From d09c7aa1054842fb0f32c5a29a79ea5fe0e6fe2c Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Sun, 22 Feb 2015 06:48:34 +0100
Subject: [PATCH] Test createJacobianSVDFactor

---
 .../tests/testSmartProjectionPoseFactor.cpp   | 54 +++++++++++--------
 1 file changed, 32 insertions(+), 22 deletions(-)

diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
index 2ca06acbf..aebea3959 100644
--- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
+++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
@@ -460,8 +460,6 @@ TEST( SmartProjectionPoseFactor, Factors ){
   vector<Point2> measurements_cam1;
 
   // Project 2 landmarks into 2 cameras
-  cout << cam1.project(landmark1) << endl;
-  cout << cam2.project(landmark1) << endl;
   measurements_cam1.push_back(cam1.project(landmark1));
   measurements_cam1.push_back(cam2.project(landmark1));
 
@@ -485,17 +483,8 @@ TEST( SmartProjectionPoseFactor, Factors ){
   CHECK(p);
   EXPECT(assert_equal(landmark1,*p));
 
-  Matrix26 F1; F1.setZero(); F1(0,1)=-100; F1(0,3)=-10; F1(1,0)=100; F1(1,4)=-10;
-  Matrix26 F2; F2.setZero(); F2(0,1)=-101; F2(0,3)=-10; F2(0,5)=-1; F2(1,0)=100; F2(1,2)=10; F2(1,4)=-10;
-  Matrix43 E; E.setZero(); E(0,0)=100; E(1,1)=100; E(2,0)=100; E(2,2)=10;E(3,1)=100;
-  const vector<pair<Key, Matrix26> > Fblocks = list_of<pair<Key, Matrix> > //
-      (make_pair(x1, 10*F1))(make_pair(x2, 10*F2));
-  Matrix3 P = (E.transpose() * E).inverse();
-  Vector4 b; b.setZero();
-
   {
-    // RegularHessianFactor<6>
-    // TODO, calculate G from F
+    // createHessianFactor
     Matrix66 G11; G11.setZero(); G11(0,0) = 100; G11(0,4) = -10; G11(4,0) = -10; G11(4,4) = 1;
     Matrix66 G12; G12 = -G11; G12(0,2) = -10; G12(4,2) = 1;
     Matrix66 G22; G22 = G11; G22(0,2) = 10; G22(2,0) = 10; G22(2,2) = 1; G22(2,4) = -1; G22(4,2) = -1;
@@ -508,27 +497,48 @@ TEST( SmartProjectionPoseFactor, Factors ){
     RegularHessianFactor<6> expected(x1, x2, 5000 * G11, 5000 * G12, g1, 5000 * G22, g2, f);
 
     boost::shared_ptr<RegularHessianFactor<6> > actual =
-          smartFactor1->createHessianFactor(cameras, 0.0);
-    CHECK(assert_equal(expected.information(),actual->information(),1e-8));
-    CHECK(assert_equal(expected,*actual,1e-8));
+        smartFactor1->createHessianFactor(cameras, 0.0);
+    CHECK(assert_equal(expected.information(), actual->information(), 1e-8));
+    CHECK(assert_equal(expected, *actual, 1e-8));
   }
 
   {
-    // RegularImplicitSchurFactor<6>
+    Matrix26 F1; F1.setZero(); F1(0,1)=-100; F1(0,3)=-10; F1(1,0)=100; F1(1,4)=-10;
+    Matrix26 F2; F2.setZero(); F2(0,1)=-101; F2(0,3)=-10; F2(0,5)=-1; F2(1,0)=100; F2(1,2)=10; F2(1,4)=-10;
+    Matrix43 E; E.setZero(); E(0,0)=100; E(1,1)=100; E(2,0)=100; E(2,2)=10;E(3,1)=100;
+    const vector<pair<Key, Matrix26> > Fblocks = list_of<pair<Key, Matrix> > //
+        (make_pair(x1, 10*F1))(make_pair(x2, 10*F2));
+    Matrix3 P = (E.transpose() * E).inverse();
+    Vector4 b; b.setZero();
+
+    // createRegularImplicitSchurFactor
     RegularImplicitSchurFactor<6> expected(Fblocks, E, P, b);
 
     boost::shared_ptr<RegularImplicitSchurFactor<6> > actual =
-          smartFactor1->createRegularImplicitSchurFactor(cameras, 0.0);
+        smartFactor1->createRegularImplicitSchurFactor(cameras, 0.0);
     CHECK(actual);
-    CHECK(assert_equal(expected,*actual));
+    CHECK(assert_equal(expected, *actual));
+
+    // createJacobianQFactor
+    JacobianFactorQ < 6, 2 > expectedQ(Fblocks, E, P, b);
+
+    boost::shared_ptr<JacobianFactorQ<6, 2> > actualQ =
+        smartFactor1->createJacobianQFactor(cameras, 0.0);
+    CHECK(actual);
+    CHECK(assert_equal(expectedQ, *actualQ));
   }
 
   {
-    // createJacobianQFactor<6,2>
-    JacobianFactorQ<6, 2> expected(Fblocks, E, P, b);
+    // createJacobianSVDFactor
+    Matrix16 A1, A2;
+    A1 << -1000, 0, 0, 0, 100, 0;
+    A2 << 1000, 0, 100, 0, -100, 0;
+    Vector1 b; b.setZero();
+    double s = sin(M_PI_4);
+    JacobianFactor expected(x1, s*A1, x2, s*A2, b);
 
-    boost::shared_ptr<JacobianFactorQ<6, 2> > actual =
-        smartFactor1->createJacobianQFactor(cameras, 0.0);
+    boost::shared_ptr<JacobianFactor> actual =
+        smartFactor1->createJacobianSVDFactor(cameras, 0.0);
     CHECK(actual);
     CHECK(assert_equal(expected, *actual));
   }