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Working similarity3 transform with unit tests

release/4.3a0
Paul Drews 2015-01-07 09:57:48 -05:00
parent 89460fe931
commit a88b10eacc
1 changed files with 59 additions and 9 deletions
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68
gtsam_unstable/geometry/tests/testSimilarity3.cpp
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@ -61,6 +61,19 @@ public:
return Matrix4::operator==(other);
}
/// Compare with tolerance
bool equals(const Similarity3& sim, double tol) const {
return rotation().equals(sim.rotation(), tol) && translation().equals(sim.translation(), tol)
&& scale() < (sim.scale()+tol) && scale() > (sim.scale()-tol);
}
void print(const std::string& s) const {
std::cout << s;
rotation().print("R:\n");
translation().print("t: ");
std::cout << "s: " << scale() << std::endl;
}
/// @name Manifold
/// @{
@ -127,12 +140,19 @@ public:
};
}
#include <gtsam/base/Testable.h>
#include <CppUnitLite/TestHarness.h>
using namespace gtsam;
using namespace std;
static Point3 P(0.2,0.7,-2);
static Rot3 R = Rot3::rodriguez(0.3,0,0);
static Similarity3 T(R,Point3(3.5,-8.2,4.2),1);
static Similarity3 T2(Rot3::rodriguez(0.3,0.2,0.1),Point3(3.5,-8.2,4.2),1);
static Similarity3 T3(Rot3::rodriguez(-90, 0, 0), Point3(1, 2, 3), 1);
//******************************************************************************
TEST(Similarity3, Constructors) {
Similarity3 test;
@ -168,25 +188,55 @@ TEST(Similarity3, Manifold) {
EXPECT(assert_equal(z, sim2.localCoordinates(sim)));
Similarity3 sim3 = Similarity3(Rot3(), Point3(1, 2, 3), 1);
Similarity3 sim3 = Similarity3(Rot3().ypr(0.5,1,1.5), Point3(1, 2, 3), 1);
Vector v3(7);
v3 << 0, 0, 0, 1, 2, 3, 0;
EXPECT(assert_equal(v3, sim2.localCoordinates(sim3)));
Similarity3 other = Similarity3(Rot3::ypr(0.01, 0.02, 0.03), Point3(0.4, 0.5, 0.6), 1);
// Similarity3 other = Similarity3(Rot3(),Point3(4,5,6),1);
// Similarity3 other = Similarity3(Rot3::ypr(0.01, 0.02, 0.03), Point3(0.4, 0.5, 0.6), 1);
Similarity3 other = Similarity3(Rot3::ypr(0.01, 0.02, 0.03),Point3(4,5,6),1);
Rot3 R = Rot3::rodriguez(0.3,0,0);
std::cout << "Local Coords: " << sim.localCoordinates(other) << std::endl;
std::cout << "Retracted: \n"
<< sim.retract(sim.localCoordinates(other)).rotation().matrix() << std::endl
<< sim.retract(sim.localCoordinates(other)).translation().vector() << std::endl
<< sim.retract(sim.localCoordinates(other)).scale() << std::endl;
Vector vlocal = sim.localCoordinates(other);
EXPECT(sim.retract(sim.localCoordinates(other)) == other);
EXPECT(assert_equal(sim.retract(vlocal), other, 1e-2));
// TODO add unit tests for retract and localCoordinates
}
/* ************************************************************************* */
TEST( Similarity3, retract_first_order)
{
Similarity3 id;
Vector v = zero(7);
v(0) = 0.3;
EXPECT(assert_equal(Similarity3(R, Point3(), 1), id.retract(v),1e-2));
v(3)=0.2;v(4)=0.7;v(5)=-2;
EXPECT(assert_equal(Similarity3(R, P, 1),id.retract(v),1e-2));
}
/* ************************************************************************* */
TEST(Similarity3, localCoordinates_first_order)
{
Vector d12 = repeat(7,0.1);
d12(6) = 1.0;
Similarity3 t1 = T, t2 = t1.retract(d12);
EXPECT(assert_equal(d12, t1.localCoordinates(t2)));
}
/* ************************************************************************* */
TEST(Similarity3, manifold_first_order)
{
Similarity3 t1 = T;
Similarity3 t2 = T3;
Similarity3 origin;
Vector d12 = t1.localCoordinates(t2);
EXPECT(assert_equal(t2, t1.retract(d12)));
Vector d21 = t2.localCoordinates(t1);
EXPECT(assert_equal(t1, t2.retract(d21)));
}
//******************************************************************************
int main() {
TestResult tr;