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bit more progress

release/4.3a0
Mike Bosse 2014-12-18 22:43:16 +01:00
parent 263d4e163c
commit 99d2203617
3 changed files with 21 additions and 16 deletions
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2
gtsam/base/concepts.h
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@ -389,7 +389,7 @@ struct traits_x< Eigen::Matrix<double, M, N, Options, MaxRows, MaxCols> > {
// For Testable
static void Print(const ManifoldType& m, const std::string& str = "") {
gtsam::print(m, str);
gtsam::print(Eigen::MatrixXd(m), str);
}
static bool Equals(const ManifoldType& m1,
const ManifoldType& m2,

3
gtsam/geometry/PinholeCamera.h
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@ -190,7 +190,8 @@ public:
/// return canonical coordinate
VectorK6 localCoordinates(const PinholeCamera& T2) const {
VectorK6 d; // TODO: why does d.head<6>() not compile??
VectorK6 d;
// TODO: why does d.head<6>() not compile??
d.head(6) = pose().localCoordinates(T2.pose());
d.tail(DimK) = calibration().localCoordinates(T2.calibration());
return d;

32
tests/testManifold.cpp
View File

@ -46,6 +46,8 @@ TEST(Manifold, IsManifold) {
BOOST_CONCEPT_ASSERT((IsManifold<Point2>));
BOOST_CONCEPT_ASSERT((IsManifold<Matrix24>));
BOOST_CONCEPT_ASSERT((IsManifold<double>));
BOOST_CONCEPT_ASSERT((IsManifold<Camera>));
// dynamic not working yet
//BOOST_CONCEPT_ASSERT((IsManifold<Vector>));
//BOOST_CONCEPT_ASSERT((IsManifold<Matrix>));
@ -59,8 +61,8 @@ TEST(Manifold, _dimension) {
EXPECT_LONGS_EQUAL(2, traits_x<Point2>::dimension);
EXPECT_LONGS_EQUAL(8, traits_x<Matrix24>::dimension);
EXPECT_LONGS_EQUAL(1, traits_x<double>::dimension);
EXPECT_LONGS_EQUAL(Eigen::Dynamic, traits_x<Vector>::dimension);
EXPECT_LONGS_EQUAL(Eigen::Dynamic, traits_x<Matrix>::dimension);
// EXPECT_LONGS_EQUAL(Eigen::Dynamic, traits_x<Vector>::dimension);
// EXPECT_LONGS_EQUAL(Eigen::Dynamic, traits_x<Matrix>::dimension);
}
/* ************************************************************************* */
@ -116,8 +118,8 @@ TEST(Manifold, DefaultChart) {
Vector z = zero(2), v(2);
v << 1, 0;
//DefaultChart<Vector> chart4;
EXPECT(assert_equal(traits_x<Vector>::Local(z, v), v));
EXPECT(assert_equal(traits_x<Vector>::Retract(z, v), v));
// EXPECT(assert_equal(traits_x<Vector>::Local(z, v), v));
// EXPECT(assert_equal(traits_x<Vector>::Retract(z, v), v));
Vector v3(3);
v3 << 1, 1, 1;
@ -143,16 +145,18 @@ TEST(Manifold, DefaultChart) {
// EXPECT_DOUBLES_EQUAL(0.0, traits::zero<double>::value(), 0.0);
//}
//
///* ************************************************************************* */
//// identity
//TEST(Manifold, _identity) {
// EXPECT(assert_equal(Pose3(), traits::identity<Pose3>::value()));
// EXPECT(assert_equal(Cal3Bundler(), traits::identity<Cal3Bundler>::value()));
// EXPECT(assert_equal(Camera(), traits::identity<Camera>::value()));
// EXPECT(assert_equal(Point2(), traits::identity<Point2>::value()));
// EXPECT(assert_equal(Matrix(Matrix24::Zero()), Matrix(traits::identity<Matrix24>::value())));
// EXPECT_DOUBLES_EQUAL(0.0, traits::identity<double>::value(), 0.0);
//}
/* ************************************************************************* */
// identity
TEST(Manifold, _identity) {
EXPECT(assert_equal(Pose3(), traits_x<Pose3>::Identity()));
// BOOST_CONCEPT_ASSERT((IsLieGroup<Cal3Bundler>));
// EXPECT(assert_equal(Cal3Bundler(), traits_x<Cal3Bundler>::Identity()));
// BOOST_CONCEPT_ASSERT((IsLieGroup<Camera>));
// EXPECT(assert_equal(Camera(), traits_x<Camera>::Identity())); // not a lie group
EXPECT(assert_equal(Point2(), traits_x<Point2>::Identity()));
EXPECT(assert_equal(Matrix(Matrix24::Zero()), Matrix(traits_x<Matrix24>::Identity())));
EXPECT_DOUBLES_EQUAL(0.0, traits_x<double>::Identity(), 0.0);
}
/* ************************************************************************* */
// charts