110 lines
3.9 KiB
C++
110 lines
3.9 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**********************************************************
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Written by Frank Dellaert, Nov 2009
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**********************************************************/
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#include <gtsam/CppUnitLite/TestHarness.h>
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#define GTSAM_MAGIC_KEY
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#include <gtsam/slam/visualSLAM.h>
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#include <gtsam/geometry/Point3.h>
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#include <gtsam/geometry/Pose3.h>
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using namespace std;
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using namespace gtsam;
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using namespace gtsam::visualSLAM;
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// make cube
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static Point3
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x000(-1, -1, -1), x001(-1, -1, +1), x010(-1, +1, -1), x011(-1, +1, +1),
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x100(-1, -1, -1), x101(-1, -1, +1), x110(-1, +1, -1), x111(-1, +1, +1);
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// make a realistic calibration matrix
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static double fov = 60; // degrees
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static size_t w=640,h=480;
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static Cal3_S2 K(fov,w,h);
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static SharedGaussian sigma(noiseModel::Unit::Create(1));
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static shared_ptrK sK(new Cal3_S2(K));
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// make cameras
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/* ************************************************************************* */
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TEST( ProjectionFactor, error )
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{
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// Create the factor with a measurement that is 3 pixels off in x
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Point2 z(323.,240.);
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int cameraFrameNumber=1, landmarkNumber=1;
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boost::shared_ptr<ProjectionFactor>
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factor(new ProjectionFactor(z, sigma, cameraFrameNumber, landmarkNumber, sK));
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// For the following values structure, the factor predicts 320,240
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Values config;
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Rot3 R;Point3 t1(0,0,-6); Pose3 x1(R,t1); config.insert(1, x1);
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Point3 l1; config.insert(1, l1);
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// Point should project to Point2(320.,240.)
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CHECK(assert_equal(Vector_(2, -3.0, 0.0), factor->unwhitenedError(config)));
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// Which yields an error of 3^2/2 = 4.5
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DOUBLES_EQUAL(4.5,factor->error(config),1e-9);
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// Check linearize
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Ordering ordering; ordering += "x1","l1";
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Matrix Ax1 = Matrix_(2, 6, 0., -369.504, 0., -61.584, 0., 0., 369.504, 0., 0., 0., -61.584, 0.);
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Matrix Al1 = Matrix_(2, 3, 61.584, 0., 0., 0., 61.584, 0.);
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Vector b = Vector_(2,3.,0.);
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SharedDiagonal probModel1 = noiseModel::Unit::Create(2);
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GaussianFactor expected(ordering["x1"], Ax1, ordering["l1"], Al1, b, probModel1);
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GaussianFactor::shared_ptr actual = factor->linearize(config, ordering);
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CHECK(assert_equal(expected,*actual,1e-3));
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// linearize graph
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Graph graph;
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graph.push_back(factor);
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GaussianFactorGraph expected_lfg;
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expected_lfg.push_back(actual);
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boost::shared_ptr<GaussianFactorGraph> actual_lfg = graph.linearize(config, ordering);
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CHECK(assert_equal(expected_lfg,*actual_lfg));
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// expmap on a config
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Values expected_config;
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Point3 t2(1,1,-5); Pose3 x2(R,t2); expected_config.insert(1, x2);
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Point3 l2(1,2,3); expected_config.insert(1, l2);
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VectorValues delta(expected_config.dims(ordering));
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delta[ordering["x1"]] = Vector_(6, 0.,0.,0., 1.,1.,1.);
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delta[ordering["l1"]] = Vector_(3, 1.,2.,3.);
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Values actual_config = config.expmap(delta, ordering);
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CHECK(assert_equal(expected_config,actual_config,1e-9));
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}
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/* ************************************************************************* */
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TEST( ProjectionFactor, equals )
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{
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// Create two identical factors and make sure they're equal
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Vector z = Vector_(2,323.,240.);
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int cameraFrameNumber=1, landmarkNumber=1;
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boost::shared_ptr<ProjectionFactor>
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factor1(new ProjectionFactor(z, sigma, cameraFrameNumber, landmarkNumber, sK));
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boost::shared_ptr<ProjectionFactor>
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factor2(new ProjectionFactor(z, sigma, cameraFrameNumber, landmarkNumber, sK));
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CHECK(assert_equal(*factor1, *factor2));
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
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/* ************************************************************************* */
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