Implementation of the LOST triangulation algorithm #1241
Merged
Conversation
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
|
Its possible my design choice may not be the best. The goal was to have the LOST implementation share the same triangulatePoint3 interface. |
dellaert
approved these changes
Jul 12, 2022
| @@ -96,6 +96,70 @@ TEST(triangulation, twoPoses) { | |||
| EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), *actual4, 1e-4)); | |||
| } | |||
|
|
|||
| TEST(triangulation, twoCamerasUsingLOST) { | |||
| CameraSet<PinholeCamera<Cal3_S2>> cameras; | |||
| cameras.push_back(camera1); | |||
There was a problem hiding this comment.
Let’s rename global constants in this file kCamera1, kCamera2 etc and make sure they are static const.
| // LOST has been shown to preform better when the point is much closer to one | ||
| // camera compared to another. This unit test checks this configuration. | ||
| Cal3_S2 identity_K; | ||
| Pose3 pose_1; |
gtsam/geometry/triangulation.h
Outdated
| @@ -302,8 +316,8 @@ template <class CAMERA> | |||
| typename CAMERA::MeasurementVector undistortMeasurements( | |||
| const CameraSet<CAMERA>& cameras, | |||
| const typename CAMERA::MeasurementVector& measurements) { | |||
| const size_t num_meas = cameras.size(); | |||
| assert(num_meas == measurements.size()); | |||
| const size_t num_meas = measurements.size(); | |||
There was a problem hiding this comment.
rename to nrMeasurements and nrCameras
gtsam/geometry/triangulation.h
Outdated
| const Point2Vector& measurements, | ||
| double rank_tol = 1e-9, bool optimize = false, | ||
| const SharedNoiseModel& model = nullptr, | ||
| const bool use_lost_triangulation = false) { |
There was a problem hiding this comment.
In GTSAM we use camelCase. useLOST seems good.
| PrintDuration(lost_duration, num_trials, "LOST"); | ||
| PrintDuration(dlt_duration, num_trials, "DLT"); | ||
| PrintDuration(dlt_opt_duration, num_trials, "DLT_OPT"); | ||
| } |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
In collaboration with Sebastien Henry and Prof. John Christian, we implement the LOST triangulation algorithm https://arxiv.org/pdf/2205.12197.pdf.
The triangulatePoint3 method accepts a boolean that initializes the point using the LOST method instead of DLT.
This PR also adds an example that runs DLT, LOST and DLT+nonlinear optimization. It shows that the covariance of LOST is similar to that of DLT + optimization, while being much faster.