not consistant test passing

README.md

@@ -59,9 +59,9 @@ Rendered Scene Test
 ./fakeslam.py
 ```
 
-NOTE: The test currently doesn't work well.
+NOTE: The test currently doesn't work reliably. It seems adding a small amount of Gaussian noise to the point positions can cause the optimizer to fall into really bad local minima. This may just be caused by poor initialization, as I'm not sure how stable Essential matricies are.
 
-TODO: Investigate why? Use the OpenGL projection matrix to get the real vertex coords and fake the matcher.
+TODO: Investigate the stability of Essential matrix recovery.
 
 DONE
 -----

fakeslam.py

@@ -28,10 +28,13 @@
   pos_x = 0
   dir_x = True
   while 1:
+    fn += 1
+
+    # render
     frame, verts = r.draw([pos_x,0,0])
 
     # add gaussian noise
-    verts += np.random.normal(0.0, 1.0, verts.shape)
+    verts += np.random.normal(0.0, 0.1, verts.shape)
 
     # ground truth pose
     pose = np.eye(4)
@@ -50,13 +53,6 @@
       dir_x = True
     pos_x += 0.5 * (1 if dir_x else -1)
 
-    """
-    fn += 1
-    if fn == 5:
-      slam.mapp.optimize(verbose=True, rounds=10)
-      #print(slam.mapp.serialize())
-      while 1:
-        break
-        time.sleep(1)
-    """
+    if fn > 20:
+      slam.mapp.optimize(verbose=True, local_window=None, rounds=10)
 

helpers.py

@@ -55,6 +55,8 @@ def fundamentalToRt(F):
   if np.sum(R.diagonal()) < 0:
     R = np.dot(np.dot(U, W.T), Vt)
   t = U[:, 2]
+
+  # TODO: Resolve ambiguities in better ways. This is wrong.
   if t[2] < 0:
     t *= -1