Test now succeeds after adding 3 landmark constraints
Also cleaned up a bitrelease/4.3a0
parent
d26abf3ccf
commit
d5ada2a80c
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@ -18,56 +18,52 @@ using namespace gtsam;
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typedef NonlinearOptimizer<VSLAMGraph,VSLAMConfig> Optimizer;
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/* ************************************************************************* */
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Point3 landmark1_local(-1.0,-1.0, 0.0);
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Point3 landmark2_local(-1.0, 1.0, 0.0);
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Point3 landmark3_local( 1.0, 1.0, 0.0);
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Point3 landmark4_local( 1.0,-1.0, 0.0);
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Point3 landmark1(-1.0,-1.0, 0.0);
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Point3 landmark2(-1.0, 1.0, 0.0);
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Point3 landmark3( 1.0, 1.0, 0.0);
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Point3 landmark4( 1.0,-1.0, 0.0);
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Pose3 camera1_local(Matrix_(3,3,
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Pose3 camera1(Matrix_(3,3,
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1., 0., 0.,
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0.,-1., 0.,
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0., 0.,-1.
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),
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Point3(0,0,6.25));
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Pose3 camera2_local(Matrix_(3,3,
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Pose3 camera2(Matrix_(3,3,
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1., 0., 0.,
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0.,-1., 0.,
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0., 0.,-1.
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),
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Point3(0,0,5.00));
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Point3 landmark1() { return landmark1_local;}
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Point3 landmark2() { return landmark2_local;}
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Point3 landmark3() { return landmark3_local;}
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Point3 landmark4() { return landmark4_local;}
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Pose3 camera1() { return camera1_local;}
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Pose3 camera2() { return camera2_local;}
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/* ************************************************************************* */
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VSLAMGraph testGraph() {
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Point2 z11(-100, 100);
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Point2 z12(-100, -100);
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Point2 z13(100, -100);
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Point2 z14(100, 100);
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Point2 z12(-100,-100);
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Point2 z13( 100,-100);
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Point2 z14( 100, 100);
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Point2 z21(-125, 125);
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Point2 z22(-125, -125);
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Point2 z23(125, -125);
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Point2 z24(125, 125);
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Point2 z22(-125,-125);
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Point2 z23( 125,-125);
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Point2 z24( 125, 125);
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double sigma = 1;
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Cal3_S2 K(625, 625, 0, 0, 0);
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VSLAMGraph g;
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g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z11.vector(), sigma, 1, 1, K)));
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g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z12.vector(), sigma, 1, 2, K)));
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g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z13.vector(), sigma, 1, 3, K)));
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g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z14.vector(), sigma, 1, 4, K)));
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g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z21.vector(), sigma, 2, 1, K)));
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g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z22.vector(), sigma, 2, 2, K)));
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g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z23.vector(), sigma, 2, 3, K)));
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g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z24.vector(), sigma, 2, 4, K)));
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g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z11, sigma, 1, 1, K)));
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g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z12, sigma, 1, 2, K)));
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g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z13, sigma, 1, 3, K)));
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g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z14, sigma, 1, 4, K)));
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g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z21, sigma, 2, 1, K)));
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g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z22, sigma, 2, 2, K)));
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g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z23, sigma, 2, 3, K)));
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g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z24, sigma, 2, 4, K)));
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// add 3 landmark constraints
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g.addLandmarkConstraint(1, landmark1);
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g.addLandmarkConstraint(2, landmark2);
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g.addLandmarkConstraint(3, landmark3);
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return g;
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}
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@ -78,14 +74,14 @@ TEST( VSLAMGraph, optimizeLM)
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// build a graph
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VSLAMGraph graph = testGraph();
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// Create a configuration corresponding to the ground truth
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VSLAMConfig groundTruth;
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groundTruth.addCameraPose(1, camera1());
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groundTruth.addCameraPose(2, camera2());
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groundTruth.addLandmarkPoint(1, landmark1());
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groundTruth.addLandmarkPoint(2, landmark2());
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groundTruth.addLandmarkPoint(3, landmark3());
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groundTruth.addLandmarkPoint(4, landmark4());
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// Create an initial configuration corresponding to the ground truth
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boost::shared_ptr<VSLAMConfig> initialEstimate(new VSLAMConfig);
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initialEstimate->addCameraPose(1, camera1);
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initialEstimate->addCameraPose(2, camera2);
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initialEstimate->addLandmarkPoint(1, landmark1);
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initialEstimate->addLandmarkPoint(2, landmark2);
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initialEstimate->addLandmarkPoint(3, landmark3);
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initialEstimate->addLandmarkPoint(4, landmark4);
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// Create an ordering of the variables
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list<string> keys;
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@ -97,14 +93,9 @@ TEST( VSLAMGraph, optimizeLM)
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keys.push_back("x2");
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Ordering ordering(keys);
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// optimize it
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double relativeErrorTreshold=1e-6, absoluteErrorTreshold=1.0;
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int verbosity=0;
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Optimizer::shared_config initialConfig(new VSLAMConfig(groundTruth));
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Optimizer optimizer(graph, ordering, initialConfig, 1e-5);
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// Create an optimizer and check its error
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// We expect the initial to be zero because config is the ground truth
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Optimizer optimizer(graph, ordering, initialEstimate, 1e-5);
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DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9);
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// Iterate once, and the config should not have changed because we started
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@ -112,10 +103,8 @@ TEST( VSLAMGraph, optimizeLM)
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Optimizer afterOneIteration = optimizer.iterate();
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DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9);
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//afterOneIteration.config()->print();
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// check if correct
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CHECK(groundTruth.equals(*(afterOneIteration.config())) );
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CHECK(assert_equal(*initialEstimate,*(afterOneIteration.config())));
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}
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/* ************************************************************************* */
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