New example
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5771664622
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83171b6096
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@ -280,63 +280,113 @@ TEST(HessianFactor, ConstructorNWay)
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}
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/* ************************************************************************* */
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TEST(HessianFactor, CombineAndEliminate)
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{
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Matrix A01 = (Matrix(3,3) <<
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1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0).finished();
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Vector3 b0(1,0,0);//(1.5, 1.5, 1.5);
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Vector3 s0=Vector3::Ones();//(1.6, 1.6, 1.6);
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namespace example {
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Matrix A01 = (Matrix(3,3) <<
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1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0).finished();
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Vector3 b0(1,0,0);//(1.5, 1.5, 1.5);
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Vector3 s0=Vector3::Ones();//(1.6, 1.6, 1.6);
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Matrix A10 = (Matrix(3,3) <<
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2.0, 0.0, 0.0,
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0.0, 2.0, 0.0,
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0.0, 0.0, 2.0).finished();
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Matrix A11 = (Matrix(3,3) <<
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-2.0, 0.0, 0.0,
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0.0, -2.0, 0.0,
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0.0, 0.0, -2.0).finished();
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Vector3 b1 = Vector3::Zero();//(2.5, 2.5, 2.5);
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Vector3 s1=Vector3::Ones();//(2.6, 2.6, 2.6);
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Matrix A10 = (Matrix(3,3) <<
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2.0, 0.0, 0.0,
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0.0, 2.0, 0.0,
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0.0, 0.0, 2.0).finished();
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Matrix A11 = (Matrix(3,3) <<
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-2.0, 0.0, 0.0,
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0.0, -2.0, 0.0,
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0.0, 0.0, -2.0).finished();
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Vector3 b1 = Vector3::Zero();//(2.5, 2.5, 2.5);
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Vector3 s1=Vector3::Ones();//(2.6, 2.6, 2.6);
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Matrix A21 = (Matrix(3,3) <<
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3.0, 0.0, 0.0,
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0.0, 3.0, 0.0,
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0.0, 0.0, 3.0).finished();
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Vector3 b2 = Vector3::Zero();//(3.5, 3.5, 3.5);
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Vector3 s2=Vector3::Ones();//(3.6, 3.6, 3.6);
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Matrix A21 = (Matrix(3,3) <<
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3.0, 0.0, 0.0,
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0.0, 3.0, 0.0,
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0.0, 0.0, 3.0).finished();
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Vector3 b2 = Vector3::Zero();//(3.5, 3.5, 3.5);
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Vector3 s2=Vector3::Ones();//(3.6, 3.6, 3.6);
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}
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/* ************************************************************************* */
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TEST(HessianFactor, CombineAndEliminate1) {
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using namespace example;
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GaussianFactorGraph gfg;
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gfg.add(1, A01, b0, noiseModel::Diagonal::Sigmas(s0, true));
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gfg.add(0, A10, 1, A11, b1, noiseModel::Diagonal::Sigmas(s1, true));
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gfg.add(1, A21, b2, noiseModel::Diagonal::Sigmas(s2, true));
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Matrix93 A0; A0 << A10, Z_3x3, Z_3x3;
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Matrix93 A1; A1 << A11, A01, A21;
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Vector9 b; b << b1, b0, b2;
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Vector9 sigmas; sigmas << s1, s0, s2;
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Matrix63 A1;
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A1 << A11, A21;
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Vector6 b, sigmas;
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b << b0, b2;
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sigmas << s0, s2;
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// create a full, uneliminated version of the factor
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JacobianFactor expectedFactor(0, A0, 1, A1, b, noiseModel::Diagonal::Sigmas(sigmas, true));
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JacobianFactor expectedFactor(1, A1, b,
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noiseModel::Diagonal::Sigmas(sigmas, true));
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// Make sure combining works
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EXPECT(assert_equal(HessianFactor(expectedFactor), HessianFactor(gfg), 1e-6));
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// perform elimination on jacobian
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Ordering ordering = list_of(1);
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GaussianConditional::shared_ptr expectedConditional;
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JacobianFactor::shared_ptr expectedRemainingFactor;
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boost::tie(expectedConditional, expectedRemainingFactor) = expectedFactor.eliminate(Ordering(list_of(0)));
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JacobianFactor::shared_ptr expectedRemaining;
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boost::tie(expectedConditional, expectedRemaining) = //
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expectedFactor.eliminate(ordering);
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// Eliminate
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GaussianConditional::shared_ptr actualConditional;
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HessianFactor::shared_ptr actualCholeskyFactor;
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boost::tie(actualConditional, actualCholeskyFactor) = EliminateCholesky(gfg, Ordering(list_of(0)));
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HessianFactor::shared_ptr actualHessian;
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boost::tie(actualConditional, actualHessian) = //
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EliminateCholesky(gfg, ordering);
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EXPECT(assert_equal(*expectedConditional, *actualConditional, 1e-6));
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VectorValues vv; vv.insert(1, Vector3(1,2,3));
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EXPECT_DOUBLES_EQUAL(expectedRemainingFactor->error(vv), actualCholeskyFactor->error(vv), 1e-9);
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EXPECT(assert_equal(HessianFactor(*expectedRemainingFactor), *actualCholeskyFactor, 1e-6));
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VectorValues vv;
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vv.insert(1, Vector3(1, 2, 3));
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DOUBLES_EQUAL(expectedRemaining->error(vv), actualHessian->error(vv), 1e-9);
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EXPECT(assert_equal(HessianFactor(*expectedRemaining), *actualHessian, 1e-6));
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}
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/* ************************************************************************* */
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TEST(HessianFactor, CombineAndEliminate2) {
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using namespace example;
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GaussianFactorGraph gfg;
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gfg.add(1, A01, b0, noiseModel::Diagonal::Sigmas(s0, true));
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gfg.add(0, A10, 1, A11, b1, noiseModel::Diagonal::Sigmas(s1, true));
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gfg.add(1, A21, b2, noiseModel::Diagonal::Sigmas(s2, true));
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Matrix93 A0, A1;
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A0 << A10, Z_3x3, Z_3x3;
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A1 << A11, A01, A21;
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Vector9 b, sigmas;
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b << b1, b0, b2;
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sigmas << s1, s0, s2;
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// create a full, uneliminated version of the factor
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JacobianFactor expectedFactor(0, A0, 1, A1, b,
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noiseModel::Diagonal::Sigmas(sigmas, true));
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// Make sure combining works
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EXPECT(assert_equal(HessianFactor(expectedFactor), HessianFactor(gfg), 1e-6));
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// perform elimination on jacobian
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Ordering ordering = list_of(0);
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GaussianConditional::shared_ptr expectedConditional;
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JacobianFactor::shared_ptr expectedRemaining;
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boost::tie(expectedConditional, expectedRemaining) = //
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expectedFactor.eliminate(ordering);
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// Eliminate
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GaussianConditional::shared_ptr actualConditional;
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HessianFactor::shared_ptr actualHessian;
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boost::tie(actualConditional, actualHessian) = //
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EliminateCholesky(gfg, ordering);
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EXPECT(assert_equal(*expectedConditional, *actualConditional, 1e-6));
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VectorValues vv;
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vv.insert(1, Vector3(1, 2, 3));
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DOUBLES_EQUAL(expectedRemaining->error(vv), actualHessian->error(vv), 1e-9);
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EXPECT(assert_equal(HessianFactor(*expectedRemaining), *actualHessian, 1e-6));
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}
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/* ************************************************************************* */
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