diff --git a/examples/RangeISAMExample_plaza2.cpp b/examples/RangeISAMExample_plaza2.cpp index c8e31e1c55..aa61ffc6c0 100644 --- a/examples/RangeISAMExample_plaza2.cpp +++ b/examples/RangeISAMExample_plaza2.cpp @@ -10,62 +10,81 @@ * -------------------------------------------------------------------------- */ /** - * @file RangeISAMExample_plaza1.cpp + * @file RangeISAMExample_plaza2.cpp * @brief A 2D Range SLAM example * @date June 20, 2013 - * @author FRank Dellaert + * @author Frank Dellaert */ -// Both relative poses and recovered trajectory poses will be stored as Pose2 objects +// Both relative poses and recovered trajectory poses will be stored as Pose2. #include +using gtsam::Pose2; -// Each variable in the system (poses and landmarks) must be identified with a unique key. -// We can either use simple integer keys (1, 2, 3, ...) or symbols (X1, X2, L1). -// Here we will use Symbols +// gtsam::Vectors are dynamic Eigen vectors, Vector3 is statically sized. +#include +using gtsam::Vector; +using gtsam::Vector3; + +// Unknown landmarks are of type Point2 (which is just a 2D Eigen vector). +#include +using gtsam::Point2; + +// Each variable in the system (poses and landmarks) must be identified with a +// unique key. We can either use simple integer keys (1, 2, 3, ...) or symbols +// (X1, X2, L1). Here we will use Symbols. #include +using gtsam::Symbol; -// We want to use iSAM2 to solve the range-SLAM problem incrementally +// We want to use iSAM2 to solve the range-SLAM problem incrementally. #include -// iSAM2 requires as input a set set of new factors to be added stored in a factor graph, -// and initial guesses for any new variables used in the added factors +// iSAM2 requires as input a set set of new factors to be added stored in a +// factor graph, and initial guesses for any new variables in the added factors. #include #include -// We will use a non-liear solver to batch-inituialize from the first 150 frames +// We will use a non-linear solver to batch-initialize from the first 150 frames #include -// In GTSAM, measurement functions are represented as 'factors'. Several common factors -// have been provided with the library for solving robotics SLAM problems. -#include +// Measurement functions are represented as 'factors'. Several common factors +// have been provided with the library for solving robotics SLAM problems: #include +#include #include -// Standard headers, added last, so we know headers above work on their own +// Timing, with functions below, provides nice facilities to benchmark. +#include +using gtsam::tictoc_print_; + +// Standard headers, added last, so we know headers above work on their own. #include #include +#include +#include +#include +#include +#include -using namespace std; -using namespace gtsam; namespace NM = gtsam::noiseModel; -// data available at http://www.frc.ri.cmu.edu/projects/emergencyresponse/RangeData/ -// Datafile format (from http://www.frc.ri.cmu.edu/projects/emergencyresponse/RangeData/log.html) +// Data is second UWB ranging dataset, B2 or "plaza 2", from +// "Navigating with Ranging Radios: Five Data Sets with Ground Truth" +// by Joseph Djugash, Bradley Hamner, and Stephan Roth +// https://www.ri.cmu.edu/pub_files/2009/9/Final_5datasetsRangingRadios.pdf // load the odometry // DR: Odometry Input (delta distance traveled and delta heading change) -// Time (sec) Delta Dist. Trav. (m) Delta Heading (rad) -typedef pair TimedOdometry; -list readOdometry() { - list odometryList; - string data_file = findExampleDataFile("Plaza2_DR.txt"); - ifstream is(data_file.c_str()); +// Time (sec) Delta Distance Traveled (m) Delta Heading (rad) +using TimedOdometry = std::pair; +std::list readOdometry() { + std::list odometryList; + std::string data_file = gtsam::findExampleDataFile("Plaza2_DR.txt"); + std::ifstream is(data_file.c_str()); while (is) { double t, distance_traveled, delta_heading; is >> t >> distance_traveled >> delta_heading; - odometryList.push_back( - TimedOdometry(t, Pose2(distance_traveled, 0, delta_heading))); + odometryList.emplace_back(t, Pose2(distance_traveled, 0, delta_heading)); } is.clear(); /* clears the end-of-file and error flags */ return odometryList; @@ -73,90 +92,85 @@ list readOdometry() { // load the ranges from TD // Time (sec) Sender / Antenna ID Receiver Node ID Range (m) -typedef boost::tuple RangeTriple; -vector readTriples() { - vector triples; - string data_file = findExampleDataFile("Plaza2_TD.txt"); - ifstream is(data_file.c_str()); +using RangeTriple = boost::tuple; +std::vector readTriples() { + std::vector triples; + std::string data_file = gtsam::findExampleDataFile("Plaza2_TD.txt"); + std::ifstream is(data_file.c_str()); while (is) { - double t, sender, range; - size_t receiver; + double t, range, sender, receiver; is >> t >> sender >> receiver >> range; - triples.push_back(RangeTriple(t, receiver, range)); + triples.emplace_back(t, receiver, range); } is.clear(); /* clears the end-of-file and error flags */ return triples; } // main -int main (int argc, char** argv) { - +int main(int argc, char** argv) { // load Plaza2 data - list odometry = readOdometry(); -// size_t M = odometry.size(); + std::list odometry = readOdometry(); + size_t M = odometry.size(); + std::cout << "Read " << M << " odometry entries." << std::endl; - vector triples = readTriples(); + std::vector triples = readTriples(); size_t K = triples.size(); + std::cout << "Read " << K << " range triples." << std::endl; // parameters - size_t minK = 150; // minimum number of range measurements to process initially - size_t incK = 25; // minimum number of range measurements to process after - bool groundTruth = false; + size_t minK = + 150; // minimum number of range measurements to process initially + size_t incK = 25; // minimum number of range measurements to process after bool robust = true; // Set Noise parameters - Vector priorSigmas = Vector3(1,1,M_PI); + Vector priorSigmas = Vector3(1, 1, M_PI); Vector odoSigmas = Vector3(0.05, 0.01, 0.1); - double sigmaR = 100; // range standard deviation - const NM::Base::shared_ptr // all same type - priorNoise = NM::Diagonal::Sigmas(priorSigmas), //prior - odoNoise = NM::Diagonal::Sigmas(odoSigmas), // odometry - gaussian = NM::Isotropic::Sigma(1, sigmaR), // non-robust - tukey = NM::Robust::Create(NM::mEstimator::Tukey::Create(15), gaussian), //robust - rangeNoise = robust ? tukey : gaussian; + double sigmaR = 100; // range standard deviation + const NM::Base::shared_ptr // all same type + priorNoise = NM::Diagonal::Sigmas(priorSigmas), // prior + looseNoise = NM::Isotropic::Sigma(2, 1000), // loose LM prior + odoNoise = NM::Diagonal::Sigmas(odoSigmas), // odometry + gaussian = NM::Isotropic::Sigma(1, sigmaR), // non-robust + tukey = NM::Robust::Create(NM::mEstimator::Tukey::Create(15), + gaussian), // robust + rangeNoise = robust ? tukey : gaussian; // Initialize iSAM - ISAM2 isam; + gtsam::ISAM2 isam; // Add prior on first pose - Pose2 pose0 = Pose2(-34.2086489999201, 45.3007639991120, - M_PI - 2.02108900000000); - NonlinearFactorGraph newFactors; + Pose2 pose0 = Pose2(-34.2086489999201, 45.3007639991120, M_PI - 2.021089); + gtsam::NonlinearFactorGraph newFactors; newFactors.addPrior(0, pose0, priorNoise); - Values initial; + gtsam::Values initial; initial.insert(0, pose0); - // initialize points - if (groundTruth) { // from TL file - initial.insert(symbol('L', 1), Point2(-68.9265, 18.3778)); - initial.insert(symbol('L', 6), Point2(-37.5805, 69.2278)); - initial.insert(symbol('L', 0), Point2(-33.6205, 26.9678)); - initial.insert(symbol('L', 5), Point2(1.7095, -5.8122)); - } else { // drawn from sigma=1 Gaussian in matlab version - initial.insert(symbol('L', 1), Point2(3.5784, 2.76944)); - initial.insert(symbol('L', 6), Point2(-1.34989, 3.03492)); - initial.insert(symbol('L', 0), Point2(0.725404, -0.0630549)); - initial.insert(symbol('L', 5), Point2(0.714743, -0.204966)); - } + // We