diff --git a/gtsam_unstable/slam/tests/testTransformCalProjectionFactor.cpp b/gtsam_unstable/slam/tests/testTransformCalProjectionFactor.cpp new file mode 100644 index 000000000..6e46e3e84 --- /dev/null +++ b/gtsam_unstable/slam/tests/testTransformCalProjectionFactor.cpp @@ -0,0 +1,191 @@ +/* ---------------------------------------------------------------------------- + + * 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 testTransformCalProjectionFactor.cpp + * @brief Unit tests for Pose+Transform+Calibration ProjectionFactor Class + * @author Chris Beall + * @date Jul 29, 2014 + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include + +using namespace std; +using namespace gtsam; + +// make a realistic calibration matrix +static double fov = 60; // degrees +static size_t w=640,h=480; +static Cal3_S2::shared_ptr K1(new Cal3_S2(fov,w,h)); + +// Create a noise model for the pixel error +static SharedNoiseModel model(noiseModel::Unit::Create(2)); + +// Convenience for named keys +using symbol_shorthand::X; +using symbol_shorthand::L; +using symbol_shorthand::T; +using symbol_shorthand::K; + +typedef TransformCalProjectionFactor TestProjectionFactor; + +/* ************************************************************************* */ +TEST( ProjectionFactor, nonStandard ) { + TransformCalProjectionFactor f; +} + +/* ************************************************************************* */ +TEST( ProjectionFactor, Constructor) { + Point2 measurement(323.0, 240.0); + TestProjectionFactor factor(measurement, model, X(1), T(1), L(1), K(1)); + // TODO: Actually check something +} + +/* ************************************************************************* */ +TEST( ProjectionFactor, Equals ) { + // Create two identical factors and make sure they're equal + Point2 measurement(323.0, 240.0); + + TestProjectionFactor factor1(measurement, model, X(1), T(1), L(1), K(1)); + TestProjectionFactor factor2(measurement, model, X(1), T(1), L(1), K(1)); + + CHECK(assert_equal(factor1, factor2)); +} + +/* ************************************************************************* */ +TEST( ProjectionFactor, Error ) { + // Create the factor with a measurement that is 3 pixels off in x + Point2 measurement(323.0, 240.0); + TestProjectionFactor factor(measurement, model, X(1), T(1), L(1), K(1)); + + // Set the linearization point + Pose3 pose(Rot3(), Point3(0,0,-6)); + Point3 point(0.0, 0.0, 0.0); + + // Use the factor to calculate the error + Vector actualError(factor.evaluateError(pose, Pose3(), point, *K1)); + + // The expected error is (-3.0, 0.0) pixels / UnitCovariance + Vector expectedError = (Vector(2) << -3.0, 0.0); + + // Verify we get the expected error + CHECK(assert_equal(expectedError, actualError, 1e-9)); +} + +/* ************************************************************************* */ +TEST( ProjectionFactor, ErrorWithTransform ) { + // Create the factor with a measurement that is 3 pixels off in x + Point2 measurement(323.0, 240.0); + Pose3 transform(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0)); + TestProjectionFactor factor(measurement, model, X(1),T(1), L(1), K(1)); + + // Set the linearization point. The vehicle pose has been selected to put the camera at (-6, 0, 0) + Pose3 pose(Rot3(), Point3(-6.25, 0.10 , -1.0)); + Point3 point(0.0, 0.0, 0.0); + + // Use the factor to calculate the error + Vector actualError(factor.evaluateError(pose, transform, point, *K1)); + + // The expected error is (-3.0, 0.0) pixels / UnitCovariance + Vector expectedError = (Vector(2) << -3.0, 0.0); + + // Verify we get the expected error + CHECK(assert_equal(expectedError, actualError, 1e-9)); +} + +/* ************************************************************************* */ +TEST( ProjectionFactor, Jacobian ) { + // Create the factor with a measurement that is 3 pixels off in x + Point2 measurement(323.0, 240.0); + TestProjectionFactor factor(measurement, model, X(1), T(1), L(1), K(1)); + + // Set the linearization point + Pose3 pose(Rot3(), Point3(0,0,-6)); + Point3 point(0.0, 0.0, 0.0); + + // Use the factor to calculate the Jacobians + Matrix H1Actual, H2Actual, H3Actual, H4Actual; + factor.evaluateError(pose, Pose3(), point, *K1, H1Actual, H2Actual, H3Actual, H4Actual); + + // The expected Jacobians + Matrix H1Expected = (Matrix(2, 6) << 0., -554.256, 0., -92.376, 0., 0., 554.256, 0., 0., 0., -92.376, 0.); + Matrix H3Expected = (Matrix(2, 3) << 92.376, 0., 0., 0., 92.376, 0.); + + // Verify the Jacobians are correct + CHECK(assert_equal(H1Expected, H1Actual, 1e-3)); + CHECK(assert_equal(H3Expected, H3Actual, 1e-3)); + + // Verify H2 and H4 with numerical derivatives + Matrix H2Expected = numericalDerivative11( + boost::bind(&TestProjectionFactor::evaluateError, &factor, pose, _1, point, + *K1, boost::none, boost::none, boost::none, boost::none), Pose3()); + + Matrix H4Expected = numericalDerivative11( + boost::bind(&TestProjectionFactor::evaluateError, &factor, pose, Pose3(), point, + _1, boost::none, boost::none, boost::none, boost::none), *K1); + + CHECK(assert_equal(H2Expected, H2Actual, 1e-5)); + CHECK(assert_equal(H4Expected, H4Actual, 1e-5)); +} + +/* ************************************************************************* */ +TEST( ProjectionFactor, JacobianWithTransform ) { + // Create the factor with a measurement that is 3 pixels off in x + Point2 measurement(323.0, 240.0); + Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0)); + TestProjectionFactor factor(measurement, model, X(1), T(1), L(1), K(1)); + + // Set the linearization point. The vehicle pose has been selected to put the camera at (-6, 0, 0) + Pose3 pose(Rot3(), Point3(-6.25, 0.10 , -1.0)); + Point3 point(0.0, 0.0, 0.0); + + // Use the factor to calculate the Jacobians + Matrix H1Actual, H2Actual, H3Actual, H4Actual; + factor.evaluateError(pose, body_P_sensor, point, *K1, H1Actual, H2Actual, H3Actual, H4Actual); + + // The expected Jacobians + Matrix H1Expected = (Matrix(2, 6) << -92.376, 0., 577.350, 0., 92.376, 0., -9.2376, -577.350, 0., 0., 0., 92.376); + Matrix H3Expected = (Matrix(2, 3) << 0., -92.376, 0., 0., 0., -92.376); + + // Verify the Jacobians are correct + CHECK(assert_equal(H1Expected, H1Actual, 1e-3)); + CHECK(assert_equal(H3Expected, H3Actual, 1e-3)); + + // Verify H2 and H4 with numerical derivatives + Matrix H2Expected = numericalDerivative11( + boost::bind(&TestProjectionFactor::evaluateError, &factor, pose, _1, point, + *K1, boost::none, boost::none, boost::none, boost::none), body_P_sensor); + + Matrix H4Expected = numericalDerivative11( + boost::bind(&TestProjectionFactor::evaluateError, &factor, pose, body_P_sensor, point, + _1, boost::none, boost::none, boost::none, boost::none), *K1); + + CHECK(assert_equal(H2Expected, H2Actual, 1e-5)); + CHECK(assert_equal(H4Expected, H4Actual, 1e-5)); + +} + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +/* ************************************************************************* */ +