diff --git a/gtsam/slam/tests/testSmartStereoProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartStereoProjectionPoseFactor.cpp index 5cdb4ff04..4e3cbf70d 100644 --- a/gtsam/slam/tests/testSmartStereoProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartStereoProjectionPoseFactor.cpp @@ -47,7 +47,7 @@ static double rankTol = 1.0; static double linThreshold = -1.0; static bool manageDegeneracy = true; // Create a noise model for the pixel error -static SharedNoiseModel model(noiseModel::Unit::Create(2)); +static SharedNoiseModel model(noiseModel::Unit::Create(3)); // Convenience for named keys using symbol_shorthand::X; @@ -87,19 +87,19 @@ TEST( SmartStereoProjectionPoseFactor, Constructor2) { SmartFactor factor1(rankTol, linThreshold); } -///* ************************************************************************* */ +/* ************************************************************************* */ TEST( SmartStereoProjectionPoseFactor, Constructor3) { SmartFactor::shared_ptr factor1(new SmartFactor()); factor1->add(measurement1, poseKey1, model, K); } -///* ************************************************************************* */ +/* ************************************************************************* */ TEST( SmartStereoProjectionPoseFactor, Constructor4) { SmartFactor factor1(rankTol, linThreshold); factor1.add(measurement1, poseKey1, model, K); } -///* ************************************************************************* */ +/* ************************************************************************* */ TEST( SmartStereoProjectionPoseFactor, ConstructorWithTransform) { bool manageDegeneracy = true; bool enableEPI = false; @@ -107,7 +107,7 @@ TEST( SmartStereoProjectionPoseFactor, ConstructorWithTransform) { factor1.add(measurement1, poseKey1, model, K); } -///* ************************************************************************* */ +/* ************************************************************************* */ TEST( SmartStereoProjectionPoseFactor, Equals ) { SmartFactor::shared_ptr factor1(new SmartFactor()); factor1->add(measurement1, poseKey1, model, K); @@ -142,8 +142,8 @@ TEST_UNSAFE( SmartStereoProjectionPoseFactor, noiseless ){ values.insert(x2, level_pose_right); SmartFactor factor1; - factor1.add(level_uv, x1, model, K); - factor1.add(level_uv_right, x2, model, K); + factor1.add(level_uv, x1, model, K2); + factor1.add(level_uv_right, x2, model, K2); double actualError = factor1.error(values); double expectedError = 0.0; @@ -1113,205 +1113,6 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotationDegenerate ){ EXPECT(assert_equal(hessianFactor->information(), hessianFactorRotTran->information(), 1e-8) ); } -/* ************************************************************************* */ -//TEST( SmartStereoProjectionPoseFactor, ConstructorWithCal3Bundler) { -// SmartStereoProjectionPoseFactor factor1(rankTol, linThreshold); -// boost::shared_ptr Kbundler(new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000)); -// factor1.add(measurement1, poseKey1, model, Kbundler); -//} - -/* *************************************************************************/ -//TEST( SmartStereoProjectionPoseFactor, Cal3Bundler ){ -// // cout << " ************************ SmartStereoProjectionPoseFactor: Cal3Bundler **********************" << endl; -// -// // 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)); -// StereoCamera cam1(pose1, *Kbundler); -// -// // create second camera 1 meter to the right of first camera -// Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0)); -// StereoCamera cam2(pose2, *Kbundler); -// -// // create third camera 1 meter above the first camera -// Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0)); -// StereoCamera cam3(pose3, *Kbundler); -// -// // 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 measurements_cam1, measurements_cam2, measurements_cam3; -// -// // 1. Project three landmarks into three cameras and triangulate -// StereoPoint2 cam1_uv1 = cam1.project(landmark1); -// StereoPoint2 cam2_uv1 = cam2.project(landmark1); -// StereoPoint2 cam3_uv1 = cam3.project(landmark1); -// measurements_cam1.push_back(cam1_uv1); -// measurements_cam1.push_back(cam2_uv1); -// measurements_cam1.push_back(cam3_uv1); -// -// StereoPoint2 cam1_uv2 = cam1.project(landmark2); -// StereoPoint2 cam2_uv2 = cam2.project(landmark2); -// StereoPoint2 cam3_uv2 = cam3.project(landmark2); -// measurements_cam2.push_back(cam1_uv2); -// measurements_cam2.push_back(cam2_uv2); -// measurements_cam2.push_back(cam3_uv2); -// -// StereoPoint2 cam1_uv3 = cam1.project(landmark3); -// StereoPoint2 cam2_uv3 = cam2.project(landmark3); -// StereoPoint2 cam3_uv3 = cam3.project(landmark3); -// measurements_cam3.push_back(cam1_uv3); -// measurements_cam3.push_back(cam2_uv3); -// measurements_cam3.push_back(cam3_uv3); -// -// std::vector views; -// views.push_back(x1); -// views.push_back(x2); -// views.push_back(x3); -// -// SmartFactorBundler::shared_ptr smartFactor1(new