will initialize landmarks randomly, and keep track of which landmarks we + // already added with a set. + std::mt19937_64 rng; + std::normal_distribution normal(0.0, 100.0); + std::set initializedLandmarks; // set some loop variables - size_t i = 1; // step counter - size_t k = 0; // range measurement counter + size_t i = 1; // step counter + size_t k = 0; // range measurement counter bool initialized = false; Pose2 lastPose = pose0; size_t countK = 0; // Loop over odometry gttic_(iSAM); - for(const TimedOdometry& timedOdometry: odometry) { - //--------------------------------- odometry loop ----------------------------------------- + for (const TimedOdometry& timedOdometry : odometry) { + //--------------------------------- odometry loop -------------------------- double t; Pose2 odometry; boost::tie(t, odometry) = timedOdometry; // add odometry factor - newFactors.push_back(BetweenFactor(i-1, i, odometry, odoNoise)); + newFactors.emplace_shared>(i - 1, i, odometry, + odoNoise); // predict pose and add as initial estimate Pose2 predictedPose = lastPose.compose(odometry); @@ -166,17 +180,30 @@ int main (int argc, char** argv) { // Check if there are range factors to be added while (k < K && t >= boost::get<0>(triples[k])) { size_t j = boost::get<1>(triples[k]); + Symbol landmark_key('L', j); double range = boost::get<2>(triples[k]); - newFactors.push_back(RangeFactor(i, symbol('L', j), range,rangeNoise)); + newFactors.emplace_shared>( + i, landmark_key, range, rangeNoise); + if (initializedLandmarks.count(landmark_key) == 0) { + std::cout << "adding landmark " << j << std::endl; + double x = normal(rng), y = normal(rng); + initial.insert(landmark_key, Point2(x, y)); + initializedLandmarks.insert(landmark_key); + // We also add a very loose prior on the landmark in case there is only + // one sighting, which cannot fully determine the landmark. + newFactors.emplace_shared>( + landmark_key, Point2(0, 0), looseNoise); + } k = k + 1; countK = countK + 1; } // Check whether to update iSAM 2 if ((k > minK) && (countK > incK)) { - if (!initialized) { // Do a full optimize for first minK ranges + if (!initialized) { // Do a full optimize for first minK ranges + std::cout << "Initializing at time " << k << std::endl; gttic_(batchInitialization); - LevenbergMarquardtOptimizer batchOptimizer(newFactors, initial); + gtsam::LevenbergMarquardtOptimizer batchOptimizer(newFactors, initial); initial = batchOptimizer.optimize(); gttoc_(batchInitialization); initialized = true; @@ -185,21 +212,27 @@ int main (int argc, char** argv) { isam.update(newFactors, initial); gttoc_(update); gttic_(calculateEstimate); - Values result = isam.calculateEstimate(); + gtsam::Values result = isam.calculateEstimate(); gttoc_(calculateEstimate); lastPose = result.at(i); - newFactors = NonlinearFactorGraph(); - initial = Values(); + newFactors = gtsam::NonlinearFactorGraph(); + initial = gtsam::Values(); countK = 0; } i += 1; - //--------------------------------- odometry loop ----------------------------------------- - } // end for + //--------------------------------- odometry loop -------------------------- + } // end for gttoc_(iSAM); // Print timings tictoc_print_(); + // Print optimized landmarks: + gtsam::Values finalResult = isam.calculateEstimate(); + for (auto&& landmark_key : initializedLandmarks) { + Point2 p = finalResult.at(landmark_key); + std::cout << landmark_key << ":" << p.transpose() << "\n"; + } + exit(0); } - diff --git a/python/gtsam/examples/RangeISAMExample_plaza2.ipynb b/python/gtsam/examples/RangeISAMExample_plaza2.ipynb new file mode 100644 index 0000000000..f11636606c --- /dev/null +++ b/python/gtsam/examples/RangeISAMExample_plaza2.ipynb @@ -0,0 +1,9453 @@ +{ + "cells": [ + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "GTSAM Copyright 2010-2022, Georgia Tech Research Corporation,\n", + "Atlanta, Georgia 30332-0415\n", + "All Rights Reserved\n", + "\n", + "Authors: