Merge pull request #105 from borglab/fix/smartFactors

Fix/smart factors

gtsam.h

@@ -2499,6 +2499,9 @@ virtual class SmartProjectionPoseFactor: gtsam::NonlinearFactor {
   SmartProjectionPoseFactor(const gtsam::noiseModel::Base* noise,
       const CALIBRATION* K,
       const gtsam::Pose3& body_P_sensor);
+  SmartProjectionPoseFactor(const gtsam::noiseModel::Base* noise,
+      const CALIBRATION* K,
+      const gtsam::SmartProjectionParams& params);
   SmartProjectionPoseFactor(const gtsam::noiseModel::Base* noise,
       const CALIBRATION* K,
       const gtsam::Pose3& body_P_sensor,

gtsam/navigation/AHRSFactor.h

@@ -71,8 +71,8 @@ class GTSAM_EXPORT PreintegratedAhrsMeasurements : public PreintegratedRotation
       const Rot3& deltaRij,
       const Matrix3& delRdelBiasOmega,
       const Matrix3& preint_meas_cov) :
-      biasHat_(bias_hat),
       PreintegratedRotation(p, deltaTij, deltaRij, delRdelBiasOmega),
+      biasHat_(bias_hat),
       preintMeasCov_(preint_meas_cov) {}
 
   const Params& p() const { return *boost::static_pointer_cast<const Params>(p_);}

gtsam/slam/SmartFactorBase.h

@@ -75,15 +75,12 @@ class SmartFactorBase: public NonlinearFactor {
    */
   ZVector measured_;
 
-  /// @name Pose of the camera in the body frame
-  boost::optional<Pose3> body_P_sensor_; ///< Pose of the camera in the body frame
-  /// @}
+  boost::optional<Pose3> body_P_sensor_;  ///< Pose of the camera in the body frame
 
   // Cache for Fblocks, to avoid a malloc ever time we re-linearize
   mutable FBlocks Fs;
 
-public:
-
+ public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
   /// shorthand for a smart pointer to a factor
@@ -200,17 +197,20 @@ class SmartFactorBase: public NonlinearFactor {
     return e && Base::equals(p, tol) && areMeasurementsEqual;
   }
 
-  /// Compute reprojection errors [h(x)-z] = [cameras.project(p)-z] and derivatives
-  template<class POINT>
-  Vector unwhitenedError(const Cameras& cameras, const POINT& point,
-      boost::optional<typename Cameras::FBlocks&> Fs = boost::none, //
+  /// Compute reprojection errors [h(x)-z] = [cameras.project(p)-z] and
+  /// derivatives
+  template <class POINT>
+  Vector unwhitenedError(
+      const Cameras& cameras, const POINT& point,
+      boost::optional<typename Cameras::FBlocks&> Fs = boost::none,  //
       boost::optional<Matrix&> E = boost::none) const {
     Vector ue = cameras.reprojectionError(point, measured_, Fs, E);
-    if(body_P_sensor_ && Fs){
-      for(size_t i=0; i < Fs->size(); i++){
-        Pose3 w_Pose_body = (cameras[i].pose()).compose(body_P_sensor_->inverse());
+    if (body_P_sensor_ && Fs) {
+      const Pose3 sensor_P_body = body_P_sensor_->inverse();
+      for (size_t i = 0; i < Fs->size(); i++) {
+        const Pose3 w_Pose_body = cameras[i].pose() * sensor_P_body;
         Matrix J(6, 6);
-        Pose3 world_P_body = w_Pose_body.compose(*body_P_sensor_, J);
+        const Pose3 world_P_body = w_Pose_body.compose(*body_P_sensor_, J);
         Fs->at(i) = Fs->at(i) * J;
       }
     }

gtsam/slam/SmartProjectionFactor.h

@@ -79,15 +79,15 @@ class SmartProjectionFactor: public SmartFactorBase<CAMERA> {
 
   /**
    * Constructor
-   * @param body_P_sensor pose of the camera in the body frame
-   * @param params internal parameters of the smart factors
+   * @param sharedNoiseModel isotropic noise model for the 2D feature measurements
+   * @param params parameters for the smart projection factors
    */
-  SmartProjectionFactor(const SharedNoiseModel& sharedNoiseModel,
-      const boost::optional<Pose3> body_P_sensor = boost::none,
-      const SmartProjectionParams& params = SmartProjectionParams()) :
-      Base(sharedNoiseModel, body_P_sensor), params_(params), //
-      result_(TriangulationResult::Degenerate()) {
-  }
+  SmartProjectionFactor(
+      const SharedNoiseModel& sharedNoiseModel,
+      const SmartProjectionParams& params = SmartProjectionParams())
+      : Base(sharedNoiseModel),
+        params_(params),
+        result_(TriangulationResult::Degenerate()) {}
 
