-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
Showing
15 changed files
with
580 additions
and
9 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,12 @@ | ||
|
|
||
| import unittest | ||
|
|
||
| import sys | ||
|
|
||
| class HermeticityTest(unittest.TestCase): | ||
| def test_no_user_site_packages(self): | ||
| for p in sys.path: | ||
| self.assertNotIn('.local/lib', p) | ||
|
|
||
| if __name__ == "__main__": | ||
| unittest.main() |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,107 @@ | ||
| #include <iostream> | ||
| #include <vector> | ||
|
|
||
| #include "Eigen/Core" | ||
| #include "gtest/gtest.h" | ||
| #include "gtsam/geometry/Point3.h" | ||
| #include "gtsam/geometry/Pose3.h" | ||
| #include "gtsam/inference/Symbol.h" | ||
| #include "gtsam/nonlinear/LevenbergMarquardtOptimizer.h" | ||
| #include "gtsam/nonlinear/Values.h" | ||
| #include "gtsam/slam/GeneralSFMFactor.h" | ||
| #include "gtsam/slam/PriorFactor.h" | ||
| #include "gtsam/slam/ProjectionFactor.h" | ||
|
|
||
| class GtsamTestHelper { | ||
| public: | ||
| static bool pixel_in_range(Eigen::Vector2d pixel, size_t img_width, size_t img_height) { | ||
| return pixel[0] > 0 && pixel[0] < img_width && pixel[1] > 0 && pixel[1] < img_height; | ||
| } | ||
| }; | ||
|
|
||
| namespace robot::experimental::gtsam_testing { | ||
|
|
||
| TEST(GtsamTesting, gtsam_simple_cube) { | ||
| std::vector<gtsam::Point3> cube_W; | ||
| float cube_size = 1.0f; | ||
| cube_W.push_back(gtsam::Point3(0, 0, 0)); | ||
| cube_W.push_back(gtsam::Point3(cube_size, 0, 0)); | ||
| cube_W.push_back(gtsam::Point3(cube_size, cube_size, 0)); | ||
| cube_W.push_back(gtsam::Point3(0, cube_size, 0)); | ||
| cube_W.push_back(gtsam::Point3(0, 0, cube_size)); | ||
| cube_W.push_back(gtsam::Point3(cube_size, 0, cube_size)); | ||
| cube_W.push_back(gtsam::Point3(cube_size, cube_size, cube_size)); | ||
| cube_W.push_back(gtsam::Point3(0, cube_size, cube_size)); | ||
|
|
||
| const size_t img_width = 640; | ||
| const size_t img_height = 480; | ||
| const double fx = 500.0; | ||
| const double fy = fx; | ||
| const double cx = img_width / 2.0; | ||
| const double cy = img_height / 2.0; | ||
|
|
||
| gtsam::Values initial; | ||
| gtsam::NonlinearFactorGraph graph; | ||
|
|
||
| gtsam::Cal3_S2::shared_ptr K(new gtsam::Cal3_S2(fx, fy, 0, cx, cy)); | ||
| initial.insert(gtsam::Symbol('K', 0), *K); | ||
|
|
||
| auto poseNoise = gtsam::noiseModel::Diagonal::Sigmas(gtsam::Vector6::Constant(0.1)); | ||
| auto measurementNoise = gtsam::noiseModel::Isotropic::Sigma(2, 1.0); | ||
| std::vector<gtsam::Pose3> poses; | ||
| std::vector<gtsam::PinholeCamera<gtsam::Cal3_S2>> cameras; | ||
|
|
||
| Eigen::Matrix3d rotation0( | ||
| Eigen::AngleAxis(M_PI / 2, Eigen::Vector3d(0, 0, 1)).toRotationMatrix() * | ||
| Eigen::AngleAxis(-M_PI / 2, Eigen::Vector3d(1, 0, 0)).toRotationMatrix()); | ||
| gtsam::Pose3 pose0(gtsam::Rot3(rotation0), gtsam::Point3(4, 0, 0)); | ||
| gtsam::PinholeCamera<gtsam::Cal3_S2> camera0(pose0, *K); | ||