Frank Dellaert, et al. (see THANKS for the full author list)\n", + "\n", + "See LICENSE for the license information\n", + "\n", + "A 2D Range SLAM example, with iSAM and smart range factors\n", + "\n", + "Author: Frank Dellaert" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "Data is second UWB ranging dataset, B2 or \"plaza 2\", from\n", + "\n", + "> \"Navigating with Ranging Radios: Five Data Sets with Ground Truth\", by Joseph Djugash, Bradley Hamner, and Stephan Roth, available at https://www.ri.cmu.edu/pub_files/2009/9/Final_5datasetsRangingRadios.pdf\n", + "\n" + ] + }, + { + "cell_type": "code", + "execution_count": 49, + "metadata": {}, + "outputs": [], + "source": [ + "# pylint: disable=invalid-name, E1101\n", + "\n", + "from gtsam import Point2, Pose2\n", + "import plotly.express as px\n", + "import numpy as np\n", + "import gtsam\n", + "import math\n", + "\n", + "import matplotlib.pyplot as plt\n", + "from gtsam.utils import plot\n", + "from numpy.random import default_rng\n", + "\n", + "rng = default_rng()\n", + "\n", + "NM = gtsam.noiseModel" + ] + }, + { + "cell_type": "code", + "execution_count": 50, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Read 4090 odometry entries.\n" + ] + } + ], + "source": [ + "# load the odometry\n", + "# DR: Odometry Input (delta distance traveled and delta heading change)\n", + "# Time (sec) Delta Distance Traveled (m) Delta Heading (rad)\n", + "odometry = {}\n", + "data_file = gtsam.findExampleDataFile(\"Plaza2_DR.txt\")\n", + "for row in np.loadtxt(data_file):\n", + " t, distance_traveled, delta_heading = row\n", + " odometry[t] = Pose2(distance_traveled, 0, delta_heading)\n", + "M = len(odometry)\n", + "print(f\"Read {M} odometry entries.\")" + ] + }, + { + "cell_type": "code", + "execution_count": 51, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Read 1816 range triples.\n" + ] + } + ], + "source": [ + "# load the ranges from TD\n", + "# Time (sec) Sender / Antenna ID Receiver Node ID Range (m)\n", + "triples = []\n", + "data_file = gtsam.findExampleDataFile(\"Plaza2_TD.txt\")\n", + "for row in np.loadtxt(data_file):\n", + " t, sender, receiver, _range = row\n", + " triples.append((t, int(receiver), _range))\n", + "K = len(triples)\n", + "print(f\"Read {K} range triples.\")" + ] + }, + { + "cell_type": "code", + "execution_count": 52, + "metadata": {}, + "outputs": [], + "source": [ + "# parameters\n", + "minK = 150 # minimum number of range measurements to process initially\n", + "incK = 25 # minimum number of range measurements to process after\n", + "robust = True" + ] + }, + { + "cell_type": "code", + "execution_count": 53, + "metadata": {}, + "outputs": [], + "source": [ + "# Set Noise parameters\n", + "priorSigmas = gtsam.Point3(1, 1, math.pi)\n", + "odoSigmas = gtsam.Point3(0.05, 0.01, 0.1)\n", + "sigmaR = 100 # range standard deviation\n", + "\n", + "priorNoise = NM.Diagonal.Sigmas(priorSigmas) # prior\n", + "looseNoise = NM.Isotropic.Sigma(2, 1000) # loose LM prior\n", + "odoNoise = NM.Diagonal.Sigmas(odoSigmas) # odometry\n", + "gaussian = NM.Isotropic.Sigma(1, sigmaR) # non-robust\n", + "tukey = NM.Robust.Create(NM.mEstimator.Tukey.Create(15), gaussian) # robust\n", + "rangeNoise = tukey if robust else gaussian" + ] + }, + { + "cell_type": "code", + "execution_count": 54, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + ": cliques: 0, variables: 0\n", + "\n" + ] + } + ], + "source": [ + "# Initialize iSAM\n", + "isam = gtsam.ISAM2()\n", + "print(isam)" + ] + }, + { + "cell_type": "code", + "execution_count": 55, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "NonlinearFactorGraph: size: 1\n", + "\n", + "Factor 0: PriorFactor on 0\n", + " prior mean: (-34.208649, 45.300764, 1.12050365)\n", + " noise model: diagonal sigmas[1; 1; 3.14159265];\n", + "\n", + " Values with 1 values:\n", + "Value 0: (gtsam::Pose2)\n", + "(-34.208649, 45.300764, 1.12050365)\n", + "\n", + "\n" + ] + } + ], + "source": [ + "# Add prior on first pose\n", + "pose0 = Pose2(-34.2086489999201, 45.3007639991120, math.pi - 2.021089)\n", + "newFactors = gtsam.NonlinearFactorGraph()\n", + "newFactors.addPriorPose2(0, pose0, priorNoise)\n", + "initial = gtsam.Values()\n", + "initial.insert(0, pose0)\n", + "print(newFactors, initial)" + ] + }, + { + "cell_type": "code", + "execution_count": 56, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Adding landmark L1\n", + "Adding landmark L6\n", + "Adding landmark L0\n", + "Adding landmark L5\n", + "Initializing at time 151\n" + ] + } + ], + "source": [ + "# set some loop variables\n", + "i = 1 # step counter\n", + "k = 0 # range measurement counter\n", + "initialized = False\n", + "lastPose = pose0\n", + "countK = 0\n", + "\n", + "initializedLandmarks = set()\n", + "\n", + "# Loop over odometry\n", + "for t, relative_pose in odometry.items():\n", + " # add odometry factor\n", + " newFactors.add(gtsam.BetweenFactorPose2(i - 1, i, relative_pose,\n", + " odoNoise))\n", + "\n", + " # predict pose and add as initial estimate\n", + " predictedPose = lastPose.compose(relative_pose)\n", + " lastPose = predictedPose\n", + " initial.insert(i, predictedPose)\n", + "\n", + " # Check if there are range factors to be added\n", + " while (k < K) and (triples[k][0] <= t):\n", + " j = triples[k][1]\n", + " landmark_key = gtsam.symbol('L', j)\n", + " _range = triples[k][2]\n", + " newFactors.add(gtsam.RangeFactor2D(\n", + " i, landmark_key, _range, rangeNoise))\n", + " if landmark_key not in initializedLandmarks:\n", + " p = rng.normal(loc=0, scale=100, size=(2,))\n", + " initial.insert(landmark_key, p)\n", + " print(f\"Adding landmark L{j}\")\n", + " initializedLandmarks.add(landmark_key)\n", + " # We also add a very loose prior on the landmark in case there is only\n", + " # one sighting, which cannot fully determine the landmark.\n", + " newFactors.add(gtsam.PriorFactorPoint2(\n", + " landmark_key, Point2(0, 0), looseNoise))\n", + " k = k + 1\n", + " countK = countK + 1\n", + "\n", + " # Check whether to update iSAM 2\n", + " if (k > minK) and (countK > incK):\n", + " if not initialized: # Do a full optimize for first minK ranges\n", + " print(f\"Initializing at time {k}\")\n", + " batchOptimizer = gtsam.LevenbergMarquardtOptimizer(\n", + " newFactors, initial)\n", + " initial = batchOptimizer.optimize()\n", + " initialized = True\n", + "\n", + " isam.update(newFactors, initial)\n", + " result = isam.calculateEstimate()\n", + " lastPose = result.atPose2(i)\n", + " newFactors = gtsam.NonlinearFactorGraph()\n", + " initial = gtsam.Values()\n", + " countK = 0\n", + "\n", + " i += 1\n", + "\n", + "finalResult = isam.calculateEstimate()" + ] + }, + { + "cell_type": "code", + "execution_count": 57, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "5476377146882523136: [-35.97329685 26.31658086]\n", + "5476377146882523137: [-75.1003452 21.01144091]\n", + "5476377146882523141: [ -1.03876425 -12.13811931]\n", + "5476377146882523142: [-36.08926944 72.3500464 ]\n" + ] + } + ], + "source": [ + "# Print optimized landmarks:\n", + "for j in [0,1,5,6]:\n", + " landmark_key = gtsam.symbol('L', j)\n", + " p = finalResult.atPoint2(landmark_key)\n", + " print(f\"{landmark_key}: {p}\")" + ] + }, + { + "cell_type": "code", + "execution_count": 58, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "(4090, 2)\n" + ] + } + ], + "source": [ + "# plot positions\n", + "poses = gtsam.utilities.allPose2s(finalResult)\n", + "landmarks = gtsam.utilities.extractPoint2(finalResult)\n", + "positions = np.array([poses.atPose2(key).translation()\n", + " for key in poses.keys()])\n", + "print(positions.shape)" + ] + }, + { + "cell_type": "code", + "execution_count": 59, + "metadata": {}, + "outputs": [ + { + "data": { + "application/vnd.plotly.v1+json": { + "config": { + "plotlyServerURL": "https://plot.ly" + }, + "data": [ + { + "hovertemplate": "x=%{x}
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