   /** Virtual destructor */
   virtual ~SmartProjectionFactor() {
@@ -443,7 +443,26 @@ class SmartProjectionFactor: public SmartFactorBase<CAMERA> {
   /** return the farPoint state */
   bool isFarPoint() const { return result_.farPoint(); }
 
-private:
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
+  /// @name Deprecated
+  /// @{
+  // It does not make sense to optimize for a camera where the pose would not be
+  // the actual pose of the camera. An unfortunate consequence of deprecating
+  // this constructor means that we cannot optimize for calibration when the
+  // camera is offset from the body pose. That would need a new factor with
+  // (body) pose and calibration as variables. However, that use case is
+  // unlikely: when a global offset is know, calibration is typically known.
+  SmartProjectionFactor(
+      const SharedNoiseModel& sharedNoiseModel,
+      const boost::optional<Pose3> body_P_sensor,
+      const SmartProjectionParams& params = SmartProjectionParams())
+      : Base(sharedNoiseModel, body_P_sensor),
+        params_(params),
+        result_(TriangulationResult::Degenerate()) {}
+  /// @}
+#endif
+
+ private:
 
   /// Serialization function
   friend class boost::serialization::access;

gtsam/slam/SmartProjectionPoseFactor.h

@@ -66,16 +66,31 @@ class SmartProjectionPoseFactor: public SmartProjectionFactor<
 
   /**
    * Constructor
-   * @param Isotropic measurement noise
+   * @param sharedNoiseModel isotropic noise model for the 2D feature measurements
    * @param K (fixed) calibration, assumed to be the same for all cameras
-   * @param body_P_sensor pose of the camera in the body frame
-   * @param params internal parameters of the smart factors
+   * @param params parameters for the smart projection factors
    */
-  SmartProjectionPoseFactor(const SharedNoiseModel& sharedNoiseModel,
+  SmartProjectionPoseFactor(
+      const SharedNoiseModel& sharedNoiseModel,
       const boost::shared_ptr<CALIBRATION> K,
-      const boost::optional<Pose3> body_P_sensor = boost::none,
-      const SmartProjectionParams& params = SmartProjectionParams()) :
-      Base(sharedNoiseModel, body_P_sensor, params), K_(K) {
+      const SmartProjectionParams& params = SmartProjectionParams())
+      : Base(sharedNoiseModel, params), K_(K) {
+  }
+
+  /**
+   * Constructor
+   * @param sharedNoiseModel isotropic noise model for the 2D feature measurements
+   * @param K (fixed) calibration, assumed to be the same for all cameras
+   * @param body_P_sensor pose of the camera in the body frame (optional)
+   * @param params parameters for the smart projection factors
+   */
+  SmartProjectionPoseFactor(
+      const SharedNoiseModel& sharedNoiseModel,
+      const boost::shared_ptr<CALIBRATION> K,
+      const boost::optional<Pose3> body_P_sensor,
+      const SmartProjectionParams& params = SmartProjectionParams())
+      : SmartProjectionPoseFactor(sharedNoiseModel, K, params) {
+    this->body_P_sensor_ = body_P_sensor;
   }
 
   /** Virtual destructor */
@@ -123,18 +138,16 @@ class SmartProjectionPoseFactor: public SmartProjectionFactor<
    */
   typename Base::Cameras cameras(const Values& values) const {
     typename Base::Cameras cameras;
-    for(const Key& k: this->keys_) {
-      Pose3 pose = values.at<Pose3>(k);
-      if (Base::body_P_sensor_)
-        pose = pose.compose(*(Base::body_P_sensor_));
-
-      Camera camera(pose, K_);
-      cameras.push_back(camera);
+    for (const Key& k : this->keys_) {
+      const Pose3 world_P_sensor_k =
+          Base::body_P_sensor_ ? values.at<Pose3>(k) * *Base::body_P_sensor_
+                               : values.at<Pose3>(k);
+      cameras.emplace_back(world_P_sensor_k, K_);
     }
     return cameras;
   }
 
-private:
+ private:
 
   /// Serialization function
   friend class boost::serialization::access;