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removing failing test and unused data

release/4.3a0
Akshay Krishnan 2021-06-17 01:36:57 +00:00
parent 373b109228
commit 545dfd0be7
2 changed files with 0 additions and 78 deletions
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21
examples/CreateSFMExampleData.cpp
View File

@ -119,33 +119,12 @@ void create18PointExample1() {
createExampleBALFile(filename, P, pose1, pose2);
}
/* ************************************************************************* */
void create11PointExample1() {
// Create two cameras poses
Rot3 aRb = Rot3::Yaw(M_PI_2);
Point3 aTb(10, 0, 0);
Pose3 pose1, pose2(aRb, aTb);
// Create test data, we need 11 points
vector<Point3> P;
P += Point3(0, 0, 100), Point3(-10, 0, 100), Point3(10, 0, 100), //
Point3(0, 50, 50), Point3(0, -50, 50), Point3(-20, 0, 80), //
Point3(20, -50, 80), Point3(0, 0, 100), Point3(0, 0, 100), //
Point3(-10, 50, 50), Point3(10, -50, 50);
// Assumes example is run in ${GTSAM_TOP}/build/examples
const string filename = "../../examples/Data/11pointExample1.txt";
Cal3Bundler K(500, 0, 0);
createExampleBALFile(filename, P, pose1, pose2, K);
}
/* ************************************************************************* */
int main(int argc, char* argv[]) {
create5PointExample1();
create5PointExample2();
create18PointExample1();
create11PointExample1();
return 0;
}

57
gtsam/slam/tests/testEssentialMatrixFactor.cpp
View File

@ -747,63 +747,6 @@ TEST (EssentialMatrixFactor3, extraTest) {
}
}
/*
TEST(EssentialMatrixFactor4, minimizationWithStrongCal3BundlerPrior2) {
// Additional test with camera moving in positive X direction
NonlinearFactorGraph graph;
for (size_t i = 0; i < 5; i++)
graph.emplace_shared<EssentialMatrixFactor4<Cal3Bundler>>(1, 2, pA(i),
pB(i), model1);
// Check error at ground truth
Values truth;
truth.insert(1, trueE);
truth.insert(2, trueK);
EXPECT_DOUBLES_EQUAL(0, graph.error(truth), 1e-8);
// Check error at initial estimate
Values initial;
EssentialMatrix initialE =
trueE.retract((Vector(5) << 0.1, -0.1, 0.1, 0.1, -0.1).finished());
Cal3Bundler initialK = trueK.retract((Vector(3) << 0.1, 0.1, 0.1).finished());
initial.insert(1, initialE);
initial.insert(2, initialK);
#if defined(GTSAM_ROT3_EXPMAP) || defined(GTSAM_USE_QUATERNIONS)
EXPECT_DOUBLES_EQUAL(643.62, graph.error(initial), 1e-2);
#else
EXPECT_DOUBLES_EQUAL(639.84, graph.error(initial), 1e-2); // TODO: fix this
#endif
// add prior factor on calibration
Vector3 priorNoiseModelSigma;
priorNoiseModelSigma << 1, 1, 1;
graph.emplace_shared<PriorFactor<Cal3Bundler>>(2, trueK, noiseModel::Diagonal::Sigmas(priorNoiseModelSigma));
// Optimize
LevenbergMarquardtOptimizer optimizer(graph, initial);
Values result = optimizer.optimize();
// Check result
EssentialMatrix actualE = result.at<EssentialMatrix>(1);
Cal3Bundler actualK = result.at<Cal3Bundler>(2);
EXPECT(assert_equal(trueE, actualE, 1e-1)); // TODO: tighten tolerance
EXPECT(assert_equal(trueK, actualK, 1e-1)); // TODO: tighten tolerance
// Check error at result
EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-4);
// Check errors individually
for (size_t i = 0; i < 5; i++)
EXPECT_DOUBLES_EQUAL(
0,
actualE.error(EssentialMatrix::Homogeneous(actualK.calibrate(pA(i))),
EssentialMatrix::Homogeneous(actualK.calibrate(pB(i)))),
1e-6);
}
*/
} // namespace example2
/* ************************************************************************* */