87 lines
2.7 KiB
C++
87 lines
2.7 KiB
C++
/**
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* @file testPoseToPointFactor.cpp
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* @brief
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* @author David Wisth
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* @date June 20, 2020
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*/
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <gtsam_unstable/slam/PoseToPointFactor.h>
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using namespace gtsam;
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using namespace gtsam::noiseModel;
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/// Verify zero error when there is no noise
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TEST(PoseToPointFactor, errorNoiseless) {
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Pose3 pose = Pose3::identity();
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Point3 point(1.0, 2.0, 3.0);
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Point3 noise(0.0, 0.0, 0.0);
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Point3 measured = t + noise;
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Key pose_key(1);
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Key point_key(2);
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PoseToPointFactor factor(pose_key, point_key, measured,
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Isotropic::Sigma(3, 0.05));
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Vector expectedError = Vector3(0.0, 0.0, 0.0);
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Vector actualError = factor.evaluateError(pose, point);
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EXPECT(assert_equal(expectedError, actualError, 1E-5));
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}
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/// Verify expected error in test scenario
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TEST(PoseToPointFactor, errorNoise) {
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Pose3 pose = Pose3::identity();
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Point3 point(1.0, 2.0, 3.0);
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Point3 noise(-1.0, 0.5, 0.3);
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Point3 measured = t + noise;
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Key pose_key(1);
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Key point_key(2);
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PoseToPointFactor factor(pose_key, point_key, measured,
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Isotropic::Sigma(3, 0.05));
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Vector expectedError = noise;
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Vector actualError = factor.evaluateError(pose, point);
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EXPECT(assert_equal(expectedError, actualError, 1E-5));
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}
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/// Check Jacobians are correct
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TEST(PoseToPointFactor, jacobian) {
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// Measurement
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gtsam::Point3 l_meas = gtsam::Point3(1, 2, 3);
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// Linearisation point
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gtsam::Point3 p_t = gtsam::Point3(-5, 12, 2);
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gtsam::Rot3 p_R = gtsam::Rot3::RzRyRx(1.5 * M_PI, -0.3 * M_PI, 0.4 * M_PI);
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Pose3 p(p_R, p_t);
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gtsam::Point3 l = gtsam::Point3(3, 0, 5);
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// Factor
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Key pose_key(1);
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Key point_key(2);
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SharedGaussian noise = noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.1, 0.1));
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PoseToPointFactor factor(pose_key, point_key, l_meas, noise);
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// Calculate numerical derivatives
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auto f = std::bind(&PoseToPointFactor::evaluateError, factor, _1, _2,
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boost::none, boost::none);
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Matrix numerical_H1 = numericalDerivative21<Vector, Pose3, Point3>(f, p, l);
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Matrix numerical_H2 = numericalDerivative22<Vector, Pose3, Point3>(f, p, l);
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// Use the factor to calculate the derivative
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Matrix actual_H1;
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Matrix actual_H2;
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factor.evaluateError(p, l, actual_H1, actual_H2);
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// Verify we get the expected error
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EXPECT_TRUE(assert_equal(numerical_H1, actual_H1, 1e-8));
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EXPECT_TRUE(assert_equal(numerical_H2, actual_H2, 1e-8));
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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