| graph.emplace_shared<gtsam::PriorFactor<gtsam::Pose3>>(gtsam::Symbol('x', 0), pose0, poseNoise); | ||
| poses.push_back(pose0); | ||
| cameras.push_back(camera0); | ||
|
|
||
| gtsam::Pose3 pose1( | ||
| gtsam::Rot3(Eigen::AngleAxis(M_PI / 2, Eigen::Vector3d(0, 0, 1)).toRotationMatrix() * | ||
| rotation0), | ||
| gtsam::Point3(0, 4, 0)); | ||
| gtsam::PinholeCamera<gtsam::Cal3_S2> camera1(pose1, *K); | ||
| graph.emplace_shared<gtsam::PriorFactor<gtsam::Pose3>>(gtsam::Symbol('x', 1), pose1, poseNoise); | ||
| poses.push_back(pose1); | ||
| cameras.push_back(camera1); | ||
|
|
||
| for (size_t i = 0; i < poses.size(); i++) { | ||
| initial.insert(gtsam::Symbol('x', i), poses[i]); | ||
| } | ||
| for (size_t i = 0; i < cube_W.size(); i++) { | ||
| initial.insert(gtsam::Symbol('L', i), gtsam::Point3(0, 0, 0)); | ||
| for (size_t j = 0; j < poses.size(); j++) { | ||
| gtsam::Point2 pixel_p_cube_C = cameras[j].project(cube_W[i]); | ||
| if (GtsamTestHelper::pixel_in_range(pixel_p_cube_C, img_width, img_height)) { | ||
| graph.emplace_shared<gtsam::GeneralSFMFactor2<gtsam::Cal3_S2>>( | ||
| pixel_p_cube_C, measurementNoise, gtsam::Symbol('x', j), gtsam::Symbol('L', i), | ||
| gtsam::Symbol('K', 0)); | ||
| } | ||
| } | ||
| } | ||
|
|
||
| gtsam::LevenbergMarquardtOptimizer optimizer(graph, initial); | ||
| gtsam::Values result = optimizer.optimize(); | ||
|
|
||
| // result.print("Optimized Results:\n"); | ||
|
|
||
| constexpr double TOL = 1e-3; | ||
| for (size_t i = 0; i < poses.size(); i++) { | ||
| gtsam::Pose3 result_pose = result.at<gtsam::Pose3>(gtsam::Symbol('x', i)); | ||
| EXPECT_NEAR(poses[i].translation()[0], result_pose.translation()[0], TOL); | ||
| EXPECT_NEAR(poses[i].translation()[1], result_pose.translation()[1], TOL); | ||
| EXPECT_NEAR(poses[i].translation()[2], result_pose.translation()[2], TOL); | ||
| EXPECT_TRUE(poses[i].rotation().matrix().isApprox(result_pose.rotation().matrix(), TOL)); | ||
| } | ||
| for (size_t i = 0; i < cube_W.size(); i++) { | ||
| gtsam::Point3 result_point = result.at<gtsam::Point3>(gtsam::Symbol('L', i)); | ||
| EXPECT_NEAR(cube_W[i][0], result_point[0], TOL); | ||
| EXPECT_NEAR(cube_W[i][1], result_point[1], TOL); | ||
| EXPECT_NEAR(cube_W[i][2], result_point[2], TOL); | ||
| } | ||
| } | ||
| } // namespace robot::experimental::gtsam_testing |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,27 @@ | ||
|
|
||
| cc_library( | ||
| name = "spectacular_log", | ||
| hdrs = ["spectacular_log.hh"], | ||
| srcs = ["spectacular_log.cc"], | ||
| deps = [ | ||
| "@eigen", | ||
| "@nlohmann_json//:json", | ||
| "@opencv", | ||
| "@fmt", | ||
| "//common:argument_wrapper", | ||
| "//common:check", | ||
| "//common/time:robot_time", | ||
| "//common/math:cubic_hermite_spline", | ||
| ] | ||
| ) | ||
|
|
||
| cc_test( | ||
| name = "spectacular_log_test", | ||
| srcs = ["spectacular_log_test.cc"], | ||
| data = ["@spectacular_log_snippet//:files"], | ||
| deps = [ | ||
| ":spectacular_log", | ||
| "@com_google_googletest//:gtest_main", | ||
| "@fmt", | ||
| ] | ||
| ) |
Oops, something went wrong.