to the factor graph
Cal3_S2 K(50.0, 50.0, 0.0, 50.0, 50.0);
noiseModel::Isotropic::shared_ptr measurementNoise = noiseModel::Isotropic::Sigma(2, 1.0);
for (size_t i = 0; i < poses.size(); ++i) {
for (size_t j = 0; j < points.size(); ++j) {
SimpleCamera camera(poses[i], K);
Point2 measurement = camera.project(points[j]);
// The only real difference with the Visual SLAM example is that here we use a
// different factor type, that also calculates the Jacobian with respect to calibration
graph.push_back(GeneralSFMFactor2<Cal3_S2>(measurement, measurementNoise, Symbol('x', i), Symbol('l', j), Symbol('K', 0)));
}
}
// Add a prior on the position of the first landmark.
noiseModel::Isotropic::shared_ptr pointNoise = noiseModel::Isotropic::Sigma(3, 0.1);
graph.push_back(PriorFactor<Point3>(Symbol('l', 0), points[0], pointNoise)); // add directly to graph
// Add a prior on the calibration.
noiseModel::Diagonal::shared_ptr calNoise = noiseModel::Diagonal::Sigmas((Vector(5) << 500, 500, 0.1, 100, 100).finished());
graph.push_back(PriorFactor<Cal3_S2>(Symbol('K', 0), K, calNoise));
// Create the initial estimate to the solution
// now including an estimate on the camera calibration parameters
Values initialEstimate;
initialEstimate.insert(Symbol('K', 0), Cal3_S2(60.0, 60.0, 0.0, 45.0, 45.0));
for (size_t i = 0; i < poses.size(); ++i)
initialEstimate.insert(Symbol('x', i), poses[i].compose(Pose3(Rot3::Rodrigues(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20))));
for (size_t j = 0; j < points.size(); ++j)
initialEstimate.insert<Point3>(Symbol('l', j), points[j] + Point3(-0.25, 0.20, 0.15));
/* Optimize the graph and print results */
Values result = DoglegOptimizer(graph, initialEstimate).optimize();
result.print("Final results:\n");
return 0;
}
gtsam::NonlinearFactorGraph Matcher2D::findLocalLoopClosure(
const PoseD slam_pose, LaserScan2D& scan) {
NonlinearFactorGraph graph;
#if 0
// get looped index
vector<LoopResult2d> loop_result;
loop_result = this->findLoopClosure(scan);
// perform small EM only after init
if (local_smallEM_.flag_init) {
for (size_t i = 0; i < loop_result.size(); i++) {
Pose2 relpose = loop_result[i].delta_pose;
pair<size_t, size_t> relidx = make_pair(loop_result[i].loop_idx, pose_count_);
// inlier
if (pose_count_ - loop_result[i].loop_idx > setting_.local_loop_interval &&
local_smallEM_.perform(relpose, relidx, curr_values_, isam_.getFactorsUnsafe())) {
cout << "local loop detected! " << endl;
cout << "robot_" << ID_ << ": [" << loop_result[i].loop_idx << ", " << pose_count_ << "]" << endl;
cout << "Press Enter to continue ... " << endl;
cin.ignore(1);
// matched: insert between robot factor
graph.push_back(BetweenFactor<Pose2>(Symbol(ID_, loop_result[i].loop_idx), Symbol(ID_, pose_count_),
relpose, setting_.loop_default_model));
}
}
} else {
// only init small EM after certain count
if (local_measure_poses_.size() >= setting_.local_loop_count_smallEM) {
local_smallEM_.init(local_measure_poses_, local_measure_index_, Pose2());
local_measure_poses_.clear();
local_measure_index_.clear();
// insert in local cache
} else {
for (size_t i = 0; i < loop_result.size(); i++) {
local_measure_poses_.push_back(loop_result[i].delta_pose);
local_measure_index_.push_back(make_pair(loop_result[i].loop_idx, pose_count_));
}
}
}
#endif
return graph;
}
int main(int argc, char** argv) {
// 1. Create a factor graph container and add factors to it
NonlinearFactorGraph graph;
// 2a. Add a prior on the first pose, setting it to the origin
// A prior factor consists of a mean and a noise model (covariance matrix)
Pose2 prior(0.0, 0.0, 0.0); // prior at origin
noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1));
graph.add(PriorFactor<Pose2>(1, prior, priorNoise));
// 2b. Add odometry factors
// For simplicity, we will use the same noise model for each odometry factor
noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1));
// Create odometry (Between) factors between consecutive poses
graph.add(BetweenFactor<Pose2>(1, 2, Pose2(2.0, 0.0, M_PI_2), odometryNoise));
graph.add(BetweenFactor<Pose2>(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise));
graph.add(BetweenFactor<Pose2>(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise));
graph.add(BetweenFactor<Pose2>(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise));
// 2c. Add the loop closure constraint
// This factor encodes the fact that we have returned to the same pose. In real systems,
// these constraints may be identified in many ways, such as appearance-based techniques
// with camera images.
