85 lines
2.9 KiB
C++
85 lines
2.9 KiB
C++
/**
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* @file testPose3Graph.cpp
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* @authors Frank Dellaert, Viorela Ila
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**/
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#include <iostream>
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#include <iostream>
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#include <boost/shared_ptr.hpp>
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#include <boost/assign/std/list.hpp>
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using namespace boost;
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using namespace boost::assign;
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#include <CppUnitLite/TestHarness.h>
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// TODO: DANGEROUS, create shared pointers
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#define GTSAM_MAGIC_GAUSSIAN 6
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#define GTSAM_MAGIC_KEY
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#include "pose3SLAM.h"
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#include "Ordering.h"
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using namespace std;
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using namespace gtsam;
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// common measurement covariance
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static Matrix covariance = eye(6);
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/* ************************************************************************* */
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// test optimization with 6 poses arranged in a hexagon and a loop closure
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TEST(Pose3Graph, optimizeCircle) {
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// Create a hexagon of poses
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double radius = 10;
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Pose3Config hexagon = pose3SLAM::circle(6,radius);
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Pose3 gT0 = hexagon[0], gT1 = hexagon[1];
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// create a Pose graph with one equality constraint and one measurement
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shared_ptr<Pose3Graph> fg(new Pose3Graph);
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fg->addHardConstraint(0, gT0);
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Pose3 _0T1 = between(gT0,gT1); // inv(gT0)*gT1
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double theta = M_PI/3.0;
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CHECK(assert_equal(Pose3(Rot3::yaw(-theta),Point3(radius*sin(theta),-radius*cos(theta),0)),_0T1));
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fg->addConstraint(0,1, _0T1, covariance);
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fg->addConstraint(1,2, _0T1, covariance);
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fg->addConstraint(2,3, _0T1, covariance);
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fg->addConstraint(3,4, _0T1, covariance);
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fg->addConstraint(4,5, _0T1, covariance);
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fg->addConstraint(5,0, _0T1, covariance);
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// Create initial config
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boost::shared_ptr<Pose3Config> initial(new Pose3Config());
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initial->insert(0, gT0);
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initial->insert(1, expmap(hexagon[1],Vector_(6,-0.1, 0.1,-0.1,-0.1, 0.1,-0.1)));
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initial->insert(2, expmap(hexagon[2],Vector_(6, 0.1,-0.1, 0.1, 0.1,-0.1, 0.1)));
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initial->insert(3, expmap(hexagon[3],Vector_(6,-0.1, 0.1,-0.1,-0.1, 0.1,-0.1)));
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initial->insert(4, expmap(hexagon[4],Vector_(6, 0.1,-0.1, 0.1, 0.1,-0.1, 0.1)));
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initial->insert(5, expmap(hexagon[5],Vector_(6,-0.1, 0.1,-0.1,-0.1, 0.1,-0.1)));
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// Choose an ordering and optimize
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shared_ptr<Ordering> ordering(new Ordering);
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*ordering += "x0","x1","x2","x3","x4","x5";
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typedef NonlinearOptimizer<Pose3Graph, Pose3Config> Optimizer;
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Optimizer::shared_solver solver(new Optimizer::solver(ordering));
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Optimizer optimizer0(fg, initial, solver);
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Optimizer::verbosityLevel verbosity = Optimizer::SILENT;
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// Optimizer::verbosityLevel verbosity = Optimizer::ERROR;
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Optimizer optimizer = optimizer0.levenbergMarquardt(1e-15, 1e-15, verbosity);
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Pose3Config actual = *optimizer.config();
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// Check with ground truth
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CHECK(assert_equal(hexagon, actual,1e-4));
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// Check loop closure
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CHECK(assert_equal(_0T1,between(actual[5],actual[0]),1e-5));
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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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