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prototype to get Kyel started on Active Matching a la Chli

release/4.3a0
Frank Dellaert 2012-06-07 15:46:23 +00:00
parent df7ffe5923
commit 674d8d51b3
1 changed files with 32 additions and 22 deletions
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18
gtsam/slam/tests/testVisualSLAM.cpp
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@ -81,7 +81,7 @@ visualSLAM::Graph testGraph() {
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( Graph, optimizeLM) TEST( VisualSLAM, optimizeLM)
{ {
// build a graph // build a graph
visualSLAM::Graph graph(testGraph()); visualSLAM::Graph graph(testGraph());
@ -119,7 +119,7 @@ TEST( Graph, optimizeLM)
/* ************************************************************************* */ /* ************************************************************************* */
TEST( Graph, optimizeLM2) TEST( VisualSLAM, optimizeLM2)
{ {
// build a graph // build a graph
visualSLAM::Graph graph(testGraph()); visualSLAM::Graph graph(testGraph());
@ -156,7 +156,7 @@ TEST( Graph, optimizeLM2)
/* ************************************************************************* */ /* ************************************************************************* */
TEST( Graph, CHECK_ORDERING) TEST( VisualSLAM, CHECK_ORDERING)
{ {
// build a graph // build a graph
visualSLAM::Graph graph = testGraph(); visualSLAM::Graph graph = testGraph();
@ -188,7 +188,7 @@ TEST( Graph, CHECK_ORDERING)
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( Values, update_with_large_delta) { TEST( VisualSLAM, update_with_large_delta) {
// this test ensures that if the update for delta is larger than // this test ensures that if the update for delta is larger than
// the size of the config, it only updates existing variables // the size of the config, it only updates existing variables
Values init; Values init;
@ -212,6 +212,16 @@ TEST( Values, update_with_large_delta) {
CHECK(assert_equal(expected,actual)); CHECK(assert_equal(expected,actual));
} }
/* ************************************************************************* */
TEST( VisualSLAM, dataAssociation) {
visualSLAM::ISAM isam;
// add two landmarks
// add two cameras and constraint and odometry
// std::pair<visualSLAM::Values,GaussianBayesNet> actualJoint = isam.jointPrediction(); // 4*4
// std::pair<visualSLAM::Values,GaussianBayesNet> actualMarginals = isam.individualPredictions(); // 2 times 2*2
// std::pair<visualSLAM::Values,GaussianBayesNet> actualChowLiu = isam.chowLiuPredictions(); // 2 times 2*2
}
/* ************************************************************************* */ /* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); } int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */ /* ************************************************************************* */