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Avoid default constructor in tests

release/4.3a0
Frank 2016-02-11 16:52:02 -08:00
parent 0a7fd27f28
commit 94ccf98985
11 changed files with 27 additions and 27 deletions
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8
gtsam/geometry/tests/testPinholeCamera.cpp
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@ -112,7 +112,7 @@ TEST( PinholeCamera, lookat)
EXPECT(assert_equal(camera.pose(), expected));
Point3 C2(30,0,10);
Camera camera2 = Camera::Lookat(C2, Point3(), Point3(0,0,1));
Camera camera2 = Camera::Lookat(C2, Point3(0,0,0), Point3(0,0,1));
Matrix R = camera2.pose().rotation().matrix();
Matrix I = trans(R)*R;
@ -149,7 +149,7 @@ TEST( PinholeCamera, backprojectInfinity)
/* ************************************************************************* */
TEST( PinholeCamera, backproject2)
{
Point3 origin;
Point3 origin(0,0,0);
Rot3 rot(1., 0., 0., 0., 0., 1., 0., -1., 0.); // a camera1 looking down
Camera camera(Pose3(rot, origin), K);
@ -165,7 +165,7 @@ TEST( PinholeCamera, backproject2)
/* ************************************************************************* */
TEST( PinholeCamera, backprojectInfinity2)
{
Point3 origin;
Point3 origin(0,0,0);
Rot3 rot(1., 0., 0., 0., 0., 1., 0., -1., 0.); // a camera1 looking down
Camera camera(Pose3(rot, origin), K);
@ -180,7 +180,7 @@ TEST( PinholeCamera, backprojectInfinity2)
/* ************************************************************************* */
TEST( PinholeCamera, backprojectInfinity3)
{
Point3 origin;
Point3 origin(0,0,0);
Rot3 rot(1., 0., 0., 0., 1., 0., 0., 0., 1.); // identity
Camera camera(Pose3(rot, origin), K);

2
gtsam/geometry/tests/testPose3.cpp
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@ -306,7 +306,7 @@ TEST( Pose3, Dtransform_from1_b)
TEST( Pose3, Dtransform_from1_c)
{
Point3 origin;
Point3 origin(0,0,0);
Pose3 T0(R,origin);
Matrix actualDtransform_from1;
T0.transform_from(P, actualDtransform_from1, boost::none);

4
gtsam/navigation/tests/testImuFactor.cpp
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@ -590,7 +590,7 @@ TEST(ImuFactor, PredictRotation) {
// Predict
NavState actual = pim.predict(NavState(), bias);
NavState expected(Rot3::Ypr(M_PI / 10, 0, 0), Point3(), Z_3x1);
NavState expected(Rot3::Ypr(M_PI / 10, 0, 0), Point3(0,0,0), Z_3x1);
EXPECT(assert_equal(expected, actual));
}
@ -708,7 +708,7 @@ TEST(ImuFactor, bodyPSensorWithBias) {
auto p = testing::Params();
p->n_gravity = Vector3(0, 0, -kGravity);
p->body_P_sensor = Pose3(Rot3::Ypr(0, 0, M_PI), Point3());
p->body_P_sensor = Pose3(Rot3::Ypr(0, 0, M_PI), Point3(0,0,0));
p->accelerometerCovariance = 1e-7 * I_3x3;
p->gyroscopeCovariance = 1e-8 * I_3x3;
p->integrationCovariance = 1e-9 * I_3x3;

2
gtsam/navigation/tests/testImuFactorSerialization.cpp
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@ -43,7 +43,7 @@ TEST(ImuFactor, serialization) {
// Create default parameters with Z-down and above noise paramaters
auto p = PreintegrationParams::MakeSharedD(9.81);
p->body_P_sensor = Pose3(Rot3::Ypr(0, 0, M_PI), Point3());
p->body_P_sensor = Pose3(Rot3::Ypr(0, 0, M_PI), Point3(0,0,0));
p->accelerometerCovariance = 1e-7 * I_3x3;
p->gyroscopeCovariance = 1e-8 * I_3x3;
p->integrationCovariance = 1e-9 * I_3x3;

12
gtsam/slam/tests/testInitializePose3.cpp
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@ -148,9 +148,9 @@ TEST( InitializePose3, iterationGradient ) {
Rot3 Rpert = Rot3::Expmap(Vector3(0.01, 0.01, 0.01));
Values givenPoses;
givenPoses.insert(x0,simple::pose0);
givenPoses.insert(x1,(simple::pose0).compose( Pose3(Rpert,Point3()) ));
givenPoses.insert(x2, (simple::pose0).compose( Pose3(Rpert.inverse(),Point3()) ));
givenPoses.insert(x3, (simple::pose0).compose( Pose3(Rpert,Point3()) ));
givenPoses.insert(x1,(simple::pose0).compose( Pose3(Rpert,Point3(0,0,0)) ));
givenPoses.insert(x2, (simple::pose0).compose( Pose3(Rpert.inverse(),Point3(0,0,0)) ));
givenPoses.insert(x3, (simple::pose0).compose( Pose3(Rpert,Point3(0,0,0)) ));
size_t maxIter = 1; // test gradient at the first iteration
bool setRefFrame = false;
@ -189,9 +189,9 @@ TEST( InitializePose3, orientationsGradient ) {
Rot3 Rpert = Rot3::Expmap(Vector3(0.01, 0.01, 0.01));
Values givenPoses;
givenPoses.insert(x0,simple::pose0);
givenPoses.insert(x1,(simple::pose0).compose( Pose3(Rpert,Point3()) ));
givenPoses.insert(x2, (simple::pose0).compose( Pose3(Rpert.inverse(),Point3()) ));
givenPoses.insert(x3, (simple::pose0).compose( Pose3(Rpert,Point3()) ));
givenPoses.insert(x1,(simple::pose0).compose( Pose3(Rpert,Point3(0,0,0)) ));
givenPoses.insert(x2, (simple::pose0).compose( Pose3(Rpert.inverse(),Point3(0,0,0)) ));
givenPoses.insert(x3, (simple::pose0).compose( Pose3(Rpert,Point3(0,0,0)) ));
// do 10 gradient iterations
bool setRefFrame = false;
Values orientations = InitializePose3::computeOrientationsGradient(pose3Graph, givenPoses, 10, setRefFrame);

