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Fixed two more tests: down to two !

release/4.3a0
dellaert 2015-03-12 10:00:29 -07:00
parent 956b53dc3b
commit 3675754816
1 changed files with 4 additions and 17 deletions
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21
gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
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@ -90,7 +90,6 @@ TEST( SmartProjectionPoseFactor, Equals ) {
/* *************************************************************************/ /* *************************************************************************/
TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) { TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) {
// cout << " ************************ SmartProjectionPoseFactor: noisy ****************************" << endl;
using namespace vanillaPose; using namespace vanillaPose;
@ -149,7 +148,6 @@ TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) {
/* *************************************************************************/ /* *************************************************************************/
TEST( SmartProjectionPoseFactor, noisy ) { TEST( SmartProjectionPoseFactor, noisy ) {
// cout << " ************************ SmartProjectionPoseFactor: noisy ****************************" << endl;
using namespace vanillaPose; using namespace vanillaPose;
@ -190,7 +188,6 @@ TEST( SmartProjectionPoseFactor, noisy ) {
/* *************************************************************************/ /* *************************************************************************/
TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) {
// cout << " ************************ SmartProjectionPoseFactor: 3 cams + 3 landmarks **********************" << endl;
using namespace vanillaPose2; using namespace vanillaPose2;
vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3; vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
@ -423,7 +420,6 @@ TEST( SmartProjectionPoseFactor, Factors ) {
/* *************************************************************************/ /* *************************************************************************/
TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) {
// cout << " ************************ SmartProjectionPoseFactor: 3 cams + 3 landmarks **********************" << endl;
using namespace vanillaPose; using namespace vanillaPose;
@ -719,7 +715,6 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) {
/* *************************************************************************/ /* *************************************************************************/
TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) { TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) {
// cout << " ************************ Normal ProjectionFactor: 3 cams + 3 landmarks **********************" << endl;
using namespace vanillaPose2; using namespace vanillaPose2;
@ -769,10 +764,8 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) {
DOUBLES_EQUAL(48406055, graph.error(values), 1); DOUBLES_EQUAL(48406055, graph.error(values), 1);
cout << "SUCCEEDS : ==============================================" << endl;
LevenbergMarquardtOptimizer optimizer(graph, values, params); LevenbergMarquardtOptimizer optimizer(graph, values, params);
Values result = optimizer.optimize(); Values result = optimizer.optimize();
cout << "=========================================================" << endl;
DOUBLES_EQUAL(0, graph.error(result), 1e-9); DOUBLES_EQUAL(0, graph.error(result), 1e-9);
@ -866,8 +859,6 @@ TEST( SmartProjectionPoseFactor, CheckHessian) {
/* *************************************************************************/ /* *************************************************************************/
TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_factor ) { TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_factor ) {
// cout << " ************************ SmartProjectionPoseFactor: 3 cams + 2 landmarks: Rotation Only**********************" << endl;
using namespace vanillaPose2; using namespace vanillaPose2;
vector<Key> views; vector<Key> views;
@ -890,12 +881,12 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac
double rankTol = 50; double rankTol = 50;
SmartFactor::shared_ptr smartFactor1( SmartFactor::shared_ptr smartFactor1(
new SmartFactor(SmartFactor::HESSIAN, rankTol, new SmartFactor(SmartFactor::HESSIAN, rankTol,
SmartFactor::ZERO_ON_DEGENERACY)); SmartFactor::HANDLE_INFINITY));
smartFactor1->add(measurements_cam1, views, model); smartFactor1->add(measurements_cam1, views, model);
SmartFactor::shared_ptr smartFactor2( SmartFactor::shared_ptr smartFactor2(
new SmartFactor(SmartFactor::HESSIAN, rankTol, new SmartFactor(SmartFactor::HESSIAN, rankTol,
SmartFactor::ZERO_ON_DEGENERACY)); SmartFactor::HANDLE_INFINITY));
smartFactor2->add(measurements_cam2, views, model); smartFactor2->add(measurements_cam2, views, model);
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
@ -945,7 +936,6 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac
/* *************************************************************************/ /* *************************************************************************/
TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) { TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) {
// cout << " ************************ SmartProjectionPoseFactor: 3 cams + 3 landmarks: Rotation Only**********************" << endl;
using namespace vanillaPose; using namespace vanillaPose;
@ -1033,7 +1023,6 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor )
/* *************************************************************************/ /* *************************************************************************/
TEST( SmartProjectionPoseFactor, Hessian ) { TEST( SmartProjectionPoseFactor, Hessian ) {
// cout << " ************************ SmartProjectionPoseFactor: Hessian **********************" << endl;
using namespace vanillaPose2; using namespace vanillaPose2;
@ -1122,7 +1111,6 @@ TEST( SmartProjectionPoseFactor, HessianWithRotation ) {
/* *************************************************************************/ /* *************************************************************************/
TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) {
// cout << " ************************ SmartProjectionPoseFactor: rotated Hessian (degenerate) **********************" << endl;
using namespace vanillaPose2; using namespace vanillaPose2;
@ -1159,7 +1147,7 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) {
smartFactor->linearize(rotValues); smartFactor->linearize(rotValues);
// Hessian is invariant to rotations in the nondegenerate case // Hessian is invariant to rotations in the nondegenerate case
EXPECT(assert_equal(factor->information(), factorRot->information(), 1e-8)); EXPECT(assert_equal(factor->information(), factorRot->information(), 1e-7));
Pose3 poseDrift2 = Pose3(Rot3::ypr(-M_PI / 2, -M_PI / 3, -M_PI / 2), Pose3 poseDrift2 = Pose3(Rot3::ypr(-M_PI / 2, -M_PI / 3, -M_PI / 2),
Point3(10, -4, 5)); Point3(10, -4, 5));
@ -1174,7 +1162,7 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) {
// Hessian is invariant to rotations and translations in the nondegenerate case // Hessian is invariant to rotations and translations in the nondegenerate case
EXPECT( EXPECT(
assert_equal(factor->information(), factorRotTran->information(), 1e-8)); assert_equal(factor->information(), factorRotTran->information(), 1e-7));
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -1186,7 +1174,6 @@ TEST( SmartProjectionPoseFactor, ConstructorWithCal3Bundler) {
/* *************************************************************************/ /* *************************************************************************/
TEST( SmartProjectionPoseFactor, Cal3Bundler ) { TEST( SmartProjectionPoseFactor, Cal3Bundler ) {
// cout << " ************************ SmartProjectionPoseFactor: Cal3Bundler **********************" << endl;
using namespace bundlerPose; using namespace bundlerPose;