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everything working out so far with the tests

release/4.3a0
lcarlone 2021-07-20 21:29:56 -04:00
parent 2812eeb1be
commit 0d1c3f16ef
2 changed files with 77 additions and 69 deletions
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5
gtsam_unstable/slam/ProjectionFactorRollingShutter.h
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@ -248,5 +248,8 @@ class ProjectionFactorRollingShutter : public NoiseModelFactor3<Pose3, Pose3, Po
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
// rolling shutter projection factor
/// traits
template<> struct traits<ProjectionFactorRollingShutter> : public Testable<ProjectionFactorRollingShutter> {};
}//namespace gtsam

141
gtsam_unstable/slam/tests/testProjectionFactorRollingShutter.cpp
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@ -10,7 +10,7 @@
* -------------------------------------------------------------------------- */
/**
* @file testProjectionFactorRollingShutter.cpp
* @file ProjectionFactorRollingShutterRollingShutter.cpp
* @brief Unit tests for ProjectionFactorRollingShutter Class
* @author Luca Carlone
* @date July 2021
@ -45,72 +45,77 @@ using symbol_shorthand::X;
using symbol_shorthand::L;
using symbol_shorthand::T;
//typedef ProjectionFactorPPP<Pose3, Point3> TestProjectionFactor;
// Convenience to define common variables across many tests
static Key poseKey1(X(1));
static Key poseKey2(X(2));
static Key pointKey(L(1));
static double interp_params = 0.5;
static Point2 measurement(323.0, 240.0);
static Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0));
/* ************************************************************************* */
TEST( ProjectionFactorRollingShutter, Constructor) {
ProjectionFactorRollingShutter factor(measurement, interp_params, model, poseKey1, poseKey2, pointKey, K);
}
/* ************************************************************************* */
TEST( ProjectionFactorRollingShutter, ConstructorWithTransform) {
ProjectionFactorRollingShutter factor(measurement, interp_params, model,
poseKey1, poseKey2, pointKey, K, body_P_sensor);
}
/* ************************************************************************* */
TEST( ProjectionFactorRollingShutter, Equals ) {
{ // factors are equal
ProjectionFactorRollingShutter factor1(measurement, interp_params,
model, poseKey1, poseKey2, pointKey, K);
ProjectionFactorRollingShutter factor2(measurement, interp_params,
model, poseKey1, poseKey2, pointKey, K);
CHECK(assert_equal(factor1, factor2));
}
{ // factors are NOT equal (keys are different)
ProjectionFactorRollingShutter factor1(measurement, interp_params,
model, poseKey1, poseKey2, pointKey, K);
ProjectionFactorRollingShutter factor2(measurement, interp_params,
model, poseKey1, poseKey1, pointKey, K);
CHECK(!assert_equal(factor1, factor2)); // not equal
}
{ // factors are NOT equal (different interpolation)
ProjectionFactorRollingShutter factor1(measurement, 0.1,
model, poseKey1, poseKey1, pointKey, K);
ProjectionFactorRollingShutter factor2(measurement, 0.5,
model, poseKey1, poseKey2, pointKey, K);
CHECK(!assert_equal(factor1, factor2)); // not equal
}
}
/* ************************************************************************* */
TEST( ProjectionFactorRollingShutter, EqualsWithTransform ) {
{ // factors are equal
ProjectionFactorRollingShutter factor1(measurement, interp_params, model,
poseKey1, poseKey2, pointKey, K, body_P_sensor);
ProjectionFactorRollingShutter factor2(measurement, interp_params, model,
poseKey1, poseKey2, pointKey, K, body_P_sensor);
CHECK(assert_equal(factor1, factor2));
}
{ // factors are NOT equal
ProjectionFactorRollingShutter factor1(measurement, interp_params, model,
poseKey1, poseKey2, pointKey, K, body_P_sensor);
Pose3 body_P_sensor2(Rot3::RzRyRx(0.0, 0.0, 0.0), Point3(0.25, -0.10, 1.0)); // rotation different from body_P_sensor
ProjectionFactorRollingShutter factor2(measurement, interp_params, model,
poseKey1, poseKey2, pointKey, K, body_P_sensor2);
CHECK(!assert_equal(factor1, factor2));
}
}
///// traits
//namespace gtsam {
//template<>
//struct traits<TestProjectionFactor> : public Testable<TestProjectionFactor> {
//};
//}
//
///* ************************************************************************* */
//TEST( ProjectionFactorPPP, nonStandard ) {
// ProjectionFactorPPP<Pose3, Point3, Cal3DS2> f;
//}
//
///* ************************************************************************* */
//TEST( ProjectionFactorPPP, Constructor) {
// Key poseKey(X(1));
// Key transformKey(T(1));
// Key pointKey(L(1));
//
// Point2 measurement(323.0, 240.0);
//
// TestProjectionFactor factor(measurement, model, poseKey, transformKey, pointKey, K);
//}
//
///* ************************************************************************* */
//TEST( ProjectionFactorPPP, ConstructorWithTransform) {
// Key poseKey(X(1));
// Key transformKey(T(1));
// Key pointKey(L(1));
//
// Point2 measurement(323.0, 240.0);
