From 67f3b51ab2266a3a94c5d97947ef71793b6b23d3 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 4 Jan 2019 15:50:12 -0500 Subject: [PATCH] Clean up --- .../slam/tests/testSmartProjectionFactor.cpp | 70 +++++++-------- .../tests/testSmartProjectionPoseFactor.cpp | 86 ++++--------------- 2 files changed, 49 insertions(+), 107 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionFactor.cpp b/gtsam/slam/tests/testSmartProjectionFactor.cpp index aaffbf0e6..16eca6584 100644 --- a/gtsam/slam/tests/testSmartProjectionFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionFactor.cpp @@ -10,8 +10,8 @@ * -------------------------------------------------------------------------- */ /** - * @file testSmartProjectionCameraFactor.cpp - * @brief Unit tests for SmartProjectionCameraFactor Class + * @file testSmartProjectionFactor.cpp + * @brief Unit tests for SmartProjectionFactor Class * @author Chris Beall * @author Luca Carlone * @author Zsolt Kira @@ -29,19 +29,11 @@ using namespace boost::assign; -static bool isDebugTest = false; - -// Convenience for named keys -using symbol_shorthand::X; -using symbol_shorthand::L; - -static Key x1(1); -Symbol l1('l', 1), l2('l', 2), l3('l', 3); -Key c1 = 1, c2 = 2, c3 = 3; - -static Point2 measurement1(323.0, 240.0); - -static double rankTol = 1.0; +static const bool isDebugTest = false; +static const Symbol l1('l', 1), l2('l', 2), l3('l', 3); +static const Key c1 = 1, c2 = 2, c3 = 3; +static const Point2 measurement1(323.0, 240.0); +static const double rankTol = 1.0; template PinholeCamera perturbCameraPoseAndCalibration( @@ -59,7 +51,7 @@ PinholeCamera perturbCameraPoseAndCalibration( } /* ************************************************************************* */ -TEST( SmartProjectionCameraFactor, perturbCameraPose) { +TEST(SmartProjectionFactor, perturbCameraPose) { using namespace vanilla; Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3)); @@ -71,45 +63,45 @@ TEST( SmartProjectionCameraFactor, perturbCameraPose) { } /* ************************************************************************* */ -TEST( SmartProjectionCameraFactor, Constructor) { +TEST(SmartProjectionFactor, Constructor) { using namespace vanilla; SmartFactor::shared_ptr factor1(new SmartFactor(unit2)); } /* ************************************************************************* */ -TEST( SmartProjectionCameraFactor, Constructor2) { +TEST(SmartProjectionFactor, Constructor2) { using namespace vanilla; params.setRankTolerance(rankTol); SmartFactor factor1(unit2, boost::none, params); } /* ************************************************************************* */ -TEST( SmartProjectionCameraFactor, Constructor3) { +TEST(SmartProjectionFactor, Constructor3) { using namespace vanilla; SmartFactor::shared_ptr factor1(new SmartFactor(unit2)); - factor1->add(measurement1, x1); + factor1->add(measurement1, c1); } /* ************************************************************************* */ -TEST( SmartProjectionCameraFactor, Constructor4) { +TEST(SmartProjectionFactor, Constructor4) { using namespace vanilla; params.setRankTolerance(rankTol); SmartFactor factor1(unit2, boost::none, params); - factor1.add(measurement1, x1); + factor1.add(measurement1, c1); } /* ************************************************************************* */ -TEST( SmartProjectionCameraFactor, Equals ) { +TEST(SmartProjectionFactor, Equals ) { using namespace vanilla; SmartFactor::shared_ptr factor1(new SmartFactor(unit2)); - factor1->add(measurement1, x1); + factor1->add(measurement1, c1); SmartFactor::shared_ptr factor2(new SmartFactor(unit2)); - factor2->add(measurement1, x1); + factor2->add(measurement1, c1); } /* *************************************************************************/ -TEST( SmartProjectionCameraFactor, noiseless ) { +TEST(SmartProjectionFactor, noiseless ) { using namespace vanilla; Values values; @@ -128,7 +120,7 @@ TEST( SmartProjectionCameraFactor, noiseless ) { } /* *************************************************************************/ -TEST( SmartProjectionCameraFactor, noisy ) { +TEST(SmartProjectionFactor, noisy ) { using namespace vanilla; @@ -179,7 +171,7 @@ TEST( SmartProjectionCameraFactor, noisy ) { } /* *************************************************************************/ -TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ) { +TEST(SmartProjectionFactor, perturbPoseAndOptimize ) { using namespace vanilla; @@ -278,7 +270,7 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ) { } /* *************************************************************************/ -TEST( SmartProjectionCameraFactor, perturbPoseAndOptimizeFromSfM_tracks ) { +TEST(SmartProjectionFactor, perturbPoseAndOptimizeFromSfM_tracks ) { using namespace vanilla; @@ -348,7 +340,7 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimizeFromSfM_tracks ) { } /* *************************************************************************/ -TEST( SmartProjectionCameraFactor, perturbCamerasAndOptimize ) { +TEST(SmartProjectionFactor, perturbCamerasAndOptimize ) { using namespace vanilla; @@ -425,7 +417,7 @@ TEST( SmartProjectionCameraFactor, perturbCamerasAndOptimize ) { } /* *************************************************************************/ -TEST( SmartProjectionCameraFactor, Cal3Bundler ) { +TEST(SmartProjectionFactor, Cal3Bundler ) { using namespace bundler; @@ -498,7 +490,7 @@ TEST( SmartProjectionCameraFactor, Cal3Bundler ) { } /* *************************************************************************/ -TEST( SmartProjectionCameraFactor, Cal3Bundler2 ) { +TEST(SmartProjectionFactor, Cal3Bundler2 ) { using namespace bundler; @@ -571,7 +563,7 @@ TEST( SmartProjectionCameraFactor, Cal3Bundler2 ) { } /* *************************************************************************/ -TEST( SmartProjectionCameraFactor, noiselessBundler ) { +TEST(SmartProjectionFactor, noiselessBundler ) { using namespace bundler; Values values; @@ -599,7 +591,7 @@ TEST( SmartProjectionCameraFactor, noiselessBundler ) { } /* *************************************************************************/ -TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor ) { +TEST(SmartProjectionFactor, comparisonGeneralSfMFactor ) { using namespace bundler; Values values; @@ -638,7 +630,7 @@ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor ) { } /* *************************************************************************/ -TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor1 ) { +TEST(SmartProjectionFactor, comparisonGeneralSfMFactor1 ) { using namespace bundler; Values values; @@ -682,7 +674,7 @@ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor1 ) { /* *************************************************************************/ // Have to think about how to compare multiplyHessianAdd in generalSfMFactor and smartFactors -//TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor2 ){ +//TEST(SmartProjectionFactor, comparisonGeneralSfMFactor2 ){ // // Values values; // values.insert(c1, level_camera); @@ -730,7 +722,7 @@ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor1 ) { // EXPECT(assert_equal(yActual,yExpected, 1e-7)); //} /* *************************************************************************/ -TEST( SmartProjectionCameraFactor, computeImplicitJacobian ) { +TEST(SmartProjectionFactor, computeImplicitJacobian ) { using namespace bundler; Values values; @@ -768,7 +760,7 @@ TEST( SmartProjectionCameraFactor, computeImplicitJacobian ) { } /* *************************************************************************/ -TEST( SmartProjectionCameraFactor, implicitJacobianFactor ) { +TEST(SmartProjectionFactor, implicitJacobianFactor ) { using namespace bundler; @@ -829,7 +821,7 @@ BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropi BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal"); -TEST( SmartProjectionCameraFactor, serialize) { +TEST(SmartProjectionFactor, serialize) { using namespace vanilla; using namespace gtsam::serializationTestHelpers; SmartFactor factor(unit2); diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 8b435b565..0197ba1b0 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -189,9 +189,7 @@ TEST( SmartProjectionPoseFactor, noisy ) { measurements.push_back(level_uv); measurements.push_back(level_uv_right); - KeyVector views; - views.push_back(x1); - views.push_back(x2); + KeyVector views {x1, x2}; factor2->add(measurements, views); double actualError2 = factor2->error(values); @@ -212,9 +210,7 @@ TEST(SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform) { Pose3 wTb3 = cam3.pose() * sensor_T_body; // three landmarks ~5 meters infront of camera - Point3 landmark1(5, 0.5, 1.2); - Point3 landmark2(5, -0.5, 1.2); - Point3 landmark3(5, 0, 3.0); + Point3 landmark1(5, 0.5, 1.2), landmark2(5, -0.5, 1.2), landmark3(5, 0, 3.0); Point2Vector measurements_cam1, measurements_cam2, measurements_cam3; @@ -224,10 +220,7 @@ TEST(SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform) { projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); // Create smart factors - KeyVector views; - views.push_back(x1); - views.push_back(x2); - views.push_back(x3); + KeyVector views {x1, x2, x3}; SmartProjectionParams params; params.setRankTolerance(1.0); @@ -360,9 +353,7 @@ TEST( SmartProjectionPoseFactor, Factors ) { measurements_cam1.push_back(cam2.project(landmark1)); // Create smart factors - KeyVector