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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
#include "open3d/geometry/RGBDImage.h"
#include "open3d/pipelines/odometry/RGBDOdometryJacobian.h"
#include "tests/Tests.h"
#include "tests/pipelines/odometry/OdometryTools.h"
namespace open3d {
namespace tests {
using namespace odometry_tools;
TEST(RGBDOdometryJacobianFromHybridTerm, ComputeJacobianAndResidual) {
std::vector<Eigen::Vector6d, utility::Vector6d_allocator> ref_J_r(20);
ref_J_r[0] << -0.216112, 0.111107, -0.007304, 0.030973, 0.046549, -0.208322;
ref_J_r[1] << -2.459541, 1.263714, -0.080521, 0.240151, 0.312196, -2.435808;
ref_J_r[2] << -0.060466, 0.025090, 0.003530, 0.005430, 0.023047, -0.070798;
ref_J_r[3] << -1.877940, 0.851610, -0.091986, 0.277592, 0.360869, -2.326225;
ref_J_r[4] << -0.042189, 0.021825, 0.005357, 0.006665, 0.021429, -0.034813;
ref_J_r[5] << -1.308323, 0.819180, -0.028226, 0.163584, 0.212659, -1.410552;
ref_J_r[6] << -0.039724, 0.021125, -0.003330, 0.017233, 0.025900, -0.041265;
ref_J_r[7] << -0.897927, 0.443454, -0.033797, 0.133618, 0.173703, -1.270796;
ref_J_r[8] << -0.022855, 0.035309, 0.018766, 0.013057, 0.026204, -0.033402;
ref_J_r[9] << -0.474482, 1.240340, 0.141499, 0.168766, 0.219396, -1.357249;
ref_J_r[10] << -0.002159, 0.006075, -0.000731, 0.003427, 0.000730,
-0.004052;
ref_J_r[11] << -0.521278, 1.004238, 0.055928, 0.080032, 0.104042, -1.122217;
ref_J_r[12] << -0.008417, 0.008791, -0.004989, 0.007167, 0.001957,
-0.008644;
ref_J_r[13] << -1.371627, 0.860506, -0.031899, 0.184870, 0.240331,
-1.466072;
ref_J_r[14] << -0.060466, 0.025090, 0.003530, 0.005430, 0.023047, -0.070798;
ref_J_r[15] << -1.877940, 0.851610, -0.091986, 0.277592, 0.360869,
-2.326225;
ref_J_r[16] << -0.372166, 0.318252, 0.034305, 0.020795, 0.066858, -0.394653;
ref_J_r[17] << -5.711426, 4.983738, 0.063848, 0.510382, 0.663497, -6.134650;
ref_J_r[18] << -0.002769, 0.009762, -0.000409, 0.004978, 0.001061,
-0.008368;
ref_J_r[19] << -0.407277, 1.113711, 0.097469, 0.116251, 0.151126, -1.241065;
std::vector<double> ref_r = {
0.075062, 0.829537, -0.064539, 0.949145, 0.049106,
0.999303, 0.101018, 0.601897, 0.149422, 0.922137,
-0.063136, 0.231499, -0.097510, 1.207652, -0.064539,
0.949145, 0.021747, 1.408284, -0.016836, 0.470714,
};
int width = 10;
int height = 10;
// int num_of_channels = 1;
// int bytes_per_channel = 4;
auto srcColor = GenerateImage(width, height, 1, 4, 0.0f, 1.0f, 1);
auto srcDepth = GenerateImage(width, height, 1, 4, 0.0f, 1.0f, 0);
auto tgtColor = GenerateImage(width, height, 1, 4, 0.0f, 1.0f, 1);
auto tgtDepth = GenerateImage(width, height, 1, 4, 1.0f, 2.0f, 0);
auto dxColor = GenerateImage(width, height, 1, 4, 0.0f, 1.0f, 1);
auto dyColor = GenerateImage(width, height, 1, 4, 0.0f, 1.0f, 1);
ShiftLeft(tgtColor, 10);
ShiftUp(tgtColor, 5);
ShiftLeft(dxColor, 10);
ShiftUp(dyColor, 5);
geometry::RGBDImage source(*srcColor, *srcDepth);
geometry::RGBDImage target(*tgtColor, *tgtDepth);
auto source_xyz = GenerateImage(width, height, 3, 4, 0.0f, 1.0f, 0);
geometry::RGBDImage target_dx(*dxColor, *tgtDepth);
geometry::RGBDImage target_dy(*dyColor, *tgtDepth);
Eigen::Matrix3d intrinsic = Eigen::Matrix3d::Zero();
intrinsic(0, 0) = 0.5;
intrinsic(1, 1) = 0.65;
intrinsic(0, 2) = 0.75;
intrinsic(1, 2) = 0.35;
Eigen::Matrix4d extrinsic = Eigen::Matrix4d::Zero();
extrinsic(0, 0) = 1.0;
extrinsic(1, 1) = 1.0;
extrinsic(2, 2) = 1.0;
int rows = height;
std::vector<Eigen::Vector4i, utility::Vector4i_allocator> corresps(rows);
Rand(corresps, 0, 3, 0);
pipelines::odometry::RGBDOdometryJacobianFromHybridTerm jacobian_method;
for (int row = 0; row < rows; row++) {
std::vector<Eigen::Vector6d, utility::Vector6d_allocator> J_r;
std::vector<double> r;
std::vector<double> w;
jacobian_method.ComputeJacobianAndResidual(
row, J_r, r, w, source, target, *source_xyz, target_dx,
target_dy, intrinsic, extrinsic, corresps);
EXPECT_NEAR(ref_r[2 * row + 0], r[0], THRESHOLD_1E_6);
EXPECT_NEAR(ref_r[2 * row + 1], r[1], THRESHOLD_1E_6);
ExpectEQ(ref_J_r[2 * row + 0], J_r[0], 1e-4);
ExpectEQ(ref_J_r[2 * row + 1], J_r[1], 1e-4);
}
}
} // namespace tests
} // namespace open3d
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