Unit test, succeeds...
dellaert
parent
45a7b5ba68
commit
16057a2c8e
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@ -7,6 +7,7 @@
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#include <gtsam/slam/BetweenFactor.h>
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#include <gtsam/sam/BearingRangeFactor.h>
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#include <gtsam/slam/dataset.h>
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#include <gtsam/slam/PriorFactor.h>
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#include <gtsam/nonlinear/NonlinearEquality.h>
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#include <gtsam/nonlinear/NonlinearISAM.h>
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@ -16,7 +17,10 @@
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#include <gtsam/linear/Sampler.h>
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#include <gtsam/geometry/Pose2.h>
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#include <iostream>
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#include <sstream>
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using namespace std;
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using namespace gtsam;
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const double tol=1e-5;
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@ -228,6 +232,93 @@ TEST(testNonlinearISAM, markov_chain_with_reconnect ) {
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EXPECT(assert_equal(expected.at<Point2>(lm3), actualQR.at<Point2>(lm3), tol));
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}
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/* ************************************************************************* */
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TEST(testNonlinearISAM, loop_closures ) {
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int relinearizeInterval = 100;
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NonlinearISAM isam(relinearizeInterval);
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// Create a Factor Graph and Values to hold the new data
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NonlinearFactorGraph graph;
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Values initialEstimate;
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vector<string> lines;
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lines.emplace_back("VERTEX2 0 0.000000 0.000000 0.000000");
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lines.emplace_back("EDGE2 1 0 1.030390 0.011350 -0.012958");
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lines.emplace_back("VERTEX2 1 1.030390 0.011350 -0.012958");
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lines.emplace_back("EDGE2 2 1 1.013900 -0.058639 -0.013225");
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lines.emplace_back("VERTEX2 2 2.043445 -0.060422 -0.026183");
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lines.emplace_back("EDGE2 3 2 1.027650 -0.007456 0.004833");
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lines.emplace_back("VERTEX2 3 3.070548 -0.094779 -0.021350");
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lines.emplace_back("EDGE2 4 3 -0.012016 1.004360 1.566790");
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lines.emplace_back("VERTEX2 4 3.079976 0.909609 1.545440");
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lines.emplace_back("EDGE2 5 4 1.016030 0.014565 -0.016304");
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lines.emplace_back("VERTEX2 5 3.091176 1.925681 1.529136");
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lines.emplace_back("EDGE2 6 5 1.023890 0.006808 0.010981");
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lines.emplace_back("VERTEX2 6 3.127018 2.948966 1.540117");
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lines.emplace_back("EDGE2 7 6 0.957734 0.003159 0.010901");
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lines.emplace_back("VERTEX2 7 3.153237 3.906347 1.551018");
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lines.emplace_back("EDGE2 8 7 -1.023820 -0.013668 -3.093240");
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lines.emplace_back("VERTEX2 8 3.146655 2.882457 -1.542222");
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lines.emplace_back("EDGE2 9 8 1.023440 0.013984 -0.007802");
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lines.emplace_back("EDGE2 9 5 0.033943 0.032439 -3.127400");
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lines.emplace_back("VERTEX2 9 3.189873 1.859834 -1.550024");
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lines.emplace_back("EDGE2 10 9 1.003350 0.022250 0.023491");
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lines.emplace_back("EDGE2 10 3 0.044020 0.988477 -1.563530");
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lines.emplace_back("VERTEX2 10 3.232959 0.857162 -1.526533");
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lines.emplace_back("EDGE2 11 10 0.977245 0.019042 -0.028623");
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lines.emplace_back("VERTEX2 11 3.295225 -0.118283 -1.555156");
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lines.emplace_back("EDGE2 12 11 -0.996880 -0.025512 -3.126915");
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lines.emplace_back("VERTEX2 12 3.254125 0.878076 1.601114");
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lines.emplace_back("EDGE2 13 12 0.990646 0.018396 -0.016519");
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lines.emplace_back("VERTEX2 13 3.205708 1.867709 1.584594");
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lines.emplace_back("EDGE2 14 13 0.945873 0.008893 -0.002602");
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lines.emplace_back("EDGE2 14 8 0.015808 0.021059 3.128310");
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lines.emplace_back("VERTEX2 14 3.183765 2.813370 1.581993");
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lines.emplace_back("EDGE2 15 14 1.000010 0.006428 0.028234");
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lines.emplace_back("EDGE2 15 7 -0.014728 -0.001595 -0.019579");
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lines.emplace_back("VERTEX2 15 3.166141 3.813245 1.610227");
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auto model = noiseModel::Diagonal::Sigmas(Vector3(3.0, 3.0, 0.5));
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// Loop over the different poses, adding the observations to iSAM incrementally
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for (const string& str : lines) {
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// scan the tag
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string tag;
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istringstream is(str);
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if (!(is >> tag))
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break;
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// Check if vertex
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const auto indexedPose = parseVertex(is, tag);
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if (indexedPose) {
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Key id = indexedPose->first;
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initialEstimate.insert(Symbol('x', id), indexedPose->second);
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if (id == 0) {
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noiseModel::Diagonal::shared_ptr priorNoise =
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noiseModel::Diagonal::Sigmas(Vector3(0.001, 0.001, 0.001));
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graph.emplace_shared<PriorFactor<Pose2> >(Symbol('x', id),
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Pose2(0, 0, 0), priorNoise);
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} else {
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isam.update(graph, initialEstimate);
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// Clear the factor graph and values for the next iteration
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graph.resize(0);
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initialEstimate.clear();
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}
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}
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// check if edge
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const auto betweenPose = parseEdge(is, tag);
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if (betweenPose) {
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Key id1, id2;
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tie(id1, id2) = betweenPose->first;
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graph.emplace_shared<BetweenFactor<Pose2> >(Symbol('x', id2),
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Symbol('x', id1), betweenPose->second, model);
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}
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}
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EXPECT_LONGS_EQUAL(16, isam.estimate().size())
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
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/* ************************************************************************* */
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