views; - views.push_back(x1); - views.push_back(x2); + KeyVector views {x1, x2}; SmartFactor::shared_ptr smartFactor1 = boost::make_shared(model, sharedK); smartFactor1->add(measurements_cam1, views); @@ -510,10 +501,7 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { using namespace vanillaPose; - KeyVector views; - views.push_back(x1); - views.push_back(x2); - views.push_back(x3); + KeyVector views {x1, x2, x3}; Point2Vector measurements_cam1, measurements_cam2, measurements_cam3; @@ -567,10 +555,7 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { using namespace vanillaPose; - KeyVector views; - views.push_back(x1); - views.push_back(x2); - views.push_back(x3); + KeyVector views {x1, x2, x3}; Point2Vector measurements_cam1, measurements_cam2, measurements_cam3; @@ -628,10 +613,7 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) { double excludeLandmarksFutherThanDist = 2; - KeyVector views; - views.push_back(x1); - views.push_back(x2); - views.push_back(x3); + KeyVector views {x1, x2, x3}; Point2Vector measurements_cam1, measurements_cam2, measurements_cam3; @@ -691,10 +673,7 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { double excludeLandmarksFutherThanDist = 1e10; double dynamicOutlierRejectionThreshold = 1; // max 1 pixel of average reprojection error - KeyVector views; - views.push_back(x1); - views.push_back(x2); - views.push_back(x3); + KeyVector views {x1, x2, x3}; // add fourth landmark Point3 landmark4(5, -0.5, 1); @@ -757,10 +736,7 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { using namespace vanillaPose; - KeyVector views; - views.push_back(x1); - views.push_back(x2); - views.push_back(x3); + KeyVector views {x1, x2, x3}; Point2Vector measurements_cam1, measurements_cam2, measurements_cam3; @@ -811,10 +787,7 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) { using namespace vanillaPose2; - KeyVector views; - views.push_back(x1); - views.push_back(x2); - views.push_back(x3); + KeyVector views {x1, x2, x3}; typedef GenericProjectionFactor ProjectionFactor; NonlinearFactorGraph graph; @@ -859,10 +832,7 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) { /* *************************************************************************/ TEST( SmartProjectionPoseFactor, CheckHessian) { - KeyVector views; - views.push_back(x1); - views.push_back(x2); - views.push_back(x3); + KeyVector views {x1, x2, x3}; using namespace vanillaPose; @@ -945,10 +915,7 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_factor ) { using namespace vanillaPose2; - KeyVector views; - views.push_back(x1); - views.push_back(x2); - views.push_back(x3); + KeyVector views {x1, x2, x3}; // Two different cameras, at the same position, but different rotations Pose3 pose2 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0,0,0)); @@ -1004,10 +971,7 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) // this test considers a condition in which the cheirality constraint is triggered using namespace vanillaPose; - KeyVector views; - views.push_back(x1); - views.push_back(x2); - views.push_back(x3); + KeyVector views {x1, x2, x3}; // Two different cameras, at the same position, but different rotations Pose3 pose2 = level_pose @@ -1089,9 +1053,7 @@ TEST( SmartProjectionPoseFactor, Hessian ) { using namespace vanillaPose2; - KeyVector views; - views.push_back(x1); - views.push_back(x2); + KeyVector views {x1, x2}; // Project three landmarks into 2 cameras Point2 cam1_uv1 = cam1.project(landmark1); @@ -1123,10 +1085,7 @@ TEST( SmartProjectionPoseFactor, HessianWithRotation ) { using namespace vanillaPose; - KeyVector views; - views.push_back(x1); - views.push_back(x2); - views.push_back(x3); + KeyVector views {x1, x2, x3}; Point2Vector measurements_cam1, measurements_cam2, measurements_cam3; @@ -1176,10 +1135,7 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { using namespace vanillaPose2; - KeyVector views; - views.push_back(x1); - views.push_back(x2); - views.push_back(x3); + KeyVector views {x1, x2, x3}; // All cameras have the same pose so will be degenerate ! Camera cam2(level_pose, sharedK2); @@ -1250,10 +1206,7 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); - KeyVector views; - views.push_back(x1); - views.push_back(x2); - views.push_back(x3); + KeyVector views {x1, x2, x3}; SmartFactor::shared_ptr smartFactor1(new SmartFactor(model, sharedBundlerK)); smartFactor1->add(measurements_cam1, views); @@ -1299,10 +1252,7 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { using namespace bundlerPose; - KeyVector views; - views.push_back(x1); - views.push_back(x2); - views.push_back(x3); + KeyVector views {x1, x2, x3}; // Two different cameras Pose3 pose2 = level_pose