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added test on Hessian

release/4.3a0
Luca Carlone 2013-10-15 14:57:48 +00:00
parent b77f7f77a4
commit 4f2d233e67
1 changed files with 100 additions and 3 deletions
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103
gtsam_unstable/slam/tests/testSmartProjectionHessianFactor.cpp
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@ -75,7 +75,7 @@ static Key poseKey1(x1);
static Point2 measurement1(323.0, 240.0);
static Pose3 body_P_sensor1(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0));
typedef SmartProjectionHessianFactor<Pose3, Point3,Cal3_S2> SmartFactor;
typedef SmartProjectionHessianFactor<Pose3,Point3,Cal3_S2> SmartFactor;
/* ************************************************************************* */
TEST( SmartProjectionHessianFactor, Constructor) {
@ -464,6 +464,103 @@ TEST( SmartProjectionHessianFactor, 3poses_projection_factor ){
EXPECT(assert_equal(pose3,result.at<Pose3>(x3)));
}
/* *************************************************************************/
TEST( SmartProjectionHessianFactor, CheckHessian){
std::vector<Key> views;
views.push_back(x1);
views.push_back(x2);
views.push_back(x3);
// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1));
SimpleCamera cam1(pose1, *K);
// create second camera 1 meter to the right of first camera
Pose3 pose2 = pose1 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0,0,0));
SimpleCamera cam2(pose2, *K);
// create third camera 1 meter above the first camera
Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0,0,0));
SimpleCamera cam3(pose3, *K);
// three landmarks ~5 meters infront of camera
Point3 landmark1(5, 0.5, 1.2);
Point3 landmark2(5, -0.5, 1.2);
Point3 landmark3(3, 0, 3.0);
vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
// 1. Project three landmarks into three cameras and triangulate
Point2 cam1_uv1 = cam1.project(landmark1);
Point2 cam2_uv1 = cam2.project(landmark1);
Point2 cam3_uv1 = cam3.project(landmark1);
measurements_cam1.push_back(cam1_uv1);
measurements_cam1.push_back(cam2_uv1);
measurements_cam1.push_back(cam3_uv1);
Point2 cam1_uv2 = cam1.project(landmark2);
Point2 cam2_uv2 = cam2.project(landmark2);
Point2 cam3_uv2 = cam3.project(landmark2);
measurements_cam2.push_back(cam1_uv2);
measurements_cam2.push_back(cam2_uv2);
measurements_cam2.push_back(cam3_uv2);
Point2 cam1_uv3 = cam1.project(landmark3);
Point2 cam2_uv3 = cam2.project(landmark3);
Point2 cam3_uv3 = cam3.project(landmark3);
measurements_cam3.push_back(cam1_uv3);
measurements_cam3.push_back(cam2_uv3);
measurements_cam3.push_back(cam3_uv3);
double rankTol = 10;
SmartFactor::shared_ptr smartFactor1(new SmartFactor(rankTol));
smartFactor1->add(measurements_cam1, views, model, K);
SmartFactor::shared_ptr smartFactor2(new SmartFactor(rankTol));
smartFactor2->add(measurements_cam2, views, model, K);
SmartFactor::shared_ptr smartFactor3(new SmartFactor(rankTol));
smartFactor3->add(measurements_cam3, views, model, K);
NonlinearFactorGraph graph;
graph.push_back(smartFactor1);
graph.push_back(smartFactor2);
graph.push_back(smartFactor3);
// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), gtsam::Point3(0.5,0.1,0.3)); // noise from regular projection factor test below
Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/100, 0., -M_PI/100), gtsam::Point3(0.1,0.1,0.1)); // smaller noise
Values values;
values.insert(x1, pose1);
values.insert(x2, pose2);
// initialize third pose with some noise, we expect it to move back to original pose3
values.insert(x3, pose3*noise_pose);
if(isDebugTest) values.at<Pose3>(x3).print("Smart: Pose3 before optimization: ");
boost::shared_ptr<GaussianFactor> hessianFactor1 = smartFactor1->linearize(values);
boost::shared_ptr<GaussianFactor> hessianFactor2 = smartFactor2->linearize(values);
boost::shared_ptr<GaussianFactor> hessianFactor3 = smartFactor3->linearize(values);
Matrix CumulativeInformation = hessianFactor1->information() + hessianFactor2->information() + hessianFactor3->information();
boost::shared_ptr<GaussianFactorGraph> GaussianGraph = graph.linearize(values);
Matrix GraphInformation = GaussianGraph->hessian().first;
// Check Hessian
EXPECT(assert_equal(GraphInformation, CumulativeInformation, 1e-8));
Matrix AugInformationMatrix = hessianFactor1->augmentedInformation() +
hessianFactor2->augmentedInformation() + hessianFactor3->augmentedInformation();
// Check Information vector
cout << AugInformationMatrix.size() << endl;
Vector InfoVector = AugInformationMatrix.block(0,18,18,1); // 18x18 Hessian + information vector
// Check Hessian
EXPECT(assert_equal(InfoVector, GaussianGraph->hessian().second, 1e-8));
}
/* *************************************************************************/
TEST( SmartProjectionHessianFactor, 3poses_2land_rotation_only_smart_projection_factor ){
// cout << " ************************ SmartProjectionHessianFactor: 3 cams + 2 landmarks: Rotation Only**********************" << endl;
@ -840,8 +937,8 @@ TEST( SmartProjectionHessianFactor, HessianWithRotationDegenerate ){
/* ************************************************************************* */
//TEST( SmartProjectionHessianFactor, ConstructorWithCal3Bundler) {
// SmartProjectionHessianFactor<Pose3,Point3,Cal3Bundler> factor1(rankTol, linThreshold);
// Cal3Bundler Kbundler(500, 1e-3, 1e-3, 1000, 2000);
// factor1.add(measurement1, poseKey1, model, boost::shared_ptr<Cal3Bundler> &Kbundler);
// boost::shared_ptr<Cal3Bundler> Kbundler(new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000));
// factor1.add(measurement1, poseKey1, model, Kbundler);
//}
/* *************************************************************************/