405 lines
14 KiB
C++
405 lines
14 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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* @file testRangeFactor.cpp
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* @brief Unit tests for RangeFactor Class
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* @author Stephen Williams
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* @date Oct 2012
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*/
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#include <gtsam/sam/RangeFactor.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/geometry/Pose2.h>
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#include <gtsam/geometry/PinholeCamera.h>
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#include <gtsam/geometry/Cal3_S2.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <gtsam/base/serializationTestHelpers.h>
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#include <gtsam/base/TestableAssertions.h>
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#include <CppUnitLite/TestHarness.h>
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#include <boost/bind.hpp>
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using namespace std;
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using namespace gtsam;
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// Create a noise model for the pixel error
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static SharedNoiseModel model(noiseModel::Unit::Create(1));
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typedef RangeFactor<Pose2, Point2> RangeFactor2D;
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typedef RangeFactor<Pose3, Point3> RangeFactor3D;
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typedef RangeFactorWithTransform<Pose2, Point2> RangeFactorWithTransform2D;
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typedef RangeFactorWithTransform<Pose3, Point3> RangeFactorWithTransform3D;
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// Keys are deliberately *not* in sorted order to test that case.
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Key poseKey(2);
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Key pointKey(1);
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double measurement(10.0);
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/* ************************************************************************* */
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Vector factorError2D(const Pose2& pose, const Point2& point,
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const RangeFactor2D& factor) {
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return factor.evaluateError(pose, point);
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}
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/* ************************************************************************* */
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Vector factorError3D(const Pose3& pose, const Point3& point,
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const RangeFactor3D& factor) {
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return factor.evaluateError(pose, point);
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}
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/* ************************************************************************* */
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Vector factorErrorWithTransform2D(const Pose2& pose, const Point2& point,
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const RangeFactorWithTransform2D& factor) {
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return factor.evaluateError(pose, point);
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}
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/* ************************************************************************* */
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Vector factorErrorWithTransform3D(const Pose3& pose, const Point3& point,
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const RangeFactorWithTransform3D& factor) {
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return factor.evaluateError(pose, point);
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}
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/* ************************************************************************* */
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TEST( RangeFactor, Constructor) {
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RangeFactor2D factor2D(poseKey, pointKey, measurement, model);
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RangeFactor3D factor3D(poseKey, pointKey, measurement, model);
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}
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/* ************************************************************************* */
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// Export Noisemodels
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// See http://www.boost.org/doc/libs/1_32_0/libs/serialization/doc/special.html
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BOOST_CLASS_EXPORT(gtsam::noiseModel::Unit);
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/* ************************************************************************* */
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TEST(RangeFactor, Serialization2D) {
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RangeFactor2D factor2D(poseKey, pointKey, measurement, model);
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EXPECT(serializationTestHelpers::equalsObj(factor2D));
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EXPECT(serializationTestHelpers::equalsXML(factor2D));
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EXPECT(serializationTestHelpers::equalsBinary(factor2D));
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}
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/* ************************************************************************* */
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TEST(RangeFactor, Serialization3D) {
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RangeFactor3D factor3D(poseKey, pointKey, measurement, model);
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EXPECT(serializationTestHelpers::equalsObj(factor3D));
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EXPECT(serializationTestHelpers::equalsXML(factor3D));
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EXPECT(serializationTestHelpers::equalsBinary(factor3D));
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}
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/* ************************************************************************* */
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TEST( RangeFactor, ConstructorWithTransform) {
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Pose2 body_P_sensor_2D(0.25, -0.10, -M_PI_2);
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Pose3 body_P_sensor_3D(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2),
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Point3(0.25, -0.10, 1.0));
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RangeFactorWithTransform2D factor2D(poseKey, pointKey, measurement, model,
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body_P_sensor_2D);
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KeyVector expected {2, 1};
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CHECK(factor2D.keys() == expected);
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RangeFactorWithTransform3D factor3D(poseKey, pointKey, measurement, model,
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body_P_sensor_3D);
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CHECK(factor3D.keys() == expected);
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}
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/* ************************************************************************* */
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TEST( RangeFactor, Equals ) {
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// Create two identical factors and make sure they're equal
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RangeFactor2D factor2D_1(poseKey, pointKey, measurement, model);
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RangeFactor2D factor2D_2(poseKey, pointKey, measurement, model);
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CHECK(assert_equal(factor2D_1, factor2D_2));
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RangeFactor3D factor3D_1(poseKey, pointKey, measurement, model);
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RangeFactor3D factor3D_2(poseKey, pointKey, measurement, model);
