184 lines
6.7 KiB
C++
184 lines
6.7 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* 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 testOrientedPlane3.cpp
|
|
* @date Dec 19, 2012
|
|
* @author Alex Trevor
|
|
* @brief Tests the OrientedPlane3Factor class
|
|
*/
|
|
|
|
#include <gtsam/slam/OrientedPlane3Factor.h>
|
|
#include <gtsam/slam/PriorFactor.h>
|
|
#include <gtsam/nonlinear/ISAM2.h>
|
|
#include <gtsam/inference/Symbol.h>
|
|
#include <gtsam/base/numericalDerivative.h>
|
|
|
|
#include <CppUnitLite/TestHarness.h>
|
|
#include <boost/bind.hpp>
|
|
#include <boost/foreach.hpp>
|
|
#include <boost/assign/std/vector.hpp>
|
|
|
|
using namespace boost::assign;
|
|
using namespace gtsam;
|
|
using namespace std;
|
|
|
|
GTSAM_CONCEPT_TESTABLE_INST(OrientedPlane3)
|
|
GTSAM_CONCEPT_MANIFOLD_INST(OrientedPlane3)
|
|
|
|
// *************************************************************************
|
|
TEST (OrientedPlane3Factor, lm_translation_error) {
|
|
// Tests one pose, two measurements of the landmark that differ in range only.
|
|
// Normal along -x, 3m away
|
|
Symbol lm_sym('p', 0);
|
|
OrientedPlane3 test_lm0(-1.0, 0.0, 0.0, 3.0);
|
|
|
|
ISAM2 isam2;
|
|
Values new_values;
|
|
NonlinearFactorGraph new_graph;
|
|
|
|
// Init pose and prior. Pose Prior is needed since a single plane measurement does not fully constrain the pose
|
|
Symbol init_sym('x', 0);
|
|
Pose3 init_pose(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0));
|
|
Vector sigmas(6);
|
|
sigmas << 0.001, 0.001, 0.001, 0.001, 0.001, 0.001;
|
|
PriorFactor<Pose3> pose_prior(init_sym, init_pose,
|
|
noiseModel::Diagonal::Sigmas(sigmas));
|
|
new_values.insert(init_sym, init_pose);
|
|
new_graph.add(pose_prior);
|
|
|
|
// Add two landmark measurements, differing in range
|
|
new_values.insert(lm_sym, test_lm0);
|
|
Vector sigmas3(3);
|
|
sigmas3 << 0.1, 0.1, 0.1;
|
|
Vector test_meas0_mean(4);
|
|
test_meas0_mean << -1.0, 0.0, 0.0, 3.0;
|
|
OrientedPlane3Factor test_meas0(test_meas0_mean,
|
|
noiseModel::Diagonal::Sigmas(sigmas3), init_sym, lm_sym);
|
|
new_graph.add(test_meas0);
|
|
Vector test_meas1_mean(4);
|
|
test_meas1_mean << -1.0, 0.0, 0.0, 1.0;
|
|
OrientedPlane3Factor test_meas1(test_meas1_mean,
|
|
noiseModel::Diagonal::Sigmas(sigmas3), init_sym, lm_sym);
|
|
new_graph.add(test_meas1);
|
|
|
|
// Optimize
|
|
ISAM2Result result = isam2.update(new_graph, new_values);
|
|
Values result_values = isam2.calculateEstimate();
|
|
OrientedPlane3 optimized_plane_landmark = result_values.at<OrientedPlane3>(
|
|
lm_sym);
|
|
|
|
// Given two noisy measurements of equal weight, expect result between the two
|
|
OrientedPlane3 expected_plane_landmark(-1.0, 0.0, 0.0, 2.0);
|
|
EXPECT(assert_equal(optimized_plane_landmark, expected_plane_landmark));
|
|
}
|
|
|
|
// *************************************************************************
|
|
TEST (OrientedPlane3Factor, lm_rotation_error) {
|
|
// Tests one pose, two measurements of the landmark that differ in angle only.