// We will use another Between Factor to enforce this constraint, with the distance set to zero,
noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1));
graph.add(BetweenFactor<Pose2>(5, 1, Pose2(0.0, 0.0, 0.0), model));
graph.print("\nFactor Graph:\n"); // print
// 3. Create the data structure to hold the initialEstimate estimate to the solution
// For illustrative purposes, these have been deliberately set to incorrect values
Values initialEstimate;
initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2));
initialEstimate.insert(2, Pose2(2.3, 0.1, 1.1));
initialEstimate.insert(3, Pose2(2.1, 1.9, 2.8));
initialEstimate.insert(4, Pose2(-.3, 2.5, 4.2));
initialEstimate.insert(5, Pose2(0.1,-0.7, 5.8));
initialEstimate.print("\nInitial Estimate:\n"); // print
// 4. Single Step Optimization using Levenberg-Marquardt
LevenbergMarquardtParams parameters;
parameters.verbosity = NonlinearOptimizerParams::ERROR;
parameters.verbosityLM = LevenbergMarquardtParams::LAMBDA;
parameters.linearSolverType = SuccessiveLinearizationParams::CONJUGATE_GRADIENT;
{
parameters.iterativeParams = boost::make_shared<SubgraphSolverParameters>();
LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, parameters);
Values result = optimizer.optimize();
result.print("Final Result:\n");
cout << "subgraph solver final error = " << graph.error(result) << endl;
}
return 0;
}
int main(int argc, char** argv) {
// 1. Create a factor graph container and add factors to it
NonlinearFactorGraph graph;
// 2a. Add odometry factors
// For simplicity, we will use the same noise model for each odometry factor
noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1));
// Create odometry (Between) factors between consecutive poses
graph.add(BetweenFactor<Pose2>(1, 2, Pose2(2.0, 0.0, 0.0), odometryNoise));
graph.add(BetweenFactor<Pose2>(2, 3, Pose2(2.0, 0.0, 0.0), odometryNoise));
// 2b. Add "GPS-like" measurements
// We will use our custom UnaryFactor for this.
noiseModel::Diagonal::shared_ptr unaryNoise = noiseModel::Diagonal::Sigmas(Vector2(0.1, 0.1)); // 10cm std on x,y
graph.add(boost::make_shared<UnaryFactor>(1, 0.0, 0.0, unaryNoise));
graph.add(boost::make_shared<UnaryFactor>(2, 2.0, 0.0, unaryNoise));
graph.add(boost::make_shared<UnaryFactor>(3, 4.0, 0.0, unaryNoise));
graph.print("\nFactor Graph:\n"); // print
// 3. Create the data structure to hold the initialEstimate estimate to the solution
// For illustrative purposes, these have been deliberately set to incorrect values
Values initialEstimate;
initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2));
initialEstimate.insert(2, Pose2(2.3, 0.1, -0.2));
initialEstimate.insert(3, Pose2(4.1, 0.1, 0.1));
initialEstimate.print("\nInitial Estimate:\n"); // print
// 4. Optimize using Levenberg-Marquardt optimization. The optimizer
// accepts an optional set of configuration parameters, controlling
// things like convergence criteria, the type of linear system solver
// to use, and the amount of information displayed during optimization.
// Here we will use the default set of parameters. See the
// documentation for the full set of parameters.