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CHECK(assert_equal(factor3D_1, factor3D_2));
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}
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/* ************************************************************************* */
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TEST( RangeFactor, EqualsWithTransform ) {
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// Create two identical factors and make sure they're equal
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Pose2 body_P_sensor_2D(0.25, -0.10, -M_PI_2);
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Pose3 body_P_sensor_3D(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2),
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Point3(0.25, -0.10, 1.0));
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RangeFactorWithTransform2D factor2D_1(poseKey, pointKey, measurement, model,
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body_P_sensor_2D);
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RangeFactorWithTransform2D factor2D_2(poseKey, pointKey, measurement, model,
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body_P_sensor_2D);
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CHECK(assert_equal(factor2D_1, factor2D_2));
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RangeFactorWithTransform3D factor3D_1(poseKey, pointKey, measurement, model,
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body_P_sensor_3D);
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RangeFactorWithTransform3D factor3D_2(poseKey, pointKey, measurement, model,
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body_P_sensor_3D);
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CHECK(assert_equal(factor3D_1, factor3D_2));
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}
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/* ************************************************************************* */
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TEST( RangeFactor, Error2D ) {
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// Create a factor
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RangeFactor2D factor(poseKey, pointKey, measurement, model);
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// Set the linearization point
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Pose2 pose(1.0, 2.0, 0.57);
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Point2 point(-4.0, 11.0);
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// Use the factor to calculate the error
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Vector actualError(factor.evaluateError(pose, point));
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// The expected error is ||(5.0, 9.0)|| - 10.0 = 0.295630141 meter / UnitCovariance
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Vector expectedError = (Vector(1) << 0.295630141).finished();
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// Verify we get the expected error
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CHECK(assert_equal(expectedError, actualError, 1e-9));
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}
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/* ************************************************************************* */
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TEST( RangeFactor, Error2DWithTransform ) {
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// Create a factor
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Pose2 body_P_sensor(0.25, -0.10, -M_PI_2);
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RangeFactorWithTransform2D factor(poseKey, pointKey, measurement, model,
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body_P_sensor);
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// Set the linearization point
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Rot2 R(0.57);
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Point2 t = Point2(1.0, 2.0) - R.rotate(body_P_sensor.translation());
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Pose2 pose(R, t);
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Point2 point(-4.0, 11.0);
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// Use the factor to calculate the error
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Vector actualError(factor.evaluateError(pose, point));
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// The expected error is ||(5.0, 9.0)|| - 10.0 = 0.295630141 meter / UnitCovariance
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Vector expectedError = (Vector(1) << 0.295630141).finished();
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// Verify we get the expected error
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CHECK(assert_equal(expectedError, actualError, 1e-9));
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}
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/* ************************************************************************* */
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TEST( RangeFactor, Error3D ) {
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// Create a factor
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RangeFactor3D factor(poseKey, pointKey, measurement, model);
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// Set the linearization point
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Pose3 pose(Rot3::RzRyRx(0.2, -0.3, 1.75), Point3(1.0, 2.0, -3.0));
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Point3 point(-2.0, 11.0, 1.0);
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// Use the factor to calculate the error
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Vector actualError(factor.evaluateError(pose, point));
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// The expected error is ||(3.0, 9.0, 4.0)|| - 10.0 = 0.295630141 meter / UnitCovariance
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Vector expectedError = (Vector(1) << 0.295630141).finished();
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// Verify we get the expected error
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CHECK(assert_equal(expectedError, actualError, 1e-9));
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}
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/* ************************************************************************* */
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TEST( RangeFactor, Error3DWithTransform ) {
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// Create a factor
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Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2),
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Point3(0.25, -0.10, 1.0));
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RangeFactorWithTransform3D factor(poseKey, pointKey, measurement, model,
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body_P_sensor);
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// Set the linearization point
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Rot3 R = Rot3::RzRyRx(0.2, -0.3, 1.75);
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Point3 t = Point3(1.0, 2.0, -3.0) - R.rotate(body_P_sensor.translation());
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Pose3 pose(R, t);
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Point3 point(-2.0, 11.0, 1.0);
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// Use the factor to calculate the error
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Vector actualError(factor.evaluateError(pose, point));
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// The expected error is ||(3.0, 9.0, 4.0)|| - 10.0 = 0.295630141 meter / UnitCovariance
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Vector expectedError = (Vector(1) << 0.295630141).finished();
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// Verify we get the expected error
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CHECK(assert_equal(expectedError, actualError, 1e-9));
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}
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/* ************************************************************************* */
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TEST( RangeFactor, Jacobian2D ) {
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// Create a factor
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RangeFactor2D factor(poseKey, pointKey, measurement, model);
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// Set the linearization point
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Pose2 pose(1.0, 2.0, 0.57);
