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Use c+11 initializer lists

release/4.3a0
Frank Dellaert 2019-03-13 23:22:37 -04:00
parent 724a906bee
commit 0ca3f9d199
1 changed files with 44 additions and 47 deletions
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gtsam/slam/tests/testDataset.cpp
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@ -162,65 +162,62 @@ TEST( dataSet, readG2o)
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( dataSet, readG2o3D) TEST(dataSet, readG2o3D) {
{
const string g2oFile = findExampleDataFile("pose3example"); const string g2oFile = findExampleDataFile("pose3example");
NonlinearFactorGraph::shared_ptr actualGraph; NonlinearFactorGraph::shared_ptr actualGraph;
Values::shared_ptr actualValues; Values::shared_ptr actualValues;
bool is3D = true; bool is3D = true;
boost::tie(actualGraph, actualValues) = readG2o(g2oFile, is3D); boost::tie(actualGraph, actualValues) = readG2o(g2oFile, is3D);
Values expectedValues; // Initialize 5 poses with quaternion/point3 values:
Rot3 R0 = Rot3::Quaternion(1.000000, 0.000000, 0.000000, 0.000000 ); const std::vector<Pose3> poses = {
Point3 p0 = Point3(0.000000, 0.000000, 0.000000); {{1.000000, 0.000000, 0.000000, 0.000000}, {0, 0, 0}},
expectedValues.insert(0, Pose3(R0, p0)); {{0.854230, 0.190253, 0.283162, -0.392318},
{1.001367, 0.015390, 0.004948}},
{{0.421446, -0.351729, -0.597838, 0.584174},
{1.993500, 0.023275, 0.003793}},
{{0.067024, 0.331798, -0.200659, 0.919323},
{2.004291, 1.024305, 0.018047}},
{{0.765488, -0.035697, -0.462490, 0.445933},
{0.999908, 1.055073, 0.020212}},
};
Rot3 R1 = Rot3::Quaternion(0.854230, 0.190253, 0.283162, -0.392318 ); // Check values
Point3 p1 = Point3(1.001367, 0.015390, 0.004948); for (size_t i : {0, 1, 2, 3, 4}) {
expectedValues.insert(1, Pose3(R1, p1)); EXPECT(assert_equal(poses[i], actualValues->at<Pose3>(i), 1e-5));
}
Rot3 R2 = Rot3::Quaternion(0.421446, -0.351729, -0.597838, 0.584174 ); // Initialize 6 relative measurements with quaternion/point3 values:
Point3 p2 = Point3(1.993500, 0.023275, 0.003793); const std::vector<Pose3> measurements = {
expectedValues.insert(2, Pose3(R2, p2)); {{0.854230, 0.190253, 0.283162, -0.392318},
{1.001367, 0.015390, 0.004948}},
{{0.105373, 0.311512, 0.656877, -0.678505},
{0.523923, 0.776654, 0.326659}},
{{0.568551, 0.595795, -0.561677, 0.079353},
{0.910927, 0.055169, -0.411761}},
{{0.542221, -0.592077, 0.303380, -0.513226},
{0.775288, 0.228798, -0.596923}},
{{0.327419, -0.125250, -0.534379, 0.769122},
{-0.577841, 0.628016, -0.543592}},
{{0.083672, 0.104639, 0.627755, 0.766795},
{-0.623267, 0.086928, 0.773222}},
};
Rot3 R3 = Rot3::Quaternion(0.067024, 0.331798, -0.200659, 0.919323); // Specify connectivity:
Point3 p3 = Point3(2.004291, 1.024305, 0.018047); std::vector<pair<Key, Key>> pairs = {{0, 1}, {1, 2}, {2, 3},
expectedValues.insert(3, Pose3(R3, p3)); {3, 4}, {1, 4}, {3, 0}};
Rot3 R4 = Rot3::Quaternion(0.765488, -0.035697, -0.462490, 0.445933); // Create expected factor graph
Point3 p4 = Point3(0.999908, 1.055073, 0.020212); auto model = noiseModel::Isotropic::Precision(6, 10000);
expectedValues.insert(4, Pose3(R4, p4));
EXPECT(assert_equal(expectedValues,*actualValues,1e-5));
noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Precisions((Vector(6) << 10000.0,10000.0,10000.0,10000.0,10000.0,10000.0).finished());
NonlinearFactorGraph expectedGraph; NonlinearFactorGraph expectedGraph;
size_t i = 0;
for (const auto& keys : pairs) {
expectedGraph.emplace_shared<BetweenFactor<Pose3>>(
keys.first, keys.second, measurements[i++], model);
}
Point3 p01 = Point3(1.001367, 0.015390, 0.004948); // Check if actual graph is correct
Rot3 R01 = Rot3::Quaternion(0.854230, 0.190253, 0.283162, -0.392318 ); EXPECT(assert_equal(expectedGraph, *actualGraph, 1e-5));
expectedGraph.emplace_shared<BetweenFactor<Pose3> >(0, 1, Pose3(R01,p01), model);
Point3 p12 = Point3(0.523923, 0.776654, 0.326659);
Rot3 R12 = Rot3::Quaternion(0.105373 , 0.311512, 0.656877, -0.678505 );
expectedGraph.emplace_shared<BetweenFactor<Pose3> >(1, 2, Pose3(R12,p12), model);
Point3 p23 = Point3(0.910927, 0.055169, -0.411761);
Rot3 R23 = Rot3::Quaternion(0.568551 , 0.595795, -0.561677, 0.079353 );
expectedGraph.emplace_shared<BetweenFactor<Pose3> >(2, 3, Pose3(R23,p23), model);
Point3 p34 = Point3(0.775288, 0.228798, -0.596923);
Rot3 R34 = Rot3::Quaternion(0.542221 , -0.592077, 0.303380, -0.513226 );
expectedGraph.emplace_shared<BetweenFactor<Pose3> >(3, 4, Pose3(R34,p34), model);
Point3 p14 = Point3(-0.577841, 0.628016, -0.543592);
Rot3 R14 = Rot3::Quaternion(0.327419 , -0.125250, -0.534379, 0.769122 );
expectedGraph.emplace_shared<BetweenFactor<Pose3> >(1, 4, Pose3(R14,p14), model);
Point3 p30 = Point3(-0.623267, 0.086928, 0.773222);
Rot3 R30 = Rot3::Quaternion(0.083672 , 0.104639, 0.627755, 0.766795 );
expectedGraph.emplace_shared<BetweenFactor<Pose3> >(3, 0, Pose3(R30,p30), model);
EXPECT(assert_equal(expectedGraph,*actualGraph,1e-5));
} }
/* ************************************************************************* */ /* ************************************************************************* */