4
gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
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@ -959,8 +959,8 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac
views.push_back(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());
Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3());
Pose3 pose2 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0,0,0));
Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0,0,0));
Camera cam2(pose2, sharedK2);
Camera cam3(pose3, sharedK2);

2
gtsam_unstable/dynamics/tests/testPoseRTV.cpp
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@ -29,7 +29,7 @@ TEST( testPoseRTV, constructors ) {
EXPECT(assert_equal(Pose3(rot, pt), state1.pose()));
PoseRTV state2;
EXPECT(assert_equal(Point3(), state2.t()));
EXPECT(assert_equal(Point3(0,0,0), state2.t()));
EXPECT(assert_equal(Rot3(), state2.R()));
EXPECT(assert_equal(kZero3, state2.v()));
EXPECT(assert_equal(Pose3(), state2.pose()));

4
gtsam_unstable/geometry/tests/testEvent.cpp
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@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -34,7 +34,7 @@ static SharedNoiseModel model(noiseModel::Isotropic::Sigma(1,0.5*ms));
static const double timeOfEvent = 25;
static const Event exampleEvent(timeOfEvent, 1, 0, 0);
static const Point3 microphoneAt0;
static const Point3 microphoneAt0(0,0,0);
//*****************************************************************************
TEST( Event, Constructor ) {

6
gtsam_unstable/slam/tests/testInvDepthFactorVariant1.cpp
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@ -48,7 +48,7 @@ TEST( InvDepthFactorVariant1, optimize) {
Vector6 expected((Vector(6) << x, y, z, theta, phi, rho).finished());
// Create a factor graph with two inverse depth factors and two pose priors
Key poseKey1(1);
Key poseKey2(2);
@ -89,14 +89,14 @@ TEST( InvDepthFactorVariant1, optimize) {
// cout << endl << endl;
// Calculate world coordinates of landmark versions
Point3 world_landmarkBefore;
Point3 world_landmarkBefore(0,0,0);
{
Vector6 landmarkBefore = values.at<Vector6>(landmarkKey);
double x = landmarkBefore(0), y = landmarkBefore(1), z = landmarkBefore(2);
double theta = landmarkBefore(3), phi = landmarkBefore(4), rho = landmarkBefore(5);
world_landmarkBefore = Point3(x, y, z) + Point3(cos(theta)*cos(phi)/rho, sin(theta)*cos(phi)/rho, sin(phi)/rho);
}
Point3 world_landmarkAfter;
Point3 world_landmarkAfter(0,0,0);
{
Vector6 landmarkAfter = result.at<Vector6>(landmarkKey);
double x = landmarkAfter(0), y = landmarkAfter(1), z = landmarkAfter(2);

8
gtsam_unstable/slam/tests/testInvDepthFactorVariant2.cpp
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@ -46,7 +46,7 @@ TEST( InvDepthFactorVariant2, optimize) {
Vector3 expected((Vector(3) << theta, phi, rho).finished());
// Create a factor graph with two inverse depth factors and two pose priors
Key poseKey1(1);
Key poseKey2(2);
@ -72,7 +72,7 @@ TEST( InvDepthFactorVariant2, optimize) {
LevenbergMarquardtParams params;
Values result = LevenbergMarquardtOptimizer(graph, values, params).optimize();
Vector3 actual = result.at<Vector3>(landmarkKey);
// values.at<Pose3>(poseKey1).print("Pose1 Before:\n");
// result.at<Pose3>(poseKey1).print("Pose1 After:\n");
// pose1.print("Pose1 Truth:\n");
@ -87,13 +87,13 @@ TEST( InvDepthFactorVariant2, optimize) {
// std::cout << std::endl << std::endl;
// Calculate world coordinates of landmark versions
Point3 world_landmarkBefore;
Point3 world_landmarkBefore(0,0,0);
{
Vector3 landmarkBefore = values.at<Vector3>(landmarkKey);
double theta = landmarkBefore(0), phi = landmarkBefore(1), rho = landmarkBefore(2);
world_landmarkBefore = referencePoint + Point3(cos(theta)*cos(phi)/rho, sin(theta)*cos(phi)/rho, sin(phi)/rho);
}
Point3 world_landmarkAfter;
Point3 world_landmarkAfter(0,0,0);
{
Vector3 landmarkAfter = result.at<Vector3>(landmarkKey);
double theta = landmarkAfter(0), phi = landmarkAfter(1), rho = landmarkAfter(2);

2
tests/testNonlinearEquality.cpp
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@ -531,7 +531,7 @@ TEST (testNonlinearEqualityConstraint, stereo_constrained ) {
// create initial estimates
Rot3 faceDownY(
(Matrix) (Matrix(3, 3) << 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, -1.0, 0.0).finished());
Pose3 pose1(faceDownY, Point3()); // origin, left camera
Pose3 pose1(faceDownY, Point3(0,0,0)); // origin, left camera
SimpleCamera camera1(pose1, K);
Pose3 pose2(faceDownY, Point3(2.0, 0.0, 0.0)); // 2 units to the left
SimpleCamera camera2(pose2, K);