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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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54
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();
@ -188,28 +188,38 @@ 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;
init.insert(X(1), Pose3()); init.insert(X(1), Pose3());
init.insert(L(1), Point3(1.0, 2.0, 3.0)); init.insert(L(1), Point3(1.0, 2.0, 3.0));
Values expected; Values expected;
expected.insert(X(1), Pose3(Rot3(), Point3(0.1, 0.1, 0.1))); expected.insert(X(1), Pose3(Rot3(), Point3(0.1, 0.1, 0.1)));
expected.insert(L(1), Point3(1.1, 2.1, 3.1)); expected.insert(L(1), Point3(1.1, 2.1, 3.1));
Ordering largeOrdering; Ordering largeOrdering;
Values largeValues = init; Values largeValues = init;
largeValues.insert(X(2), Pose3()); largeValues.insert(X(2), Pose3());
largeOrdering += X(1),L(1),X(2); largeOrdering += X(1),L(1),X(2);
VectorValues delta(largeValues.dims(largeOrdering)); VectorValues delta(largeValues.dims(largeOrdering));
delta[largeOrdering[X(1)]] = Vector_(6, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1); delta[largeOrdering[X(1)]] = Vector_(6, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1);
delta[largeOrdering[L(1)]] = Vector_(3, 0.1, 0.1, 0.1); delta[largeOrdering[L(1)]] = Vector_(3, 0.1, 0.1, 0.1);
delta[largeOrdering[X(2)]] = Vector_(6, 0.0, 0.0, 0.0, 100.1, 4.1, 9.1); delta[largeOrdering[X(2)]] = Vector_(6, 0.0, 0.0, 0.0, 100.1, 4.1, 9.1);
Values actual = init.retract(delta, largeOrdering); Values actual = init.retract(delta, largeOrdering);
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
} }
/* ************************************************************************* */ /* ************************************************************************* */