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Check JacobianFactorQ

release/4.3a0
dellaert 2015-02-22 06:33:05 +01:00
parent c1a4409e89
commit 8b914189cb
1 changed files with 19 additions and 8 deletions
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27
gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
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@ -485,8 +485,17 @@ TEST( SmartProjectionPoseFactor, Factors ){
CHECK(p); CHECK(p);
EXPECT(assert_equal(landmark1,*p)); EXPECT(assert_equal(landmark1,*p));
Matrix26 F1; F1.setZero(); F1(0,1)=-100; F1(0,3)=-10; F1(1,0)=100; F1(1,4)=-10;
Matrix26 F2; F2.setZero(); F2(0,1)=-101; F2(0,3)=-10; F2(0,5)=-1; F2(1,0)=100; F2(1,2)=10; F2(1,4)=-10;
Matrix43 E; E.setZero(); E(0,0)=100; E(1,1)=100; E(2,0)=100; E(2,2)=10;E(3,1)=100;
const vector<pair<Key, Matrix26> > Fblocks = list_of<pair<Key, Matrix> > //
(make_pair(x1, 10*F1))(make_pair(x2, 10*F2));
Matrix3 P = (E.transpose() * E).inverse();
Vector4 b; b.setZero();
{ {
// RegularHessianFactor<6> // RegularHessianFactor<6>
// TODO, calculate G from F
Matrix66 G11; G11.setZero(); G11(0,0) = 100; G11(0,4) = -10; G11(4,0) = -10; G11(4,4) = 1; Matrix66 G11; G11.setZero(); G11(0,0) = 100; G11(0,4) = -10; G11(4,0) = -10; G11(4,4) = 1;
Matrix66 G12; G12 = -G11; G12(0,2) = -10; G12(4,2) = 1; Matrix66 G12; G12 = -G11; G12(0,2) = -10; G12(4,2) = 1;
Matrix66 G22; G22 = G11; G22(0,2) = 10; G22(2,0) = 10; G22(2,2) = 1; G22(2,4) = -1; G22(4,2) = -1; Matrix66 G22; G22 = G11; G22(0,2) = 10; G22(2,0) = 10; G22(2,2) = 1; G22(2,4) = -1; G22(4,2) = -1;
@ -506,14 +515,6 @@ TEST( SmartProjectionPoseFactor, Factors ){
{ {
// RegularImplicitSchurFactor<6> // RegularImplicitSchurFactor<6>
Matrix26 F1; F1.setZero(); F1(0,1)=-100; F1(0,3)=-10; F1(1,0)=100; F1(1,4)=-10;
Matrix26 F2; F2.setZero(); F2(0,1)=-101; F2(0,3)=-10; F2(0,5)=-1; F2(1,0)=100; F2(1,2)=10; F2(1,4)=-10;
Matrix43 E; E.setZero(); E(0,0)=100; E(1,1)=100; E(2,0)=100; E(2,2)=10;E(3,1)=100;
const vector<pair<Key, Matrix26> > Fblocks = list_of<pair<Key, Matrix> > //
(make_pair(x1, 10*F1))(make_pair(x2, 10*F2));
Matrix3 P = (E.transpose() * E).inverse();
Vector4 b; b.setZero();
RegularImplicitSchurFactor<6> expected(Fblocks, E, P, b); RegularImplicitSchurFactor<6> expected(Fblocks, E, P, b);
boost::shared_ptr<RegularImplicitSchurFactor<6> > actual = boost::shared_ptr<RegularImplicitSchurFactor<6> > actual =
@ -522,6 +523,16 @@ TEST( SmartProjectionPoseFactor, Factors ){
CHECK(assert_equal(expected,*actual)); CHECK(assert_equal(expected,*actual));
} }
{
// createJacobianQFactor<6,2>
JacobianFactorQ<6, 2> expected(Fblocks, E, P, b);
boost::shared_ptr<JacobianFactorQ<6, 2> > actual =
smartFactor1->createJacobianQFactor(cameras, 0.0);
CHECK(actual);
CHECK(assert_equal(expected, *actual));
}
} }
/* *************************************************************************/ /* *************************************************************************/