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PGO: Rotation/translation swapped in relative pose noise #482

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PGO: Rotation/translation swapped in relative pose noise #482

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PGO: Rotation/translation swapped in relative pose noise
suddhu Mar 14, 2023
310a876
swapped rotation/translation noise in pose_graph_synthetic
suddhu Mar 14, 2023
aa3ad7c
Swapping rot/trans in gt_relative_pose, and adding optimizer damping
suddhu Apr 10, 2023
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Swapping rot/trans in gt_relative_pose, and adding optimizer damping
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@suddhu
suddhu committed Apr 10, 2023
commit aa3ad7cae892ece049ceefdf119e95d55792b56c
2 changes: 1 addition & 1 deletion examples/configs/pose_graph/pose_graph_synthetic.yaml
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Expand Up @@ -4,8 +4,8 @@ profile: True
savemat: True

num_poses: 256
rotation_noise: 0.02
translation_noise: 0.05
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rotation_noise: 0.02
loop_closure_ratio: 0.2
loop_closure_outlier_ratio: 0.25
dataset_size: 256
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1 change: 1 addition & 0 deletions examples/pose_graph/pose_graph_benchmark.py
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Expand Up @@ -66,6 +66,7 @@ def main(cfg):
step_size=1,
linearization_cls=th.SparseLinearization,
linear_solver_cls=th.CholmodSparseSolver,
linear_solver_kwargs={"damping": 1e-6},
vectorize=True,
)

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4 changes: 3 additions & 1 deletion examples/pose_graph/pose_graph_synthetic.py
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Expand Up @@ -3,6 +3,8 @@
# This source code is licensed under the MIT license found in the
# LICENSE file in the root directory of this source tree.

# SE(3) convention in this example is translation then rotation.

import cProfile
import io
import logging
Expand Down Expand Up @@ -121,8 +123,8 @@ def run(cfg: omegaconf.OmegaConf):
dtype = torch.float64
pg, _ = theg.PoseGraphDataset.generate_synthetic_3D(
num_poses=cfg.num_poses,
rotation_noise=cfg.rotation_noise,
translation_noise=cfg.translation_noise,
rotation_noise=cfg.rotation_noise,
loop_closure_ratio=cfg.loop_closure_ratio,
loop_closure_outlier_ratio=cfg.loop_closure_outlier_ratio,
batch_size=cfg.batch_size,
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11 changes: 6 additions & 5 deletions theseus/utils/examples/pose_graph/dataset.py
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Expand Up @@ -237,8 +237,8 @@ def histogram(self) -> str:
@staticmethod
def generate_synthetic_3D(
num_poses: int,
rotation_noise: float = 0.05,
translation_noise: float = 0.1,
rotation_noise: float = 0.05,
loop_closure_ratio: float = 0.2,
loop_closure_outlier_ratio: float = 0.05,
max_num_loop_closures: int = 10,
Expand Down Expand Up @@ -273,8 +273,9 @@ def generate_synthetic_3D(
gt_relative_pose = th.SE3.exp_map(
torch.cat(
[
torch.rand(dataset_size, 3, dtype=dtype) - 0.5,
2.0 * torch.rand(dataset_size, 3, dtype=dtype) - 1,
2.0 * torch.rand(dataset_size, 3, dtype=dtype)
- 1, # translation
torch.rand(dataset_size, 3, dtype=dtype) - 0.5, # rotation
],
dim=1,
)
Expand Down Expand Up @@ -323,7 +324,7 @@ def generate_synthetic_3D(
torch.cat(
[
translation_noise
* (2 * torch.rand(1, 3, dtype=dtype) - 1),
* (2.0 * torch.rand(1, 3, dtype=dtype) - 1),
rotation_noise
* (2.0 * torch.rand(1, 3, dtype=dtype) - 1),
],
Expand Down Expand Up @@ -354,7 +355,7 @@ def generate_synthetic_3D(
noise_pose = th.SE3.exp_map(
torch.cat(
[
translation_noise * (2 * torch.rand(1, 3, dtype=dtype) - 1),
translation_noise * (2.0 * torch.rand(1, 3, dtype=dtype) - 1),
rotation_noise * (2.0 * torch.rand(1, 3, dtype=dtype) - 1),
],
dim=1,
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