void SBANode::addProj(const sba::Projection& msg)
{
int camindex = node_indices[msg.camindex];
int pointindex = point_indices[msg.pointindex];
Vector3d keypoint(msg.u, msg.v, msg.d);
bool stereo = msg.stereo;
bool usecovariance = msg.usecovariance;
Eigen::Matrix3d covariance;
covariance << msg.covariance[0], msg.covariance[1], msg.covariance[2],
msg.covariance[3], msg.covariance[4], msg.covariance[5],
msg.covariance[6], msg.covariance[7], msg.covariance[8];
// Make sure it's valid before adding it.
if (pointindex < (int)sba.tracks.size() && camindex < (int)sba.nodes.size())
{
sba.addProj(camindex, pointindex, keypoint, stereo);
if (usecovariance)
sba.setProjCovariance(camindex, pointindex, covariance);
}
else
{
ROS_INFO("Failed to add projection: C: %d, P: %d, Csize: %d, Psize: %d",
camindex, pointindex,(int)sba.nodes.size(),(int)sba.tracks.size());
}
}
void setupSBA(SysSBA &sys)
{
// Create camera parameters.
frame_common::CamParams cam_params;
cam_params.fx = 430; // Focal length in x
cam_params.fy = 430; // Focal length in y
cam_params.cx = 320; // X position of principal point
cam_params.cy = 240; // Y position of principal point
cam_params.tx = 0.3; // Baseline
// Define dimensions of the image.
int maxx = 640;
int maxy = 480;
// Create a plane containing a wall of points.
Plane middleplane;
middleplane.resize(3, 2, 10, 5);
//middleplane.rotate(PI/4.0, PI/6.0, 1, 0);
middleplane.rotate(PI/4.0, 1, 0, 1);
middleplane.translate(0.0, 0.0, 5.0);
// Create another plane containing a wall of points.
Plane mp2;
mp2.resize(3, 2, 10, 5);
mp2.rotate(0, 0, 0, 1);
mp2.translate(0.0, 0.0, 4.0);
// Create another plane containing a wall of points.
Plane mp3;
mp3.resize(3, 2, 10, 5);
mp3.rotate(-PI/4.0, 1, 0, 1);
mp3.translate(0.0, 0.0, 4.5);
// Vector containing the true point positions.
vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> > normals;
points.insert(points.end(), middleplane.points.begin(), middleplane.points.end());
normals.insert(normals.end(), middleplane.points.size(), middleplane.normal);
points.insert(points.end(), mp2.points.begin(), mp2.points.end());
normals.insert(normals.end(), mp2.points.size(), mp2.normal);
points.insert(points.end(), mp3.points.begin(), mp3.points.end());
normals.insert(normals.end(), mp3.points.size(), mp3.normal);
// Create nodes and add them to the system.
unsigned int nnodes = 2; // Number of nodes.
double path_length = 1.0; // Length of the path the nodes traverse.
// Set the random seed.
unsigned short seed = (unsigned short)time(NULL);
seed48(&seed);
unsigned int i = 0;
Vector3d inormal0 = middleplane.normal;
Vector3d inormal1 = middleplane.normal;
Vector3d inormal20 = mp2.normal;
Vector3d inormal21 = mp2.normal;
Vector3d inormal30 = mp3.normal;
Vector3d inormal31 = mp3.normal;
for (i = 0; i < nnodes; i++)
{
// Translate in the x direction over the node path.
Vector4d trans(i/(nnodes-1.0)*path_length, 0, 0, 1);
#if 1
if (i >= 2)
{
// perturb a little
double tnoise = 0.5; // meters
trans.x() += tnoise*(drand48()-0.5);
trans.y() += tnoise*(drand48()-0.5);
trans.z() += tnoise*(drand48()-0.5);
}
#endif
// Don't rotate.
Quaterniond rot(1, 0, 0, 0);
#if 1
if (i >= 2)
{
// perturb a little
double qnoise = 0.1; // meters
rot.x() += qnoise*(drand48()-0.5);
rot.y() += qnoise*(drand48()-0.5);
rot.z() += qnoise*(drand48()-0.5);
}
#endif
rot.normalize();
// Add a new node to the system.
sys.addNode(trans, rot, cam_params, false);
// set normal
if (i == 0)
{
inormal0 = rot.toRotationMatrix().transpose() * inormal0;
inormal20 = rot.toRotationMatrix().transpose() * inormal20;
inormal30 = rot.toRotationMatrix().transpose() * inormal30;
}
else
{
inormal1 = rot.toRotationMatrix().transpose() * inormal1;
inormal21 = rot.toRotationMatrix().transpose() * inormal21;
inormal31 = rot.toRotationMatrix().transpose() * inormal31;
}
}
double pointnoise = 1.0;
// Add points into the system, and add noise.
for (i = 0; i < points.size(); i++)
{
// Add up to .5 points of noise.
