Created testManifold
dellaert
parent
0acffe5ae9
commit
224b71d696
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@ -135,108 +135,6 @@ struct SnavelyProjection {
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};
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/* ************************************************************************* */
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// is_manifold
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TEST(Manifold, _is_manifold) {
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using namespace traits;
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EXPECT(!is_manifold<int>::value);
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EXPECT(is_manifold<Point2>::value);
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EXPECT(is_manifold<Matrix24>::value);
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EXPECT(is_manifold<double>::value);
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EXPECT(is_manifold<Vector>::value);
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EXPECT(is_manifold<Matrix>::value);
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}
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/* ************************************************************************* */
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// dimension
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TEST(Manifold, _dimension) {
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using namespace traits;
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EXPECT_LONGS_EQUAL(2, dimension<Point2>::value);
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EXPECT_LONGS_EQUAL(8, dimension<Matrix24>::value);
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EXPECT_LONGS_EQUAL(1, dimension<double>::value);
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EXPECT_LONGS_EQUAL(Eigen::Dynamic, dimension<Vector>::value);
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EXPECT_LONGS_EQUAL(Eigen::Dynamic, dimension<Matrix>::value);
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}
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/* ************************************************************************* */
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// charts
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TEST(Manifold, DefaultChart) {
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DefaultChart<Point2> chart1(Point2(0, 0));
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EXPECT(chart1.apply(Point2(1,0))==Vector2(1,0));
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EXPECT(chart1.retract(Vector2(1,0))==Point2(1,0));
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DefaultChart<Vector2> chart2(Vector2(0, 0));
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EXPECT(chart2.apply(Vector2(1,0))==Vector2(1,0));
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EXPECT(chart2.retract(Vector2(1,0))==Vector2(1,0));
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DefaultChart<double> chart3(0);
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Eigen::Matrix<double, 1, 1> v1;
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v1 << 1;
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EXPECT(chart3.apply(1)==v1);
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EXPECT(chart3.retract(v1)==1);
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// Dynamic does not work yet !
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// Vector z = zero(2), v(2);
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// v << 1, 0;
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// DefaultChart<Vector> chart4(z);
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// EXPECT(chart4.apply(v)==v);
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// EXPECT(chart4.retract(v)==v);
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}
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/* ************************************************************************* */
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// zero
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TEST(Manifold, _zero) {
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EXPECT(assert_equal(Pose3(),traits::zero<Pose3>::value()));
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Cal3Bundler cal(0,0,0);
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EXPECT(assert_equal(cal,traits::zero<Cal3Bundler>::value()));
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EXPECT(assert_equal(Camera(Pose3(),cal),traits::zero<Camera>::value()));
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}
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/* ************************************************************************* */
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// charts
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TEST(Manifold, Canonical) {
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Canonical<Point2> chart1;
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EXPECT(chart1.apply(Point2(1,0))==Vector2(1,0));
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EXPECT(chart1.retract(Vector2(1,0))==Point2(1,0));
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Canonical<Vector2> chart2;
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EXPECT(assert_equal((Vector)chart2.apply(Vector2(1,0)),Vector2(1,0)));
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EXPECT(chart2.retract(Vector2(1,0))==Vector2(1,0));
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Canonical<double> chart3;
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Eigen::Matrix<double, 1, 1> v1;
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v1 << 1;
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EXPECT(chart3.apply(1)==v1);
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EXPECT(chart3.retract(v1)==1);
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Canonical<Point3> chart4;
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Point3 point(1,2,3);
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Vector3 v3(1,2,3);
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EXPECT(assert_equal((Vector)chart4.apply(point),v3));
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EXPECT(assert_equal(chart4.retract(v3),point));
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Canonical<Pose3> chart5;
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Pose3 pose(Rot3::identity(),point);
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Vector6 v6; v6 << 0,0,0,1,2,3;
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EXPECT(assert_equal((Vector)chart5.apply(pose),v6));
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EXPECT(assert_equal(chart5.retract(v6),pose));
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Canonical<Camera> chart6;
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Cal3Bundler cal0(0,0,0);
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Camera camera(Pose3(),cal0);
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Vector9 z9 = Vector9::Zero();
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EXPECT(assert_equal((Vector)chart6.apply(camera),z9));
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EXPECT(assert_equal(chart6.retract(z9),camera));
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Cal3Bundler cal; // Note !! Cal3Bundler() != zero<Cal3Bundler>::value()
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Camera camera2(pose,cal);
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Vector9 v9; v9 << 0,0,0,1,2,3,1,0,0;
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EXPECT(assert_equal((Vector)chart6.apply(camera2),v9));
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EXPECT(assert_equal(chart6.retract(v9),camera2));
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}
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/* ************************************************************************* */
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// New-style numerical derivatives using manifold_traits
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template<typename Y, typename X>
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@ -0,0 +1,149 @@
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------1------------------------------------------- */
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/**
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* @file testExpression.cpp
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* @date September 18, 2014
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* @author Frank Dellaert
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* @author Paul Furgale
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* @brief unit tests for Block Automatic Differentiation
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*/
