Moved optimization tests to testPose2Graph
Frank Dellaert
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edb68b3b60
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2fe02dbaa7
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@ -1,6 +1,6 @@
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/**
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* @file VectorConfig.cpp
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* @brief Pose2Graph Configuration
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* @file Pose2Config.cpp
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* @brief Configuration of 2D poses
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* @author Frank Dellaert
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*/
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@ -1,5 +1,5 @@
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/**
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* @file PoseConfig.cpp
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* @file Pose2Config.cpp
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* @brief Configuration of 2D poses
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* @author Frank Dellaert
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*/
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@ -4,20 +4,9 @@
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* @authors Frank Dellaert, Viorela Ila
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**/
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#include <iostream>
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#include <boost/shared_ptr.hpp>
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#include <boost/assign/std/list.hpp>
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using namespace boost::assign;
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#include <CppUnitLite/TestHarness.h>
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#include "Vector.h"
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#include "numericalDerivative.h"
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#include "NonlinearOptimizer-inl.h"
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#include "NonlinearEquality.h"
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#include "Pose2Factor.h"
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#include "Ordering.h"
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#include "Pose2Graph.h"
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using namespace std;
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using namespace gtsam;
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@ -142,95 +131,6 @@ TEST( Pose2Factor, linearize )
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CHECK(assert_equal(expectedH2,numericalH2));
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}
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/* ************************************************************************* */
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bool poseCompare(const std::string& key,
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const gtsam::Pose2Config& feasible,
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const gtsam::Pose2Config& input) {
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return feasible.get(key).equals(input.get(key));
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}
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/* ************************************************************************* */
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TEST(Pose2Factor, optimize) {
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// create a Pose graph with one equality constraint and one measurement
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Pose2Graph fg;
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Pose2Config feasible;
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feasible.insert("p0", Pose2(0,0,0));
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fg.push_back(Pose2Graph::sharedFactor(
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new NonlinearEquality<Pose2Config>("p0", feasible, dim(Pose2()), poseCompare)));
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fg.add("p0", "p1", Pose2(1,2,M_PI_2), covariance);
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// Create initial config
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boost::shared_ptr<Pose2Config> initial(new Pose2Config());
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initial->insert("p0", Pose2(0,0,0));
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initial->insert("p1", Pose2(0,0,0));
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// Choose an ordering and optimize
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Ordering ordering;
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ordering += "p0","p1";
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typedef NonlinearOptimizer<Pose2Graph, Pose2Config> Optimizer;
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Optimizer optimizer(fg, ordering, initial);
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Optimizer::verbosityLevel verbosity = Optimizer::SILENT;
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//Optimizer::verbosityLevel verbosity = Optimizer::ERROR;
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optimizer = optimizer.levenbergMarquardt(1e-15, 1e-15, verbosity);
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// Check with expected config
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Pose2Config expected;
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expected.insert("p0", Pose2(0,0,0));
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expected.insert("p1", Pose2(1,2,M_PI_2));
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CHECK(assert_equal(expected, *optimizer.config()));
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}
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/* ************************************************************************* */
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// test optimization with 6 poses arranged in a hexagon and a loop closure
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TEST(Pose2Factor, optimizeCircle) {
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// Create a hexagon of poses
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Pose2Config hexagon = pose2Circle(6,1.0,'p');
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Pose2 p0 = hexagon["p0"], p1 = hexagon["p1"];
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// create a Pose graph with one equality constraint and one measurement
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Pose2Graph fg;
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Pose2Config feasible;
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feasible.insert("p0", p0);
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fg.push_back(Pose2Graph::sharedFactor(
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new NonlinearEquality<Pose2Config>("p0", feasible, dim(Pose2()), poseCompare)));
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Pose2 delta = between(p0,p1);
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fg.add("p0", "p1", delta, covariance);
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fg.add("p1", "p2", delta, covariance);
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fg.add("p2", "p3", delta, covariance);
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fg.add("p3", "p4", delta, covariance);
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fg.add("p4", "p5", delta, covariance);
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fg.add("p5", "p0", delta, covariance);
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// Create initial config
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boost::shared_ptr<Pose2Config> initial(new Pose2Config());
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initial->insert("p0", p0);
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initial->insert("p1", expmap(hexagon["p1"],Vector_(3,-0.1, 0.1,-0.1)));
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initial->insert("p2", expmap(hexagon["p2"],Vector_(3, 0.1,-0.1, 0.1)));
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initial->insert("p3", expmap(hexagon["p3"],Vector_(3,-0.1, 0.1,-0.1)));
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initial->insert("p4", expmap(hexagon["p4"],Vector_(3, 0.1,-0.1, 0.1)));
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initial->insert("p5", expmap(hexagon["p5"],Vector_(3,-0.1, 0.1,-0.1)));
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// Choose an ordering and optimize
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Ordering ordering;
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ordering += "p0","p1","p2","p3","p4","p5";
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typedef NonlinearOptimizer<Pose2Graph, Pose2Config> Optimizer;
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Optimizer optimizer(fg, ordering, initial);
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// Optimizer::verbosityLevel verbosity = Optimizer::SILENT;
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Optimizer::verbosityLevel verbosity = Optimizer::ERROR;
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optimizer = optimizer.levenbergMarquardt(1e-15, 1e-15, verbosity);
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Pose2Config actual = *optimizer.config();
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// Check with ground truth
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CHECK(assert_equal(hexagon, actual));
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// Check loop closure
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CHECK(assert_equal(delta,between(actual["p5"],actual["p0"])));
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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@ -4,11 +4,17 @@
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**/
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#include <iostream>
