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improve dynamic outlier rejection test

release/4.3a0
cbeall3 2015-07-19 21:01:14 -04:00
parent fcc9ac2669
commit b5a978c534
1 changed files with 22 additions and 4 deletions
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26
gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp
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@ -436,8 +436,6 @@ TEST( SmartStereoProjectionPoseFactor, landmarkDistance ) {
/* *************************************************************************/ /* *************************************************************************/
TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) {
double dynamicOutlierRejectionThreshold = 1; // max 1 pixel of average reprojection error
vector<Key> views; vector<Key> views;
views.push_back(x1); views.push_back(x1);
views.push_back(x2); views.push_back(x2);
@ -473,7 +471,7 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) {
SmartStereoProjectionParams params; SmartStereoProjectionParams params;
params.setLinearizationMode(JACOBIAN_SVD); params.setLinearizationMode(JACOBIAN_SVD);
params.setDynamicOutlierRejectionThreshold(dynamicOutlierRejectionThreshold); params.setDynamicOutlierRejectionThreshold(1);
SmartFactor::shared_ptr smartFactor1(new SmartFactor(params)); SmartFactor::shared_ptr smartFactor1(new SmartFactor(params));
@ -488,6 +486,10 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) {
SmartFactor::shared_ptr smartFactor4(new SmartFactor(params)); SmartFactor::shared_ptr smartFactor4(new SmartFactor(params));
smartFactor4->add(measurements_cam4, views, model, K); smartFactor4->add(measurements_cam4, views, model, K);
// same as factor 4, but dynamic outlier rejection is off
SmartFactor::shared_ptr smartFactor4b(new SmartFactor());
smartFactor4b->add(measurements_cam4, views, model, K);
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
NonlinearFactorGraph graph; NonlinearFactorGraph graph;
@ -505,7 +507,23 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) {
values.insert(x2, pose2); values.insert(x2, pose2);
values.insert(x3, pose3); values.insert(x3, pose3);
// All factors are disabled and pose should remain where it is EXPECT_DOUBLES_EQUAL(0, smartFactor1->error(values), 1e-9);
EXPECT_DOUBLES_EQUAL(0, smartFactor2->error(values), 1e-9);
EXPECT_DOUBLES_EQUAL(0, smartFactor3->error(values), 1e-9);
// zero error due to dynamic outlier rejection
EXPECT_DOUBLES_EQUAL(0, smartFactor4->error(values), 1e-9);
// dynamic outlier rejection is off
EXPECT_DOUBLES_EQUAL(6700, smartFactor4b->error(values), 1e-9);
// Factors 1-3 should have valid point, factor 4 should not
EXPECT(smartFactor1->point());
EXPECT(smartFactor2->point());
EXPECT(smartFactor3->point());
EXPECT(smartFactor4->point().degenerate());
EXPECT(smartFactor4b->point());
// Factor 4 is disabled, pose 3 stays put
Values result; Values result;
LevenbergMarquardtOptimizer optimizer(graph, values, lm_params); LevenbergMarquardtOptimizer optimizer(graph, values, lm_params);
result = optimizer.optimize(); result = optimizer.optimize();