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Extra stereo tests

release/4.3a0
dellaert 2015-03-05 10:35:54 -08:00
parent daf16acdfa
commit dc3d5f77fe
1 changed files with 14 additions and 2 deletions
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16
gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp
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@ -279,6 +279,14 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) {
values.insert(x3, pose3 * noise_pose); values.insert(x3, pose3 * noise_pose);
if (isDebugTest) if (isDebugTest)
values.at<Pose3>(x3).print("Smart: Pose3 before optimization: "); values.at<Pose3>(x3).print("Smart: Pose3 before optimization: ");
EXPECT(
assert_equal(
Pose3(
Rot3(0, -0.0314107591, 0.99950656, -0.99950656, -0.0313952598,
-0.000986635786, 0.0314107591, -0.999013364, -0.0313952598),
Point3(0.1, -0.1, 1.9)), values.at<Pose3>(x3)));
EXPECT_DOUBLES_EQUAL(1888864, graph.error(values), 1);
LevenbergMarquardtParams params; LevenbergMarquardtParams params;
if (isDebugTest) if (isDebugTest)
@ -293,8 +301,12 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) {
gttoc_(SmartStereoProjectionPoseFactor); gttoc_(SmartStereoProjectionPoseFactor);
tictoc_finishedIteration_(); tictoc_finishedIteration_();
// GaussianFactorGraph::shared_ptr GFG = graph.linearize(values); EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-6);
// VectorValues delta = GFG->optimize();
GaussianFactorGraph::shared_ptr GFG = graph.linearize(result);
VectorValues delta = GFG->optimize();
VectorValues expected = VectorValues::Zero(delta);
EXPECT(assert_equal(expected, delta,1e-6));
// result.print("results of 3 camera, 3 landmark optimization \n"); // result.print("results of 3 camera, 3 landmark optimization \n");
if (isDebugTest) if (isDebugTest)