SmartFactorBundler()); -// smartFactor1->add(measurements_cam1, views, model, Kbundler); -// -// SmartFactorBundler::shared_ptr smartFactor2(new SmartFactorBundler()); -// smartFactor2->add(measurements_cam2, views, model, Kbundler); -// -// SmartFactorBundler::shared_ptr smartFactor3(new SmartFactorBundler()); -// smartFactor3->add(measurements_cam3, views, model, Kbundler); -// -// const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); -// -// NonlinearFactorGraph graph; -// graph.push_back(smartFactor1); -// graph.push_back(smartFactor2); -// graph.push_back(smartFactor3); -// graph.push_back(PriorFactor(x1, pose1, noisePrior)); -// graph.push_back(PriorFactor(x2, pose2, noisePrior)); -// -// // 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(x3).print("Smart: Pose3 before optimization: "); -// -// LevenbergMarquardtParams params; -// if(isDebugTest) params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; -// if(isDebugTest) params.verbosity = NonlinearOptimizerParams::ERROR; -// -// Values result; -// gttic_(SmartStereoProjectionPoseFactor); -// LevenbergMarquardtOptimizer optimizer(graph, values, params); -// result = optimizer.optimize(); -// gttoc_(SmartStereoProjectionPoseFactor); -// tictoc_finishedIteration_(); -// -// // result.print("results of 3 camera, 3 landmark optimization \n"); -// if(isDebugTest) result.at(x3).print("Smart: Pose3 after optimization: "); -// EXPECT(assert_equal(pose3,result.at(x3), 1e-6)); -// if(isDebugTest) tictoc_print_(); -// } - -/* *************************************************************************/ -//TEST( SmartStereoProjectionPoseFactor, Cal3BundlerRotationOnly ){ -// -// std::vector 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)); -// StereoCamera cam1(pose1, *Kbundler); -// -// // 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)); -// StereoCamera cam2(pose2, *Kbundler); -// -// // 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)); -// StereoCamera cam3(pose3, *Kbundler); -// -// // 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 measurements_cam1, measurements_cam2, measurements_cam3; -// -// // 1. Project three landmarks into three cameras and triangulate -// StereoPoint2 cam1_uv1 = cam1.project(landmark1); -// StereoPoint2 cam2_uv1 = cam2.project(landmark1); -// StereoPoint2 cam3_uv1 = cam3.project(landmark1); -// measurements_cam1.push_back(cam1_uv1); -// measurements_cam1.push_back(cam2_uv1); -// measurements_cam1.push_back(cam3_uv1); -// -// StereoPoint2 cam1_uv2 = cam1.project(landmark2); -// StereoPoint2 cam2_uv2 = cam2.project(landmark2); -// StereoPoint2 cam3_uv2 = cam3.project(landmark2); -// measurements_cam2.push_back(cam1_uv2); -// measurements_cam2.push_back(cam2_uv2); -// measurements_cam2.push_back(cam3_uv2); -// -// StereoPoint2 cam1_uv3 = cam1.project(landmark3); -// StereoPoint2 cam2_uv3 = cam2.project(landmark3); -// StereoPoint2 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; -// -// SmartFactorBundler::shared_ptr smartFactor1(new SmartFactorBundler(rankTol, linThreshold, manageDegeneracy)); -// smartFactor1->add(measurements_cam1, views, model, Kbundler); -// -// SmartFactorBundler::shared_ptr smartFactor2(new SmartFactorBundler(rankTol, linThreshold, manageDegeneracy)); -// smartFactor2->add(measurements_cam2, views, model, Kbundler); -// -// SmartFactorBundler::shared_ptr smartFactor3(new SmartFactorBundler(rankTol, linThreshold, manageDegeneracy)); -// smartFactor3->add(measurements_cam3, views, model, Kbundler); -// -// const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); -// const SharedDiagonal noisePriorTranslation = noiseModel::Isotropic::Sigma(3, 0.10); -// Point3 positionPrior = gtsam::Point3(0,0,1); -// -// NonlinearFactorGraph graph; -// graph.push_back(smartFactor1); -// graph.push_back(smartFactor2); -// graph.push_back(smartFactor3); -// graph.push_back(PriorFactor(x1, pose1, noisePrior)); -// graph.push_back(PoseTranslationPrior(x2, positionPrior, noisePriorTranslation)); -// graph.push_back(PoseTranslationPrior(x3, positionPrior, noisePriorTranslation)); -// -// // 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(x3).print("Smart: Pose3 before optimization: "); -// -// LevenbergMarquardtParams params; -// if(isDebugTest) params.verbosityLM = LevenbergMarquardtParams::TRYDELTA; -// if(isDebugTest) params.verbosity = NonlinearOptimizerParams::ERROR; -// -// Values result; -// gttic_(SmartStereoProjectionPoseFactor); -// LevenbergMarquardtOptimizer optimizer(graph, values, params); -// result = optimizer.optimize(); -// gttoc_(SmartStereoProjectionPoseFactor); -// tictoc_finishedIteration_(); -// -// // result.print("results of 3 camera, 3 landmark optimization \n"); -// if(isDebugTest) result.at(x3).print("Smart: Pose3 after optimization: "); -// std::cout << "TEST COMMENTED: rotation only version of smart factors has been deprecated " << std::endl; -// // EXPECT(assert_equal(pose3,result.at(x3))); -// if(isDebugTest) tictoc_print_(); -//} /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); }