12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Added unit test for SmartFactorBase (which immediatly exposed dim bug!)

release/4.3a0
dellaert 2015-02-19 10:54:55 +01:00
parent 7c1a795cb4
commit a7370818fa
2 changed files with 80 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
.cproject
View File

@ -1546,6 +1546,14 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testSmartFactorBase.run" path="build/gtsam/slam/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j4</buildArguments>
<buildTarget>testSmartFactorBase.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j3</buildArguments>

72
gtsam/slam/tests/testSmartFactorBase.cpp Normal file
View File

@ -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 testSmartFactorBase.cpp
* @brief Unit tests for testSmartFactorBase Class
* @author Frank Dellaert
* @date Feb 2015
*/
#include "../SmartFactorBase.h"
#include <gtsam/geometry/Pose3.h>
#include <CppUnitLite/TestHarness.h>
using namespace std;
using namespace gtsam;
/* ************************************************************************* */
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Cal3Bundler.h>
class PinholeFactor: public SmartFactorBase<Pose3, Point2,
PinholeCamera<Cal3Bundler>, 9> {
virtual double error(const Values& values) const {
return 0.0;
}
virtual boost::shared_ptr<GaussianFactor> linearize(
const Values& values) const {
return boost::shared_ptr<GaussianFactor>(new JacobianFactor());
}
};
TEST(SmartFactorBase, Pinhole) {
PinholeFactor f;
f.add(Point2(),1,SharedNoiseModel());
f.add(Point2(),2,SharedNoiseModel());
EXPECT_LONGS_EQUAL(2*2,f.dim());
}
/* ************************************************************************* */
#include <gtsam/geometry/StereoCamera.h>
class StereoFactor: public SmartFactorBase<Pose3, StereoPoint2, StereoCamera, 9> {
virtual double error(const Values& values) const {
return 0.0;
}
virtual boost::shared_ptr<GaussianFactor> linearize(
const Values& values) const {
return boost::shared_ptr<GaussianFactor>(new JacobianFactor());
}
};
TEST(SmartFactorBase, Stereo) {
StereoFactor f;
f.add(StereoPoint2(),1,SharedNoiseModel());
f.add(StereoPoint2(),2,SharedNoiseModel());
EXPECT_LONGS_EQUAL(2*3,f.dim());
}
/* ************************************************************************* */
int main() {
TestResult tr;
return TestRegistry::runAllTests(tr);
}
/* ************************************************************************* */