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#include <gtsam/geometry/PinholeCamera.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/geometry/Cal3_S2.h>
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#include <gtsam/geometry/Cal3Bundler.h>
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#include <gtsam_unstable/nonlinear/Expression.h>
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#include <gtsam/base/Testable.h>
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#include <gtsam/base/LieScalar.h>
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#undef CHECK
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#include <CppUnitLite/TestHarness.h>
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#include <boost/assign/list_of.hpp>
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using boost::assign::list_of;
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using boost::assign::map_list_of;
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using namespace std;
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using namespace gtsam;
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// The DefaultChart of Camera below is laid out like Snavely's 9-dim vector
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typedef PinholeCamera<Cal3Bundler> Camera;
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/* ************************************************************************* */
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// is_manifold
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TEST(Manifold, _is_manifold) {
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using namespace traits;
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EXPECT(!is_manifold<int>::value);
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EXPECT(is_manifold<Point2>::value);
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EXPECT(is_manifold<Matrix24>::value);
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EXPECT(is_manifold<double>::value);
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EXPECT(is_manifold<Vector>::value);
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EXPECT(is_manifold<Matrix>::value);
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}
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/* ************************************************************************* */
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// dimension
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TEST(Manifold, _dimension) {
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using namespace traits;
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EXPECT_LONGS_EQUAL(2, dimension<Point2>::value);
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EXPECT_LONGS_EQUAL(8, dimension<Matrix24>::value);
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EXPECT_LONGS_EQUAL(1, dimension<double>::value);
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EXPECT_LONGS_EQUAL(Eigen::Dynamic, dimension<Vector>::value);
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EXPECT_LONGS_EQUAL(Eigen::Dynamic, dimension<Matrix>::value);
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}
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/* ************************************************************************* */
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// charts
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TEST(Manifold, DefaultChart) {
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DefaultChart<Point2> chart1(Point2(0, 0));
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EXPECT(chart1.apply(Point2(1,0))==Vector2(1,0));
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EXPECT(chart1.retract(Vector2(1,0))==Point2(1,0));
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DefaultChart<Vector2> chart2(Vector2(0, 0));
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EXPECT(chart2.apply(Vector2(1,0))==Vector2(1,0));
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EXPECT(chart2.retract(Vector2(1,0))==Vector2(1,0));
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DefaultChart<double> chart3(0);
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Eigen::Matrix<double, 1, 1> v1;
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v1 << 1;
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EXPECT(chart3.apply(1)==v1);
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EXPECT(chart3.retract(v1)==1);
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// Dynamic does not work yet !
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// Vector z = zero(2), v(2);
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// v << 1, 0;
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// DefaultChart<Vector> chart4(z);
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// EXPECT(chart4.apply(v)==v);
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// EXPECT(chart4.retract(v)==v);
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}
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/* ************************************************************************* */
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// zero
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TEST(Manifold, _zero) {
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EXPECT(assert_equal(Pose3(),traits::zero<Pose3>::value()));
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Cal3Bundler cal(0,0,0);
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EXPECT(assert_equal(cal,traits::zero<Cal3Bundler>::value()));
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EXPECT(assert_equal(Camera(Pose3(),cal),traits::zero<Camera>::value()));
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}
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/* ************************************************************************* */
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// charts
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TEST(Manifold, Canonical) {
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Canonical<Point2> chart1;
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EXPECT(chart1.apply(Point2(1,0))==Vector2(1,0));
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EXPECT(chart1.retract(Vector2(1,0))==Point2(1,0));
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Canonical<Vector2> chart2;
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EXPECT(assert_equal((Vector)chart2.apply(Vector2(1,0)),Vector2(1,0)));
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EXPECT(chart2.retract(Vector2(1,0))==Vector2(1,0));
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Canonical<double> chart3;
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Eigen::Matrix<double, 1, 1> v1;
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v1 << 1;
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EXPECT(chart3.apply(1)==v1);
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EXPECT(chart3.retract(v1)==1);
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Canonical<Point3> chart4;
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Point3 point(1,2,3);
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Vector3 v3(1,2,3);
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EXPECT(assert_equal((Vector)chart4.apply(point),v3));
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EXPECT(assert_equal(chart4.retract(v3),point));
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Canonical<Pose3> chart5;
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Pose3 pose(Rot3::identity(),point);
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Vector6 v6; v6 << 0,0,0,1,2,3;
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EXPECT(assert_equal((Vector)chart5.apply(pose),v6));
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EXPECT(assert_equal(chart5.retract(v6),pose));
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Canonical<Camera> chart6;
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Cal3Bundler cal0(0,0,0);
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Camera camera(Pose3(),cal0);
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Vector9 z9 = Vector9::Zero();
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EXPECT(assert_equal((Vector)chart6.apply(camera),z9));
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EXPECT(assert_equal(chart6.retract(z9),camera));
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Cal3Bundler cal; // Note !! Cal3Bundler() != zero<Cal3Bundler>::value()
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Camera camera2(pose,cal);
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Vector9 v9; v9 << 0,0,0,1,2,3,1,0,0;
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EXPECT(assert_equal((Vector)chart6.apply(camera2),v9));
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EXPECT(assert_equal(chart6.retract(v9),camera2));
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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