203 lines
6.6 KiB
C++
203 lines
6.6 KiB
C++
/**
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* @file testPose2Graph.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 <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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#include "NonlinearOptimizer-inl.h"
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#include "FactorGraph-inl.h"
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#include "Ordering.h"
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#include "pose2SLAM.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 double sx=0.5, sy=0.5,st=0.1;
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static Matrix covariance = Matrix_(3,3,
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sx*sx, 0.0, 0.0,
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0.0, sy*sy, 0.0,
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0.0, 0.0, st*st
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);
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/* ************************************************************************* */
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TEST( Pose2Graph, constructor )
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{
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// create a factor between unknown poses p1 and p2
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Pose2 measured(2,2,M_PI_2);
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Pose2Factor constraint(1,2,measured, covariance);
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Pose2Graph graph;
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graph.add(1,2,measured, covariance);
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// get the size of the graph
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size_t actual = graph.size();
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// verify
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size_t expected = 1;
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CHECK(actual == expected);
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}
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/* ************************************************************************* */
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TEST( Pose2Graph, linerization )
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{
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// create a factor between unknown poses p1 and p2
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Pose2 measured(2,2,M_PI_2);
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Pose2Factor constraint(1,2,measured, covariance);
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Pose2Graph graph;
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graph.add(1,2,measured, covariance);
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// Choose a linearization point
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Pose2 p1(1.1,2,M_PI_2); // robot at (1.1,2) looking towards y (ground truth is at 1,2, see testPose2)
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Pose2 p2(-1,4.1,M_PI); // robot at (-1,4) looking at negative (ground truth is at 4.1,2)
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Pose2Config config;
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config.insert(1,p1);
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config.insert(2,p2);
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// Linearize
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GaussianFactorGraph lfg_linearized = graph.linearize(config);
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//lfg_linearized.print("lfg_actual");
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// the expected linear factor
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GaussianFactorGraph lfg_expected;
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Matrix A1 = Matrix_(3,3,
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0.0,-2.0, -4.2,
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2.0, 0.0, -4.2,
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0.0, 0.0,-10.0);
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Matrix A2 = Matrix_(3,3,
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2.0, 0.0, 0.0,
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0.0, 2.0, 0.0,
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0.0, 0.0, 10.0);
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double sigma = 1;
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Vector b = Vector_(3,-0.1/sx,0.1/sy,0.0);
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lfg_expected.add("x1", A1, "x2", A2, b, sigma);
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CHECK(assert_equal(lfg_expected, lfg_linearized));
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}
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/* ************************************************************************* */
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TEST(Pose2Graph, optimize) {
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// create a Pose graph with one equality constraint and one measurement
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shared_ptr<Pose2Graph> fg(new Pose2Graph);
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fg->addConstraint(0, Pose2(0,0,0));
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fg->add(0, 1, Pose2(1,2,M_PI_2), covariance);
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// Create initial config
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boost::shared_ptr<Pose2Config> initial(new Pose2Config());
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initial->insert(0, Pose2(0,0,0));
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initial->insert(1, Pose2(0,0,0));
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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";
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typedef NonlinearOptimizer<Pose2Graph, Pose2Config> Optimizer;
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Optimizer optimizer0(fg, ordering, initial);
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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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// Check with expected config
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Pose2Config expected;
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expected.insert(0, Pose2(0,0,0));
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expected.insert(1, Pose2(1,2,M_PI_2));
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CHECK(assert_equal(expected, *optimizer.config()));
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}
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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(Pose2Graph, optimizeCircle) {
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// Create a hexagon of poses
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Pose2Config hexagon = pose2SLAM::circle(6,1.0);
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Pose2 p0 = hexagon[0], p1 = hexagon[1];
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// create a Pose graph with one equality constraint and one measurement
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shared_ptr<Pose2Graph> fg(new Pose2Graph);
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fg->addConstraint(0, p0);
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Pose2 delta = between(p0,p1);
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fg->add(0, 1, delta, covariance);
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fg->add(1,2, delta, covariance);
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fg->add(2,3, delta, covariance);
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fg->add(3,4, delta, covariance);
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fg->add(4,5, delta, covariance);
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fg->add(5, 0, delta, covariance);
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// Create initial config
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boost::shared_ptr<Pose2Config> initial(new Pose2Config());
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initial->insert(0, p0);
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initial->insert(1, expmap(hexagon[1],Vector_(3,-0.1, 0.1,-0.1)));
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initial->insert(2, expmap(hexagon[2],Vector_(3, 0.1,-0.1, 0.1)));
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initial->insert(3, expmap(hexagon[3],Vector_(3,-0.1, 0.1,-0.1)));
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initial->insert(4, expmap(hexagon[4],Vector_(3, 0.1,-0.1, 0.1)));
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initial->insert(5, expmap(hexagon[5],Vector_(3,-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<Pose2Graph, Pose2Config> Optimizer;
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Optimizer optimizer0(fg, ordering, initial);
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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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Pose2Config actual = *optimizer.config();
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// Check with ground truth
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CHECK(assert_equal(hexagon, actual));
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// Check loop closure
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CHECK(assert_equal(delta,between(actual[5],actual[0])));
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}
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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(Pose2Graph, findMinimumSpanningTree) {
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typedef Pose2Config::Key Key;
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Pose2Graph G, T, C;
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Matrix cov = eye(3);
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G.push_back(Pose2Graph::sharedFactor(new Pose2Factor(Key(1), Key(2), Pose2(0.,0.,0.), cov)));
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G.push_back(Pose2Graph::sharedFactor(new Pose2Factor(Key(1), Key(3), Pose2(0.,0.,0.), cov)));
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G.push_back(Pose2Graph::sharedFactor(new Pose2Factor(Key(2), Key(3), Pose2(0.,0.,0.), cov)));
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PredecessorMap<Key> tree = G.findMinimumSpanningTree<Key, Pose2Factor>();
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CHECK(tree[Key(1)] == Key(1));
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CHECK(tree[Key(2)] == Key(1));
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CHECK(tree[Key(3)] == Key(1));
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}
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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(Pose2Graph, split) {
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typedef Pose2Config::Key Key;
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Pose2Graph G, T, C;
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Matrix cov = eye(3);
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G.push_back(Pose2Graph::sharedFactor(new Pose2Factor(Key(1), Key(2), Pose2(0.,0.,0.), cov)));
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G.push_back(Pose2Graph::sharedFactor(new Pose2Factor(Key(1), Key(3), Pose2(0.,0.,0.), cov)));
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G.push_back(Pose2Graph::sharedFactor(new Pose2Factor(Key(2), Key(3), Pose2(0.,0.,0.), cov)));
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PredecessorMap<Key> tree;
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tree.insert(Key(1),Key(2));
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tree.insert(Key(2),Key(2));
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tree.insert(Key(3),Key(2));
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G.split<Key, Pose2Factor>(tree, T, C);
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LONGS_EQUAL(2, T.size());
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LONGS_EQUAL(1, C.size());
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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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