// TestProjectionFactor factor(measurement, model, poseKey, transformKey, pointKey, K);
//}
//
///* ************************************************************************* */
//TEST( ProjectionFactorPPP, Equals ) {
// // Create two identical factors and make sure they're equal
// Point2 measurement(323.0, 240.0);
//
// TestProjectionFactor factor1(measurement, model, X(1), T(1), L(1), K);
// TestProjectionFactor factor2(measurement, model, X(1), T(1), L(1), K);
//
// CHECK(assert_equal(factor1, factor2));
//}
//
///* ************************************************************************* */
//TEST( ProjectionFactorPPP, EqualsWithTransform ) {
// // Create two identical factors and make sure they're equal
// Point2 measurement(323.0, 240.0);
// Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0));
//
// TestProjectionFactor factor1(measurement, model, X(1), T(1), L(1), K);
// TestProjectionFactor factor2(measurement, model, X(1), T(1), L(1), K);
//
// CHECK(assert_equal(factor1, factor2));
//}
//
///* ************************************************************************* */
//TEST( ProjectionFactorPPP, Error ) {
//TEST( ProjectionFactorRollingShutter, Error ) {
// // Create the factor with a measurement that is 3 pixels off in x
// Key poseKey(X(1));
// Key transformKey(T(1));
// Key pointKey(L(1));
// Point2 measurement(323.0, 240.0);
// TestProjectionFactor factor(measurement, model, poseKey, transformKey, pointKey, K);
// ProjectionFactorRollingShutter factor(measurement, model, poseKey, transformKey, pointKey, K);
//
// // Set the linearization point
// Pose3 pose(Rot3(), Point3(0,0,-6));
@ -127,14 +132,14 @@ using symbol_shorthand::T;
//}
//
///* ************************************************************************* */
//TEST( ProjectionFactorPPP, ErrorWithTransform ) {
//TEST( ProjectionFactorRollingShutter, ErrorWithTransform ) {
// // Create the factor with a measurement that is 3 pixels off in x
// Key poseKey(X(1));
// Key transformKey(T(1));
// Key pointKey(L(1));
// Point2 measurement(323.0, 240.0);
// Pose3 transform(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0));
// TestProjectionFactor factor(measurement, model, poseKey,transformKey, pointKey, K);
// ProjectionFactorRollingShutter factor(measurement, model, poseKey,transformKey, pointKey, K);
//
// // Set the linearization point. The vehicle pose has been selected to put the camera at (-6, 0, 0)
// Pose3 pose(Rot3(), Point3(-6.25, 0.10 , -1.0));
@ -151,13 +156,13 @@ using symbol_shorthand::T;
//}
//
///* ************************************************************************* */
//TEST( ProjectionFactorPPP, Jacobian ) {
//TEST( ProjectionFactorRollingShutter, Jacobian ) {
// // Create the factor with a measurement that is 3 pixels off in x
// Key poseKey(X(1));
// Key transformKey(T(1));
// Key pointKey(L(1));
// Point2 measurement(323.0, 240.0);
// TestProjectionFactor factor(measurement, model, poseKey, transformKey, pointKey, K);
// ProjectionFactorRollingShutter factor(measurement, model, poseKey, transformKey, pointKey, K);
//
// // Set the linearization point
// Pose3 pose(Rot3(), Point3(0,0,-6));
@ -178,7 +183,7 @@ using symbol_shorthand::T;
// // Verify H2 with numerical derivative
// Matrix H2Expected = numericalDerivative32<Vector, Pose3, Pose3, Point3>(
// std::function<Vector(const Pose3&, const Pose3&, const Point3&)>(
// std::bind(&TestProjectionFactor::evaluateError, &factor,
// std::bind(&ProjectionFactorRollingShutter::evaluateError, &factor,
// std::placeholders::_1, std::placeholders::_2,
// std::placeholders::_3, boost::none, boost::none,
// boost::none)),
@ -188,14 +193,14 @@ using symbol_shorthand::T;
//}
//
///* ************************************************************************* */
//TEST( ProjectionFactorPPP, JacobianWithTransform ) {
//TEST( ProjectionFactorRollingShutter, JacobianWithTransform ) {
// // Create the factor with a measurement that is 3 pixels off in x
// Key poseKey(X(1));
// Key transformKey(T(1));
// Key pointKey(L(1));
// Point2 measurement(323.0, 240.0);
// Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0));
// TestProjectionFactor factor(measurement, model, poseKey, transformKey, pointKey, K);
// ProjectionFactorRollingShutter factor(measurement, model, poseKey, transformKey, pointKey, K);
//
// // Set the linearization point. The vehicle pose has been selected to put the camera at (-6, 0, 0)
// Pose3 pose(Rot3(), Point3(-6.25, 0.10 , -1.0));
@ -216,7 +221,7 @@ using symbol_shorthand::T;
// // Verify H2 with numerical derivative
// Matrix H2Expected = numericalDerivative32<Vector, Pose3, Pose3, Point3>(
// std::function<Vector(const Pose3&, const Pose3&, const Point3&)>(
// std::bind(&TestProjectionFactor::evaluateError, &factor,
// std::bind(&ProjectionFactorRollingShutter::evaluateError, &factor,
// std::placeholders::_1, std::placeholders::_2,
// std::placeholders::_3, boost::none, boost::none,
// boost::none)),