|
|
// Normal along -x, 3m away
|
|
Symbol lm_sym('p', 0);
|
|
OrientedPlane3 test_lm0(-1.0, 0.0, 0.0, 3.0);
|
|
|
|
ISAM2 isam2;
|
|
Values new_values;
|
|
NonlinearFactorGraph new_graph;
|
|
|
|
// Init pose and prior. Pose Prior is needed since a single plane measurement does not fully constrain the pose
|
|
Symbol init_sym('x', 0);
|
|
Pose3 init_pose(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0));
|
|
PriorFactor<Pose3> pose_prior(init_sym, init_pose,
|
|
noiseModel::Diagonal::Sigmas(
|
|
(Vector(6) << 0.001, 0.001, 0.001, 0.001, 0.001, 0.001).finished()));
|
|
new_values.insert(init_sym, init_pose);
|
|
new_graph.add(pose_prior);
|
|
|
|
// // Add two landmark measurements, differing in angle
|
|
new_values.insert(lm_sym, test_lm0);
|
|
Vector test_meas0_mean(4);
|
|
test_meas0_mean << -1.0, 0.0, 0.0, 3.0;
|
|
OrientedPlane3Factor test_meas0(test_meas0_mean,
|
|
noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.1, 0.1)), init_sym, lm_sym);
|
|
new_graph.add(test_meas0);
|
|
Vector test_meas1_mean(4);
|
|
test_meas1_mean << 0.0, -1.0, 0.0, 3.0;
|
|
OrientedPlane3Factor test_meas1(test_meas1_mean,
|
|
noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.1, 0.1)), init_sym, lm_sym);
|
|
new_graph.add(test_meas1);
|
|
|
|
// Optimize
|
|
ISAM2Result result = isam2.update(new_graph, new_values);
|
|
Values result_values = isam2.calculateEstimate();
|
|
OrientedPlane3 optimized_plane_landmark = result_values.at<OrientedPlane3>(
|
|
lm_sym);
|
|
|
|
// Given two noisy measurements of equal weight, expect result between the two
|
|
OrientedPlane3 expected_plane_landmark(-sqrt(2.0) / 2.0, -sqrt(2.0) / 2.0,
|
|
0.0, 3.0);
|
|
EXPECT(assert_equal(optimized_plane_landmark, expected_plane_landmark));
|
|
}
|
|
|
|
// *************************************************************************
|
|
TEST( OrientedPlane3DirectionPrior, Constructor ) {
|
|
|
|
// Example: pitch and roll of aircraft in an ENU Cartesian frame.
|
|
// If pitch and roll are zero for an aerospace frame,
|
|
// that means Z is pointing down, i.e., direction of Z = (0,0,-1)
|
|
|
|
Vector planeOrientation = (Vector(4) << 0.0, 0.0, -1.0, 10.0).finished(); // all vertical planes directly facing the origin
|
|
|
|
// Factor
|
|
Key key(1);
|
|
SharedGaussian model = noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.1, 10.0));
|
|
OrientedPlane3DirectionPrior factor(key, planeOrientation, model);
|
|
|
|
// Create a linearization point at the zero-error point
|
|
Vector theta1 = Vector4(0.0, 0.02, -1.2, 10.0);
|
|
Vector theta2 = Vector4(0.0, 0.1, -0.8, 10.0);
|
|
Vector theta3 = Vector4(0.0, 0.2, -0.9, 10.0);
|
|
|
|
OrientedPlane3 T1(theta1);
|
|
OrientedPlane3 T2(theta2);
|
|
OrientedPlane3 T3(theta3);
|
|
|
|
// Calculate numerical derivatives
|
|
Matrix expectedH1 = numericalDerivative11<Vector, OrientedPlane3>(
|
|
boost::bind(&OrientedPlane3DirectionPrior::evaluateError, &factor, _1,
|
|
boost::none), T1);
|
|
|
|
Matrix expectedH2 = numericalDerivative11<Vector, OrientedPlane3>(
|
|
boost::bind(&OrientedPlane3DirectionPrior::evaluateError, &factor, _1,
|
|
boost::none), T2);
|
|
|
|
Matrix expectedH3 = numericalDerivative11<Vector, OrientedPlane3>(
|
|
boost::bind(&OrientedPlane3DirectionPrior::evaluateError, &factor, _1,
|
|
boost::none), T3);
|
|
|
|
// Use the factor to calculate the derivative
|
|
Matrix actualH1, actualH2, actualH3;
|
|
factor.evaluateError(T1, actualH1);
|
|
factor.evaluateError(T2, actualH2);
|
|
factor.evaluateError(T3, actualH3);
|
|
|
|
// Verify we get the expected error
|
|
EXPECT(assert_equal(expectedH1, actualH1, 1e-8));
|
|
EXPECT(assert_equal(expectedH2, actualH2, 1e-8));
|
|
EXPECT(assert_equal(expectedH3, actualH3, 1e-8));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
int main() {
|
|
srand(time(NULL));
|
|
TestResult tr;
|
|
return TestRegistry::runAllTests(tr);
|
|
}
|
|
/* ************************************************************************* */
|