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Eliminated some copy/paste

release/4.3a0
Frank dellaert 2020-07-09 16:27:21 -04:00
parent f280aec428
commit 2c544018bf
1 changed files with 67 additions and 83 deletions
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150
gtsam/slam/tests/testDataset.cpp
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@ -122,45 +122,6 @@ TEST( dataSet, Balbianello)
EXPECT(assert_equal(expected,actual,1)); EXPECT(assert_equal(expected,actual,1));
} }
/* ************************************************************************* */
TEST( dataSet, readG2o)
{
const string g2oFile = findExampleDataFile("pose2example");
NonlinearFactorGraph::shared_ptr actualGraph;
Values::shared_ptr actualValues;
boost::tie(actualGraph, actualValues) = readG2o(g2oFile);
Values expectedValues;
expectedValues.insert(0, Pose2(0.000000, 0.000000, 0.000000));
expectedValues.insert(1, Pose2(1.030390, 0.011350, -0.081596));
expectedValues.insert(2, Pose2(2.036137, -0.129733, -0.301887));
expectedValues.insert(3, Pose2(3.015097, -0.442395, -0.345514));
expectedValues.insert(4, Pose2(3.343949, 0.506678, 1.214715));
expectedValues.insert(5, Pose2(3.684491, 1.464049, 1.183785));
expectedValues.insert(6, Pose2(4.064626, 2.414783, 1.176333));
expectedValues.insert(7, Pose2(4.429778, 3.300180, 1.259169));
expectedValues.insert(8, Pose2(4.128877, 2.321481, -1.825391));
expectedValues.insert(9, Pose2(3.884653, 1.327509, -1.953016));
expectedValues.insert(10, Pose2(3.531067, 0.388263, -2.148934));
EXPECT(assert_equal(expectedValues,*actualValues,1e-5));
noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Precisions(Vector3(44.721360, 44.721360, 30.901699));
NonlinearFactorGraph expectedGraph;
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(0, 1, Pose2(1.030390, 0.011350, -0.081596), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(1, 2, Pose2(1.013900, -0.058639, -0.220291), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(2, 3, Pose2(1.027650, -0.007456, -0.043627), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(3, 4, Pose2(-0.012016, 1.004360, 1.560229), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(4, 5, Pose2(1.016030, 0.014565, -0.030930), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(5, 6, Pose2(1.023890, 0.006808, -0.007452), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(6, 7, Pose2(0.957734, 0.003159, 0.082836), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(7, 8, Pose2(-1.023820, -0.013668, -3.084560), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(8, 9, Pose2(1.023440, 0.013984, -0.127624), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(9,10, Pose2(1.003350, 0.022250, -0.195918), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(5, 9, Pose2(0.033943, 0.032439, 3.073637), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(3,10, Pose2(0.044020, 0.988477, -1.553511), model);
EXPECT(assert_equal(expectedGraph,*actualGraph,1e-5));
}
/* ************************************************************************* */ /* ************************************************************************* */
TEST(dataSet, readG2o3D) { TEST(dataSet, readG2o3D) {
const string g2oFile = findExampleDataFile("pose3example"); const string g2oFile = findExampleDataFile("pose3example");
@ -273,59 +234,82 @@ TEST( dataSet, readG2o3DNonDiagonalNoise)
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( dataSet, readG2oHuber) static NonlinearFactorGraph expectedGraph(const SharedNoiseModel& model) {
{ NonlinearFactorGraph g;
const string g2oFile = findExampleDataFile("pose2example"); using Factor = BetweenFactor<Pose2>;
NonlinearFactorGraph::shared_ptr actualGraph; g.emplace_shared<Factor>(0, 1, Pose2(1.030390, 0.011350, -0.081596), model);
Values::shared_ptr actualValues; g.emplace_shared<Factor>(1, 2, Pose2(1.013900, -0.058639, -0.220291), model);
bool is3D = false; g.emplace_shared<Factor>(2, 3, Pose2(1.027650, -0.007456, -0.043627), model);
boost::tie(actualGraph, actualValues) = readG2o(g2oFile, is3D, KernelFunctionTypeHUBER); g.emplace_shared<Factor>(3, 4, Pose2(-0.012016, 1.004360, 1.560229), model);
g.emplace_shared<Factor>(4, 5, Pose2(1.016030, 0.014565, -0.030930), model);
noiseModel::Diagonal::shared_ptr baseModel = noiseModel::Diagonal::Precisions(Vector3(44.721360, 44.721360, 30.901699)); g.emplace_shared<Factor>(5, 6, Pose2(1.023890, 0.006808, -0.007452), model);
SharedNoiseModel model = noiseModel::Robust::Create(noiseModel::mEstimator::Huber::Create(1.345), baseModel); g.emplace_shared<Factor>(6, 7, Pose2(0.957734, 0.003159, 0.082836), model);
g.emplace_shared<Factor>(7, 8, Pose2(-1.023820, -0.013668, -3.084560), model);
NonlinearFactorGraph expectedGraph; g.emplace_shared<Factor>(8, 9, Pose2(1.023440, 0.013984, -0.127624), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(0, 1, Pose2(1.030390, 0.011350, -0.081596), model); g.emplace_shared<Factor>(9, 10, Pose2(1.003350, 0.022250, -0.195918), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(1, 2, Pose2(1.013900, -0.058639, -0.220291), model); g.emplace_shared<Factor>(5, 9, Pose2(0.033943, 0.032439, 3.073637), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(2, 3, Pose2(1.027650, -0.007456, -0.043627), model); g.emplace_shared<Factor>(3, 10, Pose2(0.044020, 0.988477, -1.553511), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(3, 4, Pose2(-0.012016, 1.004360, 1.560229), model); return g;
