124 lines
3.9 KiB
C++
124 lines
3.9 KiB
C++
/**
|
|
* @file testVSLAMGraph.cpp
|
|
* @brief Unit test for two cameras and four landmarks
|
|
* single camera
|
|
* @author Chris Beall
|
|
* @author Frank Dellaert
|
|
* @author Viorela Ila
|
|
*/
|
|
|
|
#include <CppUnitLite/TestHarness.h>
|
|
|
|
#include "VSLAMGraph.h"
|
|
#include "NonlinearFactorGraph-inl.h"
|
|
#include "NonlinearOptimizer-inl.h"
|
|
|
|
using namespace std;
|
|
using namespace gtsam;
|
|
typedef NonlinearOptimizer<VSLAMGraph,VSLAMConfig> Optimizer;
|
|
|
|
/* ************************************************************************* */
|
|
Point3 landmark1_local(-1.0,-1.0, 0.0);
|
|
Point3 landmark2_local(-1.0, 1.0, 0.0);
|
|
Point3 landmark3_local( 1.0, 1.0, 0.0);
|
|
Point3 landmark4_local( 1.0,-1.0, 0.0);
|
|
|
|
Pose3 camera1_local(Matrix_(3,3,
|
|
1., 0., 0.,
|
|
0.,-1., 0.,
|
|
0., 0.,-1.
|
|
),
|
|
Point3(0,0,6.25));
|
|
|
|
Pose3 camera2_local(Matrix_(3,3,
|
|
1., 0., 0.,
|
|
0.,-1., 0.,
|
|
0., 0.,-1.
|
|
),
|
|
Point3(0,0,5.00));
|
|
|
|
Point3 landmark1() { return landmark1_local;}
|
|
Point3 landmark2() { return landmark2_local;}
|
|
Point3 landmark3() { return landmark3_local;}
|
|
Point3 landmark4() { return landmark4_local;}
|
|
|
|
Pose3 camera1() { return camera1_local;}
|
|
Pose3 camera2() { return camera2_local;}
|
|
|
|
|
|
/* ************************************************************************* */
|
|
VSLAMGraph testGraph() {
|
|
Point2 z11(-100, 100);
|
|
Point2 z12(-100, -100);
|
|
Point2 z13(100, -100);
|
|
Point2 z14(100, 100);
|
|
Point2 z21(-125, 125);
|
|
Point2 z22(-125, -125);
|
|
Point2 z23(125, -125);
|
|
Point2 z24(125, 125);
|
|
|
|
double sigma = 1;
|
|
Cal3_S2 K(625, 625, 0, 0, 0);
|
|
VSLAMGraph g;
|
|
g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z11.vector(), sigma, 1, 1, K)));
|
|
g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z12.vector(), sigma, 1, 2, K)));
|
|
g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z13.vector(), sigma, 1, 3, K)));
|
|
g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z14.vector(), sigma, 1, 4, K)));
|
|
g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z21.vector(), sigma, 2, 1, K)));
|
|
g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z22.vector(), sigma, 2, 2, K)));
|
|
g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z23.vector(), sigma, 2, 3, K)));
|
|
g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z24.vector(), sigma, 2, 4, K)));
|
|
|
|
return g;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( VSLAMGraph, optimizeLM)
|
|
{
|
|
// build a graph
|
|
VSLAMGraph graph = testGraph();
|
|
|
|
// Create a configuration corresponding to the ground truth
|
|
VSLAMConfig groundTruth;
|
|
groundTruth.addCameraPose(1, camera1());
|
|
groundTruth.addCameraPose(2, camera2());
|
|
groundTruth.addLandmarkPoint(1, landmark1());
|
|
groundTruth.addLandmarkPoint(2, landmark2());
|
|
groundTruth.addLandmarkPoint(3, landmark3());
|
|
groundTruth.addLandmarkPoint(4, landmark4());
|
|
|
|
// Create an ordering of the variables
|
|
list<string> keys;
|
|
keys.push_back("l1");
|
|
keys.push_back("l2");
|
|
keys.push_back("l3");
|
|
keys.push_back("l4");
|
|
keys.push_back("x1");
|
|
keys.push_back("x2");
|
|
Ordering ordering(keys);
|
|
|
|
// optimize it
|
|
double relativeErrorTreshold=1e-6, absoluteErrorTreshold=1.0;
|
|
int verbosity=0;
|
|
|
|
Optimizer::shared_config initialConfig(new VSLAMConfig(groundTruth));
|
|
Optimizer optimizer(graph, ordering, initialConfig, 1e-5);
|
|
|
|
// We expect the initial to be zero because config is the ground truth
|
|
DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9);
|
|
|
|
// Iterate once, and the config should not have changed because we started
|
|
// with the ground truth
|
|
Optimizer afterOneIteration = optimizer.iterate();
|
|
DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9);
|
|
|
|
//afterOneIteration.config()->print();
|
|
|
|
// check if correct
|
|
CHECK(groundTruth.equals(*(afterOneIteration.config())) );
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
int main() { TestResult tr; TestRegistry::runAllTests(tr); return 0;}
|
|
/* ************************************************************************* */
|