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Concise version

release/4.3a0
dellaert 2014-10-01 10:53:35 +02:00
parent d45250a989
commit a6c1ba19cc
1 changed files with 27 additions and 3 deletions
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30
gtsam_unstable/nonlinear/tests/testBADFactor.cpp
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@ -28,6 +28,23 @@
using namespace std; using namespace std;
using namespace gtsam; using namespace gtsam;
/* ************************************************************************* */
// Functions that allow creating concise expressions
Expression<Point3> transform_to(const Expression<Pose3>& x,
const Expression<Point3>& p) {
return Expression<Point3>(x, &Pose3::transform_to, p);
}
Expression<Point2> project(const Expression<Point3>& p_cam) {
return Expression<Point2>(PinholeCamera<Cal3_S2>::project_to_camera, p_cam);
}
template<class CAL>
Expression<Point2> uncalibrate(const Expression<CAL>& K,
const Expression<Point2>& xy_hat) {
return Expression<Point2>(K, &CAL::uncalibrate, xy_hat);
}
/* ************************************************************************* */ /* ************************************************************************* */
TEST(BADFactor, test) { TEST(BADFactor, test) {
@ -55,15 +72,22 @@ TEST(BADFactor, test) {
// Create expression tree // Create expression tree
Expression<Point3> p_cam(x, &Pose3::transform_to, p); Expression<Point3> p_cam(x, &Pose3::transform_to, p);
Expression<Point2> projection(PinholeCamera<Cal3_S2>::project_to_camera, p_cam); Expression<Point2> xy_hat(PinholeCamera<Cal3_S2>::project_to_camera, p_cam);
Expression<Point2> uv_hat(K, &Cal3_S2::uncalibrate, projection); Expression<Point2> uv_hat(K, &Cal3_S2::uncalibrate, xy_hat);
// Create factor and check value, dimension, linearization // Create factor and check value, dimension, linearization
BADFactor<Point2> f(measured, uv_hat); BADFactor<Point2> f(measured, uv_hat);
EXPECT_DOUBLES_EQUAL(expected_error, f.error(values), 1e-9); EXPECT_DOUBLES_EQUAL(expected_error, f.error(values), 1e-9);
EXPECT_LONGS_EQUAL(0, f.dim()); EXPECT_LONGS_EQUAL(2, f.dim());
boost::shared_ptr<GaussianFactor> gf = f.linearize(values); boost::shared_ptr<GaussianFactor> gf = f.linearize(values);
EXPECT( assert_equal(*expected, *gf, 1e-9)); EXPECT( assert_equal(*expected, *gf, 1e-9));
// Try concise version
BADFactor<Point2> f2(measured, uncalibrate(K, project(transform_to(x, p))));
EXPECT_DOUBLES_EQUAL(expected_error, f2.error(values), 1e-9);
EXPECT_LONGS_EQUAL(2, f2.dim());
boost::shared_ptr<GaussianFactor> gf2 = f2.linearize(values);
EXPECT( assert_equal(*expected, *gf2, 1e-9));
} }
/* ************************************************************************* */ /* ************************************************************************* */