LevenbergMarquardtOptimizer optimizer(graph, initialEstimate);
Values result = optimizer.optimize();
result.print("Final Result:\n");
// 5. Calculate and print marginal covariances for all variables
Marginals marginals(graph, result);
cout << "x1 covariance:\n" << marginals.marginalCovariance(1) << endl;
cout << "x2 covariance:\n" << marginals.marginalCovariance(2) << endl;
cout << "x3 covariance:\n" << marginals.marginalCovariance(3) << endl;
return 0;
}
/* ************************************************************************* */
TEST( dataSet, readG2o3D)
{
const string g2oFile = findExampleDataFile("pose3example");
NonlinearFactorGraph::shared_ptr actualGraph;
Values::shared_ptr actualValues;
bool is3D = true;
boost::tie(actualGraph, actualValues) = readG2o(g2oFile, is3D);
Values expectedValues;
Rot3 R0 = Rot3::quaternion(1.000000, 0.000000, 0.000000, 0.000000 );
Point3 p0 = Point3(0.000000, 0.000000, 0.000000);
expectedValues.insert(0, Pose3(R0, p0));
Rot3 R1 = Rot3::quaternion(0.854230, 0.190253, 0.283162, -0.392318 );
Point3 p1 = Point3(1.001367, 0.015390, 0.004948);
expectedValues.insert(1, Pose3(R1, p1));
Rot3 R2 = Rot3::quaternion(0.421446, -0.351729, -0.597838, 0.584174 );
Point3 p2 = Point3(1.993500, 0.023275, 0.003793);
expectedValues.insert(2, Pose3(R2, p2));
Rot3 R3 = Rot3::quaternion(0.067024, 0.331798, -0.200659, 0.919323);
Point3 p3 = Point3(2.004291, 1.024305, 0.018047);
expectedValues.insert(3, Pose3(R3, p3));
Rot3 R4 = Rot3::quaternion(0.765488, -0.035697, -0.462490, 0.445933);
Point3 p4 = Point3(0.999908, 1.055073, 0.020212);
expectedValues.insert(4, Pose3(R4, p4));
EXPECT(assert_equal(expectedValues,*actualValues,1e-5));
noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Precisions((Vector(6) << 10000.0,10000.0,10000.0,10000.0,10000.0,10000.0));
NonlinearFactorGraph expectedGraph;
Point3 p01 = Point3(1.001367, 0.015390, 0.004948);
Rot3 R01 = Rot3::quaternion(0.854230, 0.190253, 0.283162, -0.392318 );
expectedGraph.add(BetweenFactor<Pose3>(0, 1, Pose3(R01,p01), model));
Point3 p12 = Point3(0.523923, 0.776654, 0.326659);
Rot3 R12 = Rot3::quaternion(0.105373 , 0.311512, 0.656877, -0.678505 );
expectedGraph.add(BetweenFactor<Pose3>(1, 2, Pose3(R12,p12), model));
Point3 p23 = Point3(0.910927, 0.055169, -0.411761);
Rot3 R23 = Rot3::quaternion(0.568551 , 0.595795, -0.561677, 0.079353 );
expectedGraph.add(BetweenFactor<Pose3>(2, 3, Pose3(R23,p23), model));
Point3 p34 = Point3(0.775288, 0.228798, -0.596923);
Rot3 R34 = Rot3::quaternion(0.542221 , -0.592077, 0.303380, -0.513226 );
expectedGraph.add(BetweenFactor<Pose3>(3, 4, Pose3(R34,p34), model));
Point3 p14 = Point3(-0.577841, 0.628016, -0.543592);
Rot3 R14 = Rot3::quaternion(0.327419 , -0.125250, -0.534379, 0.769122 );
expectedGraph.add(BetweenFactor<Pose3>(1, 4, Pose3(R14,p14), model));
Point3 p30 = Point3(-0.623267, 0.086928, 0.773222);
Rot3 R30 = Rot3::quaternion(0.083672 , 0.104639, 0.627755, 0.766795 );
expectedGraph.add(BetweenFactor<Pose3>(3, 0, Pose3(R30,p30), model));
EXPECT(assert_equal(expectedGraph,*actualGraph,1e-5));
}
int main(const int argc, const char *argv[]) {
// Read graph from file
string g2oFile;
if (argc < 2)
g2oFile = findExampleDataFile("pose3example.txt");
else
g2oFile = argv[1];
NonlinearFactorGraph::shared_ptr graph;
Values::shared_ptr initial;
bool is3D = true;
boost::tie(graph, initial) = readG2o(g2oFile, is3D);
// Add prior on the first key
NonlinearFactorGraph graphWithPrior = *graph;
noiseModel::Diagonal::shared_ptr priorModel = //
noiseModel::Diagonal::Variances((Vector(6) << 1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4));
Key firstKey = 0;
BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, *initial) {
std::cout << "Adding prior to g2o file " << std::endl;
firstKey = key_value.key;
graphWithPrior.add(PriorFactor<Pose3>(firstKey, Pose3(), priorModel));
break;
}
std::cout << "Initializing Pose3 - Riemannian gradient" << std::endl;
bool useGradient = true;
Values initialization = InitializePose3::initialize(graphWithPrior, *initial, useGradient);
