Merged in fix/movedTests (pull request #149)

Put test in right place

gtsam/geometry/tests/testPinholeCamera.cpp

@@ -21,10 +21,6 @@
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/numericalDerivative.h>
-#include <gtsam/slam/dataset.h>
-#include <gtsam/slam/GeneralSFMFactor.h>
-#include <gtsam/inference/Symbol.h>
-#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 
 #include <CppUnitLite/TestHarness.h>
 
@@ -325,34 +321,6 @@ TEST( PinholeCamera, range3) {
   EXPECT(assert_equal(Hexpected2, D2, 1e-7));
 }
 
-/* ************************************************************************* */
-typedef GeneralSFMFactor<Camera2, Point3> sfmFactor;
-using symbol_shorthand::P;
-
-/* ************************************************************************* */
-TEST( PinholeCamera, BAL) {
-  string filename = findExampleDataFile("dubrovnik-3-7-pre");
-  SfM_data db;
-  bool success = readBAL(filename, db);
-  if (!success) throw runtime_error("Could not access file!");
-
-  SharedNoiseModel unit2 = noiseModel::Unit::Create(2);
-  NonlinearFactorGraph graph;
-
-  for (size_t j = 0; j < db.number_tracks(); j++) {
-      BOOST_FOREACH(const SfM_Measurement& m, db.tracks[j].measurements)
-              graph.push_back(sfmFactor(m.second, unit2, m.first, P(j)));
-  }
-
-  Values initial = initialCamerasAndPointsEstimate(db);
-
-  LevenbergMarquardtOptimizer lm(graph, initial);
-
-  Values actual = lm.optimize();
-  double actualError = graph.error(actual);
-  EXPECT_DOUBLES_EQUAL(0.0199833, actualError, 1e-7);
-}
-
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
 /* ************************************************************************* */

gtsam/slam/GeneralSFMFactor.h

@@ -20,12 +20,31 @@
 
 #pragma once
 
-#include <gtsam/nonlinear/NonlinearFactor.h>
-#include <gtsam/geometry/CalibratedCamera.h>
 #include <gtsam/geometry/PinholeCamera.h>
 #include <gtsam/geometry/Point2.h>
 #include <gtsam/geometry/Point3.h>
+#include <gtsam/geometry/Pose3.h>
+#include <gtsam/nonlinear/NonlinearFactor.h>
+#include <gtsam/linear/NoiseModel.h>
+#include <gtsam/base/concepts.h>
+#include <gtsam/base/Manifold.h>
+#include <gtsam/base/Matrix.h>
+#include <gtsam/base/types.h>
+#include <gtsam/base/Testable.h>
+#include <gtsam/base/Vector.h>
+
+#include <boost/none.hpp>
+#include <boost/optional/optional.hpp>
+#include <boost/serialization/nvp.hpp>
+#include <boost/smart_ptr/shared_ptr.hpp>
 #include <iostream>
+#include <string>
+
+namespace boost {
+namespace serialization {
+class access;
+} /* namespace serialization */
+} /* namespace boost */
 
 namespace gtsam {
 

gtsam/slam/dataset.cpp

@@ -15,19 +15,34 @@
  * @brief utility functions for loading datasets
  */
 
-#include <gtsam/slam/dataset.h>
-#include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/slam/BearingRangeFactor.h>
+#include <gtsam/slam/BetweenFactor.h>
+#include <gtsam/slam/dataset.h>
+#include <gtsam/geometry/Point3.h>
 #include <gtsam/geometry/Pose2.h>
-#include <gtsam/geometry/Pose3.h>
-#include <gtsam/linear/Sampler.h>
+#include <gtsam/geometry/Rot3.h>
+#include <gtsam/inference/FactorGraph.h>
 #include <gtsam/inference/Symbol.h>
+#include <gtsam/nonlinear/NonlinearFactor.h>
+#include <gtsam/nonlinear/Values.h>
+#include <gtsam/nonlinear/Values-inl.h>
+#include <gtsam/linear/Sampler.h>
+#include <gtsam/base/GenericValue.h>
+#include <gtsam/base/Lie.h>
+#include <gtsam/base/Matrix.h>
+#include <gtsam/base/types.h>
+#include <gtsam/base/Value.h>
+#include <gtsam/base/Vector.h>
 