Vector4d temppoint = points[i];
temppoint.x() += pointnoise*(drand48() - 0.5);
temppoint.y() += pointnoise*(drand48() - 0.5);
temppoint.z() += pointnoise*(drand48() - 0.5);
sys.addPoint(temppoint);
}
// Each point gets added twice
for (i = 0; i < points.size(); i++)
{
// Add up to .5 points of noise.
Vector4d temppoint = points[i];
temppoint.x() += pointnoise*(drand48() - 0.5);
temppoint.y() += pointnoise*(drand48() - 0.5);
temppoint.z() += pointnoise*(drand48() - 0.5);
sys.addPoint(temppoint);
}
Vector2d proj2d, proj2dp;
Vector3d proj, projp, pc, pcp, baseline, baselinep;
Vector3d imagenormal(0, 0, 1);
Matrix3d covar0;
covar0 << sqrt(imagenormal(0)), 0, 0, 0, sqrt(imagenormal(1)), 0, 0, 0, sqrt(imagenormal(2));
Matrix3d covar;
Quaterniond rotation;
Matrix3d rotmat;
unsigned int midindex = middleplane.points.size();
printf("Normal for Middle Plane: [%f %f %f], index %d -> %d\n", middleplane.normal.x(), middleplane.normal.y(), middleplane.normal.z(), 0, midindex-1);
int nn = points.size();
// Project points into nodes.
for (i = 0; i < points.size(); i++)
{
int k=i;
// Project the point into the node's image coordinate system.
sys.nodes[0].setProjection();
sys.nodes[0].project2im(proj2d, points[k]);
sys.nodes[1].setProjection();
sys.nodes[1].project2im(proj2dp, points[k]);
// Camera coords for right camera
baseline << sys.nodes[0].baseline, 0, 0;
pc = sys.nodes[0].Kcam * (sys.nodes[0].w2n*points[k] - baseline);
proj.head<2>() = proj2d;
proj(2) = pc(0)/pc(2);
baseline << sys.nodes[1].baseline, 0, 0;
pcp = sys.nodes[1].Kcam * (sys.nodes[1].w2n*points[k] - baseline);
projp.head<2>() = proj2dp;
projp(2) = pcp(0)/pcp(2);
// add noise to projections
double prnoise = 0.5; // 0.5 pixels
proj.head<2>() += Vector2d(prnoise*(drand48() - 0.5),prnoise*(drand48() - 0.5));
projp.head<2>() += Vector2d(prnoise*(drand48() - 0.5),prnoise*(drand48() - 0.5));
// If valid (within the range of the image size), add the stereo
// projection to SBA.
if (proj.x() > 0 && proj.x() < maxx && proj.y() > 0 && proj.y() < maxy)
{
// add point cloud shape-holding projections to each node
sys.addStereoProj(0, k, proj);
sys.addStereoProj(1, k+nn, projp);
#ifdef USE_PP
// add exact matches
if (i == 20 || i == 65 || i == 142)
sys.addStereoProj(1, k, projp);
#endif
#ifdef USE_PPL
// add point-plane matches
if (i < midindex)
sys.addPointPlaneMatch(0, k, inormal0, 1, k+nn, inormal1);
else if (i < 2*midindex)
sys.addPointPlaneMatch(0, k, inormal20, 1, k+nn, inormal21);
else
sys.addPointPlaneMatch(0, k, inormal30, 1, k+nn, inormal31);
// sys.addStereoProj(0, k+nn, projp);
// sys.addStereoProj(1, k, proj);
Matrix3d covar;
double cv = 0.01;
covar << cv, 0, 0,
0, cv, 0,
0, 0, cv;
sys.setProjCovariance(0, k+nn, covar);
sys.setProjCovariance(1, k, covar);
#endif
}
else
{
cout << "ERROR! point not in view of nodes" << endl;
//return;
}
}
// Add noise to node position.