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#include <boost/shared_ptr.hpp>
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#include <boost/assign/std/list.hpp>
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using namespace boost::assign;
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#include <CppUnitLite/TestHarness.h>
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#include "NonlinearOptimizer-inl.h"
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#include "NonlinearEquality.h"
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#include "Ordering.h"
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#include "Pose2Config.h"
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#include "Pose2Graph.h"
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#include "NonlinearFactorGraph-inl.h"
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#include "GaussianFactorGraph.h"
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using namespace std;
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using namespace gtsam;
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@ -28,7 +34,7 @@ TEST( Pose2Graph, constructor )
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Pose2 measured(2,2,M_PI_2);
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Pose2Factor constraint("x1","x2",measured, covariance);
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Pose2Graph graph;
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graph.push_back(Pose2Factor::shared_ptr(new Pose2Factor("x1","x2",measured, covariance)));
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graph.add("x1","x2",measured, covariance);
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// get the size of the graph
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size_t actual = graph.size();
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// verify
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@ -44,7 +50,7 @@ TEST( Pose2Graph, linerization )
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Pose2 measured(2,2,M_PI_2);
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Pose2Factor constraint("x1","x2",measured, covariance);
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Pose2Graph graph;
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graph.push_back(Pose2Factor::shared_ptr(new Pose2Factor("x1","x2",measured, covariance)));
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graph.add("x1","x2",measured, covariance);
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// Choose a linearization point
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Pose2 p1(1.1,2,M_PI_2); // robot at (1.1,2) looking towards y (ground truth is at 1,2, see testPose2)
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@ -75,6 +81,95 @@ TEST( Pose2Graph, linerization )
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CHECK(assert_equal(lfg_expected, lfg_linearized));
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}
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/* ************************************************************************* */
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bool poseCompare(const std::string& key,
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const gtsam::Pose2Config& feasible,
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const gtsam::Pose2Config& input) {
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return feasible.get(key).equals(input.get(key));
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}
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/* ************************************************************************* */
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TEST(Pose2Graph, optimize) {
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// create a Pose graph with one equality constraint and one measurement
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Pose2Graph fg;
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Pose2Config feasible;
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feasible.insert("p0", Pose2(0,0,0));
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fg.push_back(Pose2Graph::sharedFactor(
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new NonlinearEquality<Pose2Config>("p0", feasible, dim(Pose2()), poseCompare)));
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fg.add("p0", "p1", Pose2(1,2,M_PI_2), covariance);
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// Create initial config
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boost::shared_ptr<Pose2Config> initial(new Pose2Config());
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initial->insert("p0", Pose2(0,0,0));
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initial->insert("p1", Pose2(0,0,0));
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// Choose an ordering and optimize
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Ordering ordering;
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ordering += "p0","p1";
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typedef NonlinearOptimizer<Pose2Graph, Pose2Config> Optimizer;
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Optimizer optimizer(fg, ordering, initial);
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Optimizer::verbosityLevel verbosity = Optimizer::SILENT;
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//Optimizer::verbosityLevel verbosity = Optimizer::ERROR;
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optimizer = optimizer.levenbergMarquardt(1e-15, 1e-15, verbosity);
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// Check with expected config
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Pose2Config expected;
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expected.insert("p0", Pose2(0,0,0));
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expected.insert("p1", Pose2(1,2,M_PI_2));
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CHECK(assert_equal(expected, *optimizer.config()));
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}
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/* ************************************************************************* */
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// test optimization with 6 poses arranged in a hexagon and a loop closure
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TEST(Pose2Graph, optimizeCircle) {
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// Create a hexagon of poses
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Pose2Config hexagon = pose2Circle(6,1.0,'p');
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Pose2 p0 = hexagon["p0"], p1 = hexagon["p1"];
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// create a Pose graph with one equality constraint and one measurement
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Pose2Graph fg;
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Pose2Config feasible;
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feasible.insert("p0", p0);
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fg.push_back(Pose2Graph::sharedFactor(
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new NonlinearEquality<Pose2Config>("p0", feasible, dim(Pose2()), poseCompare)));
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Pose2 delta = between(p0,p1);
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fg.add("p0", "p1", delta, covariance);
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fg.add("p1", "p2", delta, covariance);
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fg.add("p2", "p3", delta, covariance);
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fg.add("p3", "p4", delta, covariance);
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fg.add("p4", "p5", delta, covariance);
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fg.add("p5", "p0", delta, covariance);
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// Create initial config
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boost::shared_ptr<Pose2Config> initial(new Pose2Config());
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initial->insert("p0", p0);
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initial->insert("p1", expmap(hexagon["p1"],Vector_(3,-0.1, 0.1,-0.1)));
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initial->insert("p2", expmap(hexagon["p2"],Vector_(3, 0.1,-0.1, 0.1)));
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initial->insert("p3", expmap(hexagon["p3"],Vector_(3,-0.1, 0.1,-0.1)));
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initial->insert("p4", expmap(hexagon["p4"],Vector_(3, 0.1,-0.1, 0.1)));
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initial->insert("p5", expmap(hexagon["p5"],Vector_(3,-0.1, 0.1,-0.1)));
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// Choose an ordering and optimize
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Ordering ordering;
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ordering += "p0","p1","p2","p3","p4","p5";
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typedef NonlinearOptimizer<Pose2Graph, Pose2Config> Optimizer;
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Optimizer optimizer(fg, ordering, initial);
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Optimizer::verbosityLevel verbosity = Optimizer::SILENT;
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// Optimizer::verbosityLevel verbosity = Optimizer::ERROR;
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optimizer = optimizer.levenbergMarquardt(1e-15, 1e-15, verbosity);
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Pose2Config actual = *optimizer.config();
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// Check with ground truth
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CHECK(assert_equal(hexagon, actual));
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// Check loop closure
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CHECK(assert_equal(delta,between(actual["p5"],actual["p0"])));
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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