-#include <boost/filesystem.hpp>
+#include <boost/assign/list_inserter.hpp>
+#include <boost/filesystem/operations.hpp>
+#include <boost/filesystem/path.hpp>
+#include <boost/foreach.hpp>
 
+#include <cmath>
 #include <fstream>
-#include <sstream>
-#include <cstdlib>
+#include <iostream>
+#include <stdexcept>
 
 using namespace std;
 namespace fs = boost::filesystem;

gtsam/slam/dataset.h

@@ -18,16 +18,21 @@
 
 #pragma once
 
-#include <gtsam/nonlinear/NonlinearFactorGraph.h>
-#include <gtsam/linear/NoiseModel.h>
-#include <gtsam/geometry/Point2.h>
-#include <gtsam/geometry/Pose3.h>
 #include <gtsam/geometry/Cal3Bundler.h>
 #include <gtsam/geometry/PinholeCamera.h>
+#include <gtsam/geometry/Point2.h>
+#include <gtsam/geometry/Point3.h>
+#include <gtsam/geometry/Pose3.h>
+#include <gtsam/geometry/Rot3.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/Values.h>
+#include <gtsam/linear/NoiseModel.h>
+#include <gtsam/base/types.h>
 
-#include <vector>
-#include <utility> // for pair
+#include <boost/smart_ptr/shared_ptr.hpp>
 #include <string>
+#include <utility> // for pair
+#include <vector>
 
 namespace gtsam {
 

tests/testGeneralSFMFactorB.cpp

@@ -0,0 +1,72 @@
+/* ----------------------------------------------------------------------------
+
+ * 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)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file testGeneralSFMFactorB.cpp
+ * @author Frank Dellaert
+ * @brief test general SFM class, with nonlinear optimization and BAL files
+ */
+
+#include <gtsam/slam/dataset.h>
+#include <gtsam/slam/GeneralSFMFactor.h>
+#include <gtsam/geometry/Point3.h>
+#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/NonlinearOptimizer.h>
+#include <gtsam/nonlinear/Values.h>
+#include <gtsam/inference/Symbol.h>
+#include <gtsam/linear/NoiseModel.h>
+
+#include <CppUnitLite/Failure.h>
+#include <CppUnitLite/Test.h>
+#include <CppUnitLite/TestRegistry.h>
+#include <CppUnitLite/TestResult.h>
+#include <boost/foreach.hpp>
+#include <stddef.h>
+#include <stdexcept>
+#include <string>
+
+using namespace std;
+using namespace gtsam;
+
+typedef GeneralSFMFactor<PinholeCamera<Cal3Bundler>, Point3> sfmFactor;
+using symbol_shorthand::P;
+
+/* ************************************************************************* */
+TEST(PinholeCamera, BAL) {
+  string filename = findExampleDataFile("dubrovnik-3-7-pre");
+  SfM_data db;
+  bool success = readBAL(filename, db);
+  if (!success) throw runtime_error("Could not access file!");
+
+  SharedNoiseModel unit2 = noiseModel::Unit::Create(2);
+  NonlinearFactorGraph graph;
+
+  for (size_t j = 0; j < db.number_tracks(); j++) {
+    BOOST_FOREACH (const SfM_Measurement& m, db.tracks[j].measurements)
+      graph.push_back(sfmFactor(m.second, unit2, m.first, P(j)));
+  }
+
+  Values initial = initialCamerasAndPointsEstimate(db);
+
+  LevenbergMarquardtOptimizer lm(graph, initial);
+
+  Values actual = lm.optimize();
+  double actualError = graph.error(actual);
+  EXPECT_DOUBLES_EQUAL(0.0199833, actualError, 1e-7);
+}
+
+/* ************************************************************************* */
+int main() {
+  TestResult tr;
+  return TestRegistry::runAllTests(tr);
+}
+/* ************************************************************************* */