double transscale = 2.0;
double rotscale = 0.5;
// Don't actually add noise to the first node, since it's fixed.
for (i = 1; i < sys.nodes.size(); i++)
{
Vector4d temptrans = sys.nodes[i].trans;
Quaterniond tempqrot = sys.nodes[i].qrot;
// Add error to both translation and rotation.
temptrans.x() += transscale*(drand48() - 0.5);
temptrans.y() += transscale*(drand48() - 0.5);
temptrans.z() += transscale*(drand48() - 0.5);
tempqrot.x() += rotscale*(drand48() - 0.5);
tempqrot.y() += rotscale*(drand48() - 0.5);
tempqrot.z() += rotscale*(drand48() - 0.5);
tempqrot.normalize();
sys.nodes[i].trans = temptrans;
sys.nodes[i].qrot = tempqrot;
// These methods should be called to update the node.
sys.nodes[i].normRot();
sys.nodes[i].setTransform();
sys.nodes[i].setProjection();
sys.nodes[i].setDr(true);
}
}
void setupSBA(SysSBA &sba)
{
// Create camera parameters.
frame_common::CamParams cam_params;
cam_params.fx = 430; // Focal length in x
cam_params.fy = 430; // Focal length in y
cam_params.cx = 320; // X position of principal point
cam_params.cy = 240; // Y position of principal point
cam_params.tx = -30; // Baseline (no baseline since this is monocular)
// Create a plane containing a wall of points.
Plane plane0, plane1;
plane0.resize(3, 2, 10, 5);
plane1 = plane0;
plane1.translate(0.1, 0.05, 0.0);
plane1.rotate(PI/4.0, 1, 0, 0);
plane1.translate(0.0, 0.0, 7.0);
plane0.rotate(PI/4.0, 1, 0, 0);
plane0.translate(0.0, 0.0, 7.0);
//plane1.translate(0.05, 0.0, 0.05);
// Create nodes and add them to the system.
unsigned int nnodes = 2; // Number of nodes.
double path_length = 2; // Length of the path the nodes traverse.
// Set the random seed.
unsigned short seed = (unsigned short)time(NULL);
seed48(&seed);
for (int i = 0; i < nnodes; i++)
{
// Translate in the x direction over the node path.
Vector4d trans(i/(nnodes-1.0)*path_length, 0, 0, 1);
#if 0
if (i >= 0)
{
// perturb a little
double tnoise = 0.5; // meters
trans.x() += tnoise*(drand48()-0.5);
trans.y() += tnoise*(drand48()-0.5);
trans.z() += tnoise*(drand48()-0.5);
}
#endif
// Don't rotate.
Quaterniond rot(1, 0, 0, 0);
#if 0
if (i > 0)
{
// perturb a little
double qnoise = 0.1; // meters
rot.x() += qnoise*(drand48()-0.5);
rot.y() += qnoise*(drand48()-0.5);
rot.z() += qnoise*(drand48()-0.5);
}
#endif
rot.normalize();
// Add a new node to the system.
sba.addNode(trans, rot, cam_params, false);
}
Vector3d imagenormal(0, 0, 1);
Matrix3d covar0;
covar0 << sqrt(imagenormal(0)), 0, 0, 0, sqrt(imagenormal(1)), 0, 0, 0, sqrt(imagenormal(2));
Matrix3d covar;
Quaterniond rotation;
Matrix3d rotmat;
// Project points into nodes.
addPointAndProjection(sba, plane0.points, 0);
addPointAndProjection(sba, plane1.points, 1);
int offset = plane0.points.size();
Vector3d normal0 = sba.nodes[0].qrot.toRotationMatrix().transpose()*plane0.normal;
Vector3d normal1 = sba.nodes[1].qrot.toRotationMatrix().transpose()*plane1.normal;
printf("Normal: %f %f %f -> %f %f %f\n", plane0.normal.x(), plane0.normal.y(), plane0.normal.z(), normal0.x(), normal0.y(), normal0.z());
printf("Normal: %f %f %f -> %f %f %f\n", plane1.normal.x(), plane1.normal.y(), plane1.normal.z(), normal1.x(), normal1.y(), normal1.z());
for (int i = 0; i < plane0.points.size(); i++)
{
sba.addPointPlaneMatch(0, i, normal0, 1, i+offset, normal1);
Matrix3d covar;
covar << 0.1, 0, 0,
0, 0.1, 0,
0, 0, 0.1;
sba.setProjCovariance(0, i+offset, covar);
sba.setProjCovariance(1, i, covar);
}
// Add noise to node position.