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(4, 5, Pose2(1.016030, 0.014565, -0.030930), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(5, 6, Pose2(1.023890, 0.006808, -0.007452), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(6, 7, Pose2(0.957734, 0.003159, 0.082836), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(7, 8, Pose2(-1.023820, -0.013668, -3.084560), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(8, 9, Pose2(1.023440, 0.013984, -0.127624), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(9,10, Pose2(1.003350, 0.022250, -0.195918), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(5, 9, Pose2(0.033943, 0.032439, 3.073637), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(3,10, Pose2(0.044020, 0.988477, -1.553511), model);
EXPECT(assert_equal(expectedGraph,*actualGraph,1e-5));
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( dataSet, readG2oTukey) TEST(dataSet, readG2o) {
{ const string g2oFile = findExampleDataFile("pose2example");
NonlinearFactorGraph::shared_ptr actualGraph;
Values::shared_ptr actualValues;
boost::tie(actualGraph, actualValues) = readG2o(g2oFile);
auto model = noiseModel::Diagonal::Precisions(
Vector3(44.721360, 44.721360, 30.901699));
EXPECT(assert_equal(expectedGraph(model), *actualGraph, 1e-5));
Values expectedValues;
expectedValues.insert(0, Pose2(0.000000, 0.000000, 0.000000));
expectedValues.insert(1, Pose2(1.030390, 0.011350, -0.081596));
expectedValues.insert(2, Pose2(2.036137, -0.129733, -0.301887));
expectedValues.insert(3, Pose2(3.015097, -0.442395, -0.345514));
expectedValues.insert(4, Pose2(3.343949, 0.506678, 1.214715));
expectedValues.insert(5, Pose2(3.684491, 1.464049, 1.183785));
expectedValues.insert(6, Pose2(4.064626, 2.414783, 1.176333));
expectedValues.insert(7, Pose2(4.429778, 3.300180, 1.259169));
expectedValues.insert(8, Pose2(4.128877, 2.321481, -1.825391));
expectedValues.insert(9, Pose2(3.884653, 1.327509, -1.953016));
expectedValues.insert(10, Pose2(3.531067, 0.388263, -2.148934));
EXPECT(assert_equal(expectedValues, *actualValues, 1e-5));
}
/* ************************************************************************* */
TEST(dataSet, readG2oHuber) {
const string g2oFile = findExampleDataFile("pose2example"); const string g2oFile = findExampleDataFile("pose2example");
NonlinearFactorGraph::shared_ptr actualGraph; NonlinearFactorGraph::shared_ptr actualGraph;
Values::shared_ptr actualValues; Values::shared_ptr actualValues;
bool is3D = false; bool is3D = false;
boost::tie(actualGraph, actualValues) = readG2o(g2oFile, is3D, KernelFunctionTypeTUKEY); boost::tie(actualGraph, actualValues) =
readG2o(g2oFile, is3D, KernelFunctionTypeHUBER);
noiseModel::Diagonal::shared_ptr baseModel = noiseModel::Diagonal::Precisions(Vector3(44.721360, 44.721360, 30.901699)); auto baseModel = noiseModel::Diagonal::Precisions(
SharedNoiseModel model = noiseModel::Robust::Create(noiseModel::mEstimator::Tukey::Create(4.6851), baseModel); Vector3(44.721360, 44.721360, 30.901699));
auto model = noiseModel::Robust::Create(
noiseModel::mEstimator::Huber::Create(1.345), baseModel);
NonlinearFactorGraph expectedGraph; EXPECT(assert_equal(expectedGraph(model), *actualGraph, 1e-5));
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(0, 1, Pose2(1.030390, 0.011350, -0.081596), model); }
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(1, 2, Pose2(1.013900, -0.058639, -0.220291), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(2, 3, Pose2(1.027650, -0.007456, -0.043627), model); /* ************************************************************************* */
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(3, 4, Pose2(-0.012016, 1.004360, 1.560229), model); TEST(dataSet, readG2oTukey) {
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(4, 5, Pose2(1.016030, 0.014565, -0.030930), model); const string g2oFile = findExampleDataFile("pose2example");
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(5, 6, Pose2(1.023890, 0.006808, -0.007452), model); NonlinearFactorGraph::shared_ptr actualGraph;
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(6, 7, Pose2(0.957734, 0.003159, 0.082836), model); Values::shared_ptr actualValues;
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(7, 8, Pose2(-1.023820, -0.013668, -3.084560), model); bool is3D = false;
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(8, 9, Pose2(1.023440, 0.013984, -0.127624), model); boost::tie(actualGraph, actualValues) =
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(9,10, Pose2(1.003350, 0.022250, -0.195918), model); readG2o(g2oFile, is3D, KernelFunctionTypeTUKEY);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(5, 9, Pose2(0.033943, 0.032439, 3.073637), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(3,10, Pose2(0.044020, 0.988477, -1.553511), model); auto baseModel = noiseModel::Diagonal::Precisions(
EXPECT(assert_equal(expectedGraph,*actualGraph,1e-5)); Vector3(44.721360, 44.721360, 30.901699));
auto model = noiseModel::Robust::Create(
noiseModel::mEstimator::Tukey::Create(4.6851), baseModel);
EXPECT(assert_equal(expectedGraph(model), *actualGraph, 1e-5));
} }
/* ************************************************************************* */ /* ************************************************************************* */