std::cout << "done!" << std::endl;
std::cout << "initial error=" <<graph->error(*initial)<< std::endl;
std::cout << "initialization error=" <<graph->error(initialization)<< std::endl;
if (argc < 3) {
initialization.print("initialization");
} else {
const string outputFile = argv[2];
std::cout << "Writing results to file: " << outputFile << std::endl;
writeG2o(*graph, initialization, outputFile);
std::cout << "done! " << std::endl;
}
return 0;
}
/* ********************************************************************* */
TEST (testNonlinearEqualityConstraint, map_warp ) {
// get a graph
NonlinearFactorGraph graph;
// keys
Symbol x1('x',1), x2('x',2);
Symbol l1('l',1), l2('l',2);
// constant constraint on x1
Point2 pose1(1.0, 1.0);
graph.add(eq2D::UnaryEqualityConstraint(pose1, x1));
SharedDiagonal sigma = noiseModel::Isotropic::Sigma(1,0.1);
// measurement from x1 to l1
Point2 z1(0.0, 5.0);
graph.add(simulated2D::Measurement(z1, sigma, x1, l1));
// measurement from x2 to l2
Point2 z2(-4.0, 0.0);
graph.add(simulated2D::Measurement(z2, sigma, x2, l2));
// equality constraint between l1 and l2
graph.add(eq2D::PointEqualityConstraint(l1, l2));
// create an initial estimate
Values initialEstimate;
initialEstimate.insert(x1, Point2( 1.0, 1.0));
initialEstimate.insert(l1, Point2( 1.0, 6.0));
initialEstimate.insert(l2, Point2(-4.0, 0.0)); // starting with a separate reference frame
initialEstimate.insert(x2, Point2( 0.0, 0.0)); // other pose starts at origin
// optimize
Values actual = LevenbergMarquardtOptimizer(graph, initialEstimate).optimize();
Values expected;
expected.insert(x1, Point2(1.0, 1.0));
expected.insert(l1, Point2(1.0, 6.0));
expected.insert(l2, Point2(1.0, 6.0));
expected.insert(x2, Point2(5.0, 6.0));
CHECK(assert_equal(expected, actual, tol));
}
/* ************************************************************************* */
bool check_smoother(const NonlinearFactorGraph& fullgraph, const Values& fullinit, const IncrementalFixedLagSmoother& smoother, const Key& key) {
GaussianFactorGraph linearized = *fullgraph.linearize(fullinit);
VectorValues delta = linearized.optimize();
Values fullfinal = fullinit.retract(delta);
Point2 expected = fullfinal.at<Point2>(key);
Point2 actual = smoother.calculateEstimate<Point2>(key);
return assert_equal(expected, actual);
}
int main(int argc, char** argv) {
// Create an empty nonlinear factor graph
NonlinearFactorGraph graph;
// Add a prior on the first pose, setting it to the origin
// A prior factor consists of a mean and a noise model (covariance matrix)
Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin
noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1));
graph.add(PriorFactor<Pose2>(1, priorMean, priorNoise));
// Add odometry factors
Pose2 odometry(2.0, 0.0, 0.0);
// For simplicity, we will use the same noise model for each odometry factor
noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1));
// Create odometry (Between) factors between consecutive poses
graph.add(BetweenFactor<Pose2>(1, 2, odometry, odometryNoise));
graph.add(BetweenFactor<Pose2>(2, 3, odometry, odometryNoise));
graph.print("\nFactor Graph:\n"); // print
// Create the data structure to hold the initialEstimate estimate to the solution
// For illustrative purposes, these have been deliberately set to incorrect values
Values initial;
initial.insert(1, Pose2(0.5, 0.0, 0.2));
initial.insert(2, Pose2(2.3, 0.1, -0.2));
initial.insert(3, Pose2(4.1, 0.1, 0.1));
initial.print("\nInitial Estimate:\n"); // print
// optimize using Levenberg-Marquardt optimization
Values result = LevenbergMarquardtOptimizer(graph, initial).optimize();
result.print("Final Result:\n");
// Calculate and print marginal covariances for all variables
cout.precision(2);
Marginals marginals(graph, result);
cout << "x1 covariance:\n" << marginals.marginalCovariance(1) << endl;
cout << "x2 covariance:\n" << marginals.marginalCovariance(2) << endl;
cout << "x3 covariance:\n" << marginals.marginalCovariance(3) << endl;
return 0;
}
