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Some more tests on retract/localCoordinates

release/4.3a0
dellaert 2015-05-24 15:33:15 -07:00
parent 2c235d98be
commit 387dfe5229
1 changed files with 20 additions and 3 deletions
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23
gtsam/geometry/tests/testEssentialMatrix.cpp
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@ -30,6 +30,14 @@ TEST (EssentialMatrix, equality) {
EXPECT(assert_equal(expected, actual)); EXPECT(assert_equal(expected, actual));
} }
//*************************************************************************
TEST (EssentialMatrix, FromPose3) {
EssentialMatrix expected(c1Rc2, Unit3(c1Tc2));
Pose3 pose(c1Rc2, c1Tc2);
EssentialMatrix actual = EssentialMatrix::FromPose3(pose);
EXPECT(assert_equal(expected, actual));
}
//******************************************************************************* //*******************************************************************************
TEST(EssentialMatrix, localCoordinates0) { TEST(EssentialMatrix, localCoordinates0) {
EssentialMatrix E; EssentialMatrix E;
@ -47,11 +55,11 @@ TEST (EssentialMatrix, localCoordinates) {
Vector actual = hx.localCoordinates(EssentialMatrix::FromPose3(pose)); Vector actual = hx.localCoordinates(EssentialMatrix::FromPose3(pose));
EXPECT(assert_equal(zero(5), actual, 1e-8)); EXPECT(assert_equal(zero(5), actual, 1e-8));
Vector d = zero(6); Vector6 d;
d(4) += 1e-5; d << 0.1, 0.2, 0.3, 0, 0, 0;
Vector actual2 = hx.localCoordinates( Vector actual2 = hx.localCoordinates(
EssentialMatrix::FromPose3(pose.retract(d))); EssentialMatrix::FromPose3(pose.retract(d)));
EXPECT(assert_equal(zero(5), actual2, 1e-8)); EXPECT(assert_equal(d.head(5), actual2, 1e-8));
} }
//************************************************************************* //*************************************************************************
@ -75,6 +83,15 @@ TEST (EssentialMatrix, retract2) {
EXPECT(assert_equal(expected, actual)); EXPECT(assert_equal(expected, actual));
} }
//*************************************************************************
TEST (EssentialMatrix, RoundTrip) {
Vector5 d;
d << 0.1, 0.2, 0.3, 0.4, 0.5;
EssentialMatrix e, hx = e.retract(d);
Vector actual = e.localCoordinates(hx);
EXPECT(assert_equal(d, actual, 1e-8));
}
//************************************************************************* //*************************************************************************
Point3 transform_to_(const EssentialMatrix& E, const Point3& point) { Point3 transform_to_(const EssentialMatrix& E, const Point3& point) {
return E.transform_to(point); return E.transform_to(point);