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Add python unit test for triangulation with robust noise model #1031

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merged 7 commits into from
Jan 13, 2022
Merged

Add python unit test for triangulation with robust noise model #1031

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b60ca0c
Update test_Triangulation.py
johnwlambert Jan 12, 2022
d66b1d7
fix syntax errors
johnwlambert Jan 12, 2022
f009a14
add missing type hint
johnwlambert Jan 12, 2022
e2993ea
yapf pep8 reformat
johnwlambert Jan 12, 2022
1614ce0
wrap new noise model arg for gtsam.triangulatePoint3
johnwlambert Jan 12, 2022
0f1ff48
add missing type hint import
johnwlambert Jan 12, 2022
0ff9110
add missing type hint annotation import
johnwlambert Jan 12, 2022
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21 changes: 14 additions & 7 deletions gtsam/geometry/geometry.i
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Original file line number Diff line number Diff line change
Expand Up @@ -923,27 +923,34 @@ class StereoCamera {
gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
gtsam::Cal3_S2* sharedCal,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize);
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr);
gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
gtsam::Cal3DS2* sharedCal,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize);
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr);
gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
gtsam::Cal3Bundler* sharedCal,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize);
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr);
gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3_S2& cameras,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize);
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr);
gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Bundler& cameras,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize);
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr);
gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Fisheye& cameras,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize);
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr);
gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Unified& cameras,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize);
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr);
gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
gtsam::Cal3_S2* sharedCal,
const gtsam::Point2Vector& measurements,
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147 changes: 118 additions & 29 deletions python/gtsam/tests/test_Triangulation.py
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Expand Up @@ -6,28 +6,40 @@
See LICENSE for the license information

Test Triangulation
Author: Frank Dellaert & Fan Jiang (Python)
Authors: Frank Dellaert & Fan Jiang (Python) & Sushmita Warrier & John Lambert
"""
import unittest
from typing import Iterable, List, Optional, Tuple, Union

import numpy as np

import gtsam
from gtsam import (Cal3_S2, Cal3Bundler, CameraSetCal3_S2,
CameraSetCal3Bundler, PinholeCameraCal3_S2,
PinholeCameraCal3Bundler, Point2Vector, Point3, Pose3,
Pose3Vector, Rot3)
from gtsam import (
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Are you using pep8 with Google style? You should :-)

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@dellaert Hi Frank, I just reformatted with yapf --style google. I don't see a match though, with the prior formatting. Do we have a CONTRIBUTING.md with the current official Python formatting guidelines?

Cal3_S2,
Cal3Bundler,
CameraSetCal3_S2,
CameraSetCal3Bundler,
PinholeCameraCal3_S2,
PinholeCameraCal3Bundler,
Point2,
Point2Vector,
Point3,
Pose3,
Pose3Vector,
Rot3,
)
from gtsam.utils.test_case import GtsamTestCase

UPRIGHT = Rot3.Ypr(-np.pi / 2, 0.0, -np.pi / 2)

class TestVisualISAMExample(GtsamTestCase):
""" Tests for triangulation with shared and individual calibrations """

class TestTriangulationExample(GtsamTestCase):
"""Tests for triangulation with shared and individual calibrations"""

def setUp(self):
""" Set up two camera poses """
"""Set up two camera poses"""
# Looking along X-axis, 1 meter above ground plane (x-y)
upright = Rot3.Ypr(-np.pi / 2, 0., -np.pi / 2)
pose1 = Pose3(upright, Point3(0, 0, 1))
pose1 = Pose3(UPRIGHT, Point3(0, 0, 1))
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# create second camera 1 meter to the right of first camera
pose2 = pose1.compose(Pose3(Rot3(), Point3(1, 0, 0)))
Expand All @@ -39,15 +51,24 @@ def setUp(self):
# landmark ~5 meters infront of camera
self.landmark = Point3(5, 0.5, 1.2)

def generate_measurements(self, calibration, camera_model, cal_params, camera_set=None):
def generate_measurements(
self,
calibration: Union[Cal3Bundler, Cal3_S2],
camera_model: Union[PinholeCameraCal3Bundler, PinholeCameraCal3_S2],
cal_params: Iterable[Iterable[Union[int, float]]],
camera_set: Optional[Union[CameraSetCal3Bundler,
CameraSetCal3_S2]] = None,
) -> Tuple[Point2Vector, Union[CameraSetCal3Bundler, CameraSetCal3_S2,
List[Cal3Bundler], List[Cal3_S2]]]:
"""
Generate vector of measurements for given calibration and camera model.