double transscale = 1.0;
double rotscale = 0.1;
// Don't actually add noise to the first node, since it's fixed.
for (int i = 1; i < sba.nodes.size(); i++)
{
Vector4d temptrans = sba.nodes[i].trans;
Quaterniond tempqrot = sba.nodes[i].qrot;
// Add error to both translation and rotation.
temptrans.x() += transscale*(drand48() - 0.5);
temptrans.y() += transscale*(drand48() - 0.5);
temptrans.z() += transscale*(drand48() - 0.5);
tempqrot.x() += rotscale*(drand48() - 0.5);
tempqrot.y() += rotscale*(drand48() - 0.5);
tempqrot.z() += rotscale*(drand48() - 0.5);
tempqrot.normalize();
sba.nodes[i].trans = temptrans;
sba.nodes[i].qrot = tempqrot;
// These methods should be called to update the node.
sba.nodes[i].normRot();
sba.nodes[i].setTransform();
sba.nodes[i].setProjection();
sba.nodes[i].setDr(true);
}
}
void processSBA(ros::NodeHandle node)
{
// Create publisher topics.
ros::Publisher cam_marker_pub = node.advertise<visualization_msgs::Marker>("/sba/cameras", 1);
ros::Publisher point_marker_pub = node.advertise<visualization_msgs::Marker>("/sba/points", 1);
ros::spinOnce();
//ROS_INFO("Sleeping for 2 seconds to publish topics...");
ros::Duration(0.2).sleep();
// Create an empty SBA system.
SysSBA sys;
setupSBA(sys);
// Provide some information about the data read in.
unsigned int projs = 0;
// For debugging.
for (int i = 0; i < (int)sys.tracks.size(); i++)
{
projs += sys.tracks[i].projections.size();
}
ROS_INFO("SBA Nodes: %d, Points: %d, Projections: %d", (int)sys.nodes.size(),
(int)sys.tracks.size(), projs);
//ROS_INFO("Sleeping for 5 seconds to publish pre-SBA markers.");
//ros::Duration(5.0).sleep();
// Perform SBA with 10 iterations, an initial lambda step-size of 1e-3,
// and using CSPARSE.
sys.doSBA(1, 1e-3, SBA_SPARSE_CHOLESKY);
int npts = sys.tracks.size();
ROS_INFO("Bad projs (> 10 pix): %d, Cost without: %f",
(int)sys.countBad(10.0), sqrt(sys.calcCost(10.0)/npts));
ROS_INFO("Bad projs (> 5 pix): %d, Cost without: %f",
(int)sys.countBad(5.0), sqrt(sys.calcCost(5.0)/npts));
ROS_INFO("Bad projs (> 2 pix): %d, Cost without: %f",
(int)sys.countBad(0.5), sqrt(sys.calcCost(2.0)/npts));
ROS_INFO("Cameras (nodes): %d, Points: %d",
(int)sys.nodes.size(), (int)sys.tracks.size());
// Publish markers
drawGraph(sys, cam_marker_pub, point_marker_pub, 1, sys.tracks.size()/2);
ros::spinOnce();
//ROS_INFO("Sleeping for 2 seconds to publish post-SBA markers.");
ros::Duration(0.5).sleep();
for (int j=0; j<30; j+=3)
{
if (!ros::ok())
break;
sys.doSBA(1, 0, SBA_SPARSE_CHOLESKY);
drawGraph(sys, cam_marker_pub, point_marker_pub, 1, sys.tracks.size()/2);
ros::spinOnce();
ros::Duration(0.5).sleep();
}
#ifdef USE_PPL
// reset covariances and continue
for (int i = 0; i < points.size(); i++)
{
int nn = points.size();
Matrix3d covar;
double cv = 0.3;
covar << cv, 0, 0,
0, cv, 0,
0, 0, cv;
sys.setProjCovariance(0, i+nn, covar);
sys.setProjCovariance(1, i, covar);
}
#endif
for (int j=0; j<30; j+=3)
{
if (!ros::ok())
break;
sys.doSBA(1, 0, SBA_SPARSE_CHOLESKY);
drawGraph(sys, cam_marker_pub, point_marker_pub, 1, sys.tracks.size()/2);
ros::spinOnce();
ros::Duration(0.5).sleep();
}
}