8000 Handling edges with pure rotation in translation averaging by akshay-krishnan · Pull Request #619 · borglab/gtsam · GitHub
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Handling edges with pure rotation in translation averaging #619

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Merged
merged 4 commits into from
Dec 2, 2020
Merged

Handling edges with pure rotation in translation averaging #619

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4bc250e
new test doesnt pass
akshay-krishnan Nov 29, 2020
8d009c2
translation recovery unit tests pass
akshay-krishnan Nov 30, 2020
602db46
changing test names and adding documentation
akshay-krishnan Dec 1, 2020
6d2e306
documenting member variables
akshay-krishnan Dec 1, 2020
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65 changes: 56 additions & 9 deletions gtsam/sfm/TranslationRecovery.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -11,13 +11,12 @@

/**
* @file TranslationRecovery.cpp
* @author Frank Dellaert
* @author Frank Dellaert, Akshay Krishnan
* @date March 2020
* @brief Source code for recovering translations when rotations are given
*/

#include <gtsam/sfm/TranslationRecovery.h>

#include <gtsam/base/DSFMap.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Unit3.h>
Expand All @@ -27,11 +26,45 @@
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/sfm/TranslationFactor.h>
#include <gtsam/sfm/TranslationRecovery.h>
#include <gtsam/slam/PriorFactor.h>

#include <set>
#include <utility>

using namespace gtsam;
using namespace std;

TranslationRecovery::TranslationRecovery(
const TranslationRecovery::TranslationEdges &relativeTranslations,
const LevenbergMarquardtParams &lmParams)
: params_(lmParams) {
// Some relative translations may be zero. We treat nodes that have a zero
// relativeTranslation as a single node.

// A DSFMap is used to find sets of nodes that have a zero relative
// translation. Add the nodes in each edge to the DSFMap, and merge nodes that
// are connected by a zero relative translation.
DSFMap<Key> sameTranslationDSF;
for (const auto &edge : relativeTranslations) {
Key key1 = sameTranslationDSF.find(edge.key1());
Key key2 = sameTranslationDSF.find(edge.key2());
if (key1 != key2 && edge.measured().equals(Unit3(0.0, 0.0, 0.0))) {
sameTranslationDSF.merge(key1, key2);
}
}
// Use only those edges for which two keys have a distinct root in the DSFMap.
for (const auto &edge : relativeTranslations) {
Key key1 = sameTranslationDSF.find(edge.key1());
Key key2 = sameTranslationDSF.find(edge.key2());
if (key1 == key2) continue;
relativeTranslations_.emplace_back(key1, key2, edge.measured(),
edge.noiseModel());
}
// Store the DSF map for post-processing results.
sameTranslationNodes_ = sameTranslationDSF.sets();
}

NonlinearFactorGraph TranslationRecovery::buildGraph() const {
NonlinearFactorGraph graph;

Expand All @@ -44,13 +77,14 @@ NonlinearFactorGraph TranslationRecovery::buildGraph() const {
return graph;
}

void TranslationRecovery::addPrior(const double scale,
NonlinearFactorGraph *graph,
const SharedNoiseModel &priorNoiseModel) const {
void TranslationRecovery::addPrior(
const double scale, NonlinearFactorGraph *graph,
const SharedNoiseModel &priorNoiseModel) const {
auto edge = relativeTranslations_.begin();
graph->emplace_shared<PriorFactor<Point3> >(edge->key1(), Point3(0, 0, 0), priorNoiseModel);
graph->emplace_shared<PriorFactor<Point3> >(edge->key2(), scale * edge->measured().point3(),
edge->noiseModel());
graph->emplace_shared<PriorFactor<Point3> >(edge->key1(), Point3(0, 0, 0),
priorNoiseModel);
graph->emplace_shared<PriorFactor<Point3> >(
edge->key2(), scale * edge->measured().point3(), edge->noiseModel());
}

Values TranslationRecovery::initalizeRandomly() const {
Expand All @@ -77,6 +111,19 @@ Values TranslationRecovery::run(const double scale) const {
const Values initial = initalizeRandomly();
LevenbergMarquardtOptimizer lm(graph, initial, params_);
Values result = lm.optimize();

// Nodes that were not optimized are stored in sameTranslationNodes_ as a map
// from a key that was optimized to keys that were not optimized. Iterate over
// map and add results for keys not optimized.
for (const auto &optimizedAndDuplicateKeys : sameTranslationNodes_) {
Key optimizedKey = optimizedAndDuplicateKeys.first;
std::set<Key> duplicateKeys = optimizedAndDuplicateKeys.second;
// Add the result for the duplicate key if it does not already exist.
for (const Key duplicateKey : duplicateKeys) {
if (result.exists(duplicateKey)) continue;
result.insert<Point3>(duplicateKey, result.at<Point3>(optimizedKey));
}
}
return result;
}

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31 changes: 20 additions & 11 deletions gtsam/sfm/TranslationRecovery.h
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Expand Up @@ -16,14 +16,16 @@
* @brief Recovering translations in an epipolar graph when rotations are given.
*/

#include <map>
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Include only what you really need in the header, include others in .cpp only

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std::map is used in line 59 below, for sameTranslationNodes_.

#include <set>
#include <utility>
#include <vector>

#include <gtsam/geometry/Unit3.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/sfm/BinaryMeasurement.h>

#include <utility>
#include <vector>

namespace gtsam {

// Set up an optimization problem for the unknown translations Ti in the world
Expand Down Expand Up @@ -52,23 +54,30 @@ class TranslationRecovery {
using TranslationEdges = std::vector<BinaryMeasurement<Unit3>>;

private:
// Translation directions between camera pairs.
TranslationEdges relativeTranslations_;

// Parameters used by the LM Optimizer.
LevenbergMarquardtParams params_;

// Map from a key in the graph to a set of keys that share the same
// translation.
std::map<Key, std::set<Key>> sameTranslationNodes_;
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document all of these with at least a ///< one-liner after declaration


public:
/**
* @brief Construct a new Translation Recovery object
*
* @param relativeTranslations the relative translations, in world coordinate
* frames, vector of BinaryMeasurements of Unit3, where each key of a measurement
* is a point in 3D.
* frames, vector of BinaryMeasurements of Unit3, where each key of a
* measurement is a point in 3D.
* @param lmParams (optional) gtsam::LavenbergMarquardtParams that can be
* used to modify the parameters for the LM optimizer. By default, uses the
* default LM parameters.
* default LM parameters.
*/
TranslationRecovery(const TranslationEdges &relativeTranslations,
const LevenbergMarquardtParams &lmParams = LevenbergMarquardtParams())
: relativeTranslations_(relativeTranslations), params_(lmParams) {}
TranslationRecovery(
const TranslationEdges &relativeTranslations,
const LevenbergMarquardtParams &lmParams = LevenbergMarquardtParams());

/**
* @brief Build the factor graph to do the optimization.
Expand Down Expand Up @@ -108,8 +117,8 @@ class TranslationRecovery {
*
* @param poses SE(3) ground truth poses stored as Values
* @param edges pairs (a,b) for which a measurement w_aZb will be generated.
* @return TranslationEdges vector of binary measurements where the keys are
* the cameras and the measurement is the simulated Unit3 translation
* @return TranslationEdges vector of binary measurements where the keys are
* the cameras and the measurement is the simulated Unit3 translation
* direction between the cameras.
*/
static TranslationEdges SimulateMeasurements(
Expand Down
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