Args:
Args:
calibration: Camera calibration e.g. Cal3_S2
camera_model: Camera model e.g. PinholeCameraCal3_S2
cal_params: Iterable of camera parameters for `calibration` e.g. [K1, K2]
camera_set: Cameraset object (for individual calibrations)

Returns:
list of measurements and list/CameraSet object for cameras
"""
Expand All @@ -66,14 +87,15 @@ def generate_measurements(self, calibration, camera_model, cal_params, camera_se

return measurements, cameras

def test_TriangulationExample(self):
""" Tests triangulation with shared Cal3_S2 calibration"""
def test_TriangulationExample(self) -> None:
"""Tests triangulation with shared Cal3_S2 calibration"""
# Some common constants
sharedCal = (1500, 1200, 0, 640, 480)

measurements, _ = self.generate_measurements(Cal3_S2,
PinholeCameraCal3_S2,
(sharedCal, sharedCal))
measurements, _ = self.generate_measurements(
calibration=Cal3_S2,
camera_model=PinholeCameraCal3_S2,
cal_params=(sharedCal, sharedCal))

triangulated_landmark = gtsam.triangulatePoint3(self.poses,
Cal3_S2(sharedCal),
Expand All @@ -95,40 +117,107 @@ def test_TriangulationExample(self):

self.gtsamAssertEquals(self.landmark, triangulated_landmark, 1e-2)

def test_distinct_Ks(self):
""" Tests triangulation with individual Cal3_S2 calibrations """
def test_distinct_Ks(self) -> None:
"""Tests triangulation with individual Cal3_S2 calibrations"""
# two camera parameters
K1 = (1500, 1200, 0, 640, 480)
K2 = (1600, 1300, 0, 650, 440)

measurements, cameras = self.generate_measurements(Cal3_S2,
PinholeCameraCal3_S2,
(K1, K2),
camera_set=CameraSetCal3_S2)
measurements, cameras = self.generate_measurements(
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Only reformat what you add in a PR

calibration=Cal3_S2,
camera_model=PinholeCameraCal3_S2,
cal_params=(K1, K2),
camera_set=CameraSetCal3_S2)

triangulated_landmark = gtsam.triangulatePoint3(cameras,
measurements,
rank_tol=1e-9,
optimize=True)
self.gtsamAssertEquals(self.landmark, triangulated_landmark, 1e-9)

def test_distinct_Ks_Bundler(self):
""" Tests triangulation with individual Cal3Bundler calibrations"""
def test_distinct_Ks_Bundler(self) -> None:
"""Tests triangulation with individual Cal3Bundler calibrations"""
# two camera parameters
K1 = (1500, 0, 0, 640, 480)
K2 = (1600, 0, 0, 650, 440)

measurements, cameras = self.generate_measurements(Cal3Bundler,
PinholeCameraCal3Bundler,
(K1, K2),
camera_set=CameraSetCal3Bundler)
measurements, cameras = self.generate_measurements(
calibration=Cal3Bundler,
camera_model=PinholeCameraCal3Bundler,
cal_params=(K1, K2),
camera_set=CameraSetCal3Bundler)

triangulated_landmark = gtsam.triangulatePoint3(cameras,
measurements,
rank_tol=1e-9,
optimize=True)
self.gtsamAssertEquals(self.landmark, triangulated_landmark, 1e-9)

def test_triangulation_robust_three_poses(self) -> None:
"""Ensure triangulation with a robust model works."""
sharedCal = Cal3_S2(1500, 1200, 0, 640, 480)

# landmark ~5 meters infront of camera
landmark = Point3(5, 0.5, 1.2)

pose1 = Pose3(UPRIGHT, Point3(0, 0, 1))
pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0))
pose3 = pose1 * Pose3(Rot3.Ypr(0.1, 0.2, 0.1), Point3(0.1, -2, -0.1))

camera1 = PinholeCameraCal3_S2(pose1, sharedCal)
camera2 = PinholeCameraCal3_S2(pose2, sharedCal)
camera3 = PinholeCameraCal3_S2(pose3, sharedCal)

z1: Point2 = camera1.project(landmark)
z2: Point2 = camera2.project(landmark)
z3: Point2 = camera3.project(landmark)

poses = gtsam.Pose3Vector([pose1, pose2, pose3])
measurements = Point2Vector([z1, z2, z3])

# noise free, so should give exactly the landmark
actual = gtsam.triangulatePoint3(poses,
sharedCal,
measurements,
rank_tol=1e-9,
optimize=False)
self.assertTrue(np.allclose(landmark, actual, atol=1e-2))

# Add outlier
measurements[0] += Point2(100, 120) # very large pixel noise!

# now estimate does not match landmark
actual2 = gtsam.triangulatePoint3(poses,
sharedCal,
measurements,
rank_tol=1e-9,
optimize=False)
# DLT is surprisingly robust, but still off (actual error is around 0.26m)
self.assertTrue(np.linalg.norm(landmark - actual2) >= 0.2)
self.assertTrue(np.linalg.norm(landmark - actual2) <= 0.5)

# Again with nonlinear optimization
actual3 = gtsam.triangulatePoint3(poses,
sharedCal,
measurements,
rank_tol=1e-9,
optimize=True)
# result from nonlinear (but non-robust optimization) is close to DLT and still off
self.assertTrue(np.allclose(actual2, actual3, atol=0.1))

# Again with nonlinear optimization, this time with robust loss
model = gtsam.noiseModel.Robust.Create(
gtsam.noiseModel.mEstimator.Huber.Create(1.345),
gtsam.noiseModel.Unit.Create(2))
actual4 = gtsam.triangulatePoint3(poses,
sharedCal,
measurements,
rank_tol=1e-9,
optimize=True,
model=model)
# using the Huber loss we now have a quite small error!! nice!
self.assertTrue(np.allclose(landmark, actual4, atol=0.05))


if __name__ == "__main__":
unittest.main()