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Point2 point(-4.0, 11.0);
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// Use the factor to calculate the Jacobians
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Matrix H1Actual, H2Actual;
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factor.evaluateError(pose, point, H1Actual, H2Actual);
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// Use numerical derivatives to calculate the Jacobians
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Matrix H1Expected, H2Expected;
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H1Expected = numericalDerivative11<Vector, Pose2>(
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boost::bind(&factorError2D, _1, point, factor), pose);
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H2Expected = numericalDerivative11<Vector, Point2>(
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boost::bind(&factorError2D, pose, _1, factor), point);
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// Verify the Jacobians are correct
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CHECK(assert_equal(H1Expected, H1Actual, 1e-9));
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CHECK(assert_equal(H2Expected, H2Actual, 1e-9));
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}
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/* ************************************************************************* */
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TEST( RangeFactor, Jacobian2DWithTransform ) {
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// Create a factor
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Pose2 body_P_sensor(0.25, -0.10, -M_PI_2);
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RangeFactorWithTransform2D factor(poseKey, pointKey, measurement, model,
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body_P_sensor);
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// Set the linearization point
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Rot2 R(0.57);
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Point2 t = Point2(1.0, 2.0) - R.rotate(body_P_sensor.translation());
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Pose2 pose(R, t);
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Point2 point(-4.0, 11.0);
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// Use the factor to calculate the Jacobians
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Matrix H1Actual, H2Actual;
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factor.evaluateError(pose, point, H1Actual, H2Actual);
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// Use numerical derivatives to calculate the Jacobians
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Matrix H1Expected, H2Expected;
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H1Expected = numericalDerivative11<Vector, Pose2>(
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boost::bind(&factorErrorWithTransform2D, _1, point, factor), pose);
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H2Expected = numericalDerivative11<Vector, Point2>(
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boost::bind(&factorErrorWithTransform2D, pose, _1, factor), point);
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// Verify the Jacobians are correct
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CHECK(assert_equal(H1Expected, H1Actual, 1e-9));
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CHECK(assert_equal(H2Expected, H2Actual, 1e-9));
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}
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/* ************************************************************************* */
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TEST( RangeFactor, Jacobian3D ) {
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// Create a factor
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RangeFactor3D factor(poseKey, pointKey, measurement, model);
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// Set the linearization point
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Pose3 pose(Rot3::RzRyRx(0.2, -0.3, 1.75), Point3(1.0, 2.0, -3.0));
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Point3 point(-2.0, 11.0, 1.0);
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// Use the factor to calculate the Jacobians
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Matrix H1Actual, H2Actual;
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factor.evaluateError(pose, point, H1Actual, H2Actual);
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// Use numerical derivatives to calculate the Jacobians
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Matrix H1Expected, H2Expected;
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H1Expected = numericalDerivative11<Vector, Pose3>(
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boost::bind(&factorError3D, _1, point, factor), pose);
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H2Expected = numericalDerivative11<Vector, Point3>(
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boost::bind(&factorError3D, pose, _1, factor), point);
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// Verify the Jacobians are correct
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CHECK(assert_equal(H1Expected, H1Actual, 1e-9));
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CHECK(assert_equal(H2Expected, H2Actual, 1e-9));
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}
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/* ************************************************************************* */
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TEST( RangeFactor, Jacobian3DWithTransform ) {
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// Create a factor
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Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2),
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Point3(0.25, -0.10, 1.0));
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RangeFactorWithTransform3D factor(poseKey, pointKey, measurement, model,
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body_P_sensor);
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// Set the linearization point
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Rot3 R = Rot3::RzRyRx(0.2, -0.3, 1.75);
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Point3 t = Point3(1.0, 2.0, -3.0) - R.rotate(body_P_sensor.translation());
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Pose3 pose(R, t);
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Point3 point(-2.0, 11.0, 1.0);
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// Use the factor to calculate the Jacobians
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Matrix H1Actual, H2Actual;
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factor.evaluateError(pose, point, H1Actual, H2Actual);
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// Use numerical derivatives to calculate the Jacobians
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Matrix H1Expected, H2Expected;
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H1Expected = numericalDerivative11<Vector, Pose3>(
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boost::bind(&factorErrorWithTransform3D, _1, point, factor), pose);
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H2Expected = numericalDerivative11<Vector, Point3>(
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boost::bind(&factorErrorWithTransform3D, pose, _1, factor), point);
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// Verify the Jacobians are correct
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CHECK(assert_equal(H1Expected, H1Actual, 1e-9));
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CHECK(assert_equal(H2Expected, H2Actual, 1e-9));
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}
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/* ************************************************************************* */
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// Do a test with Point3
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TEST(RangeFactor, Point3) {
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// Create a factor
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RangeFactor<Point3> factor(poseKey, pointKey, measurement, model);
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// Set the linearization point
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Point3 pose(1.0, 2.0, 00);
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Point3 point(-4.0, 11.0, 0);
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// The expected error is ||(5.0, 9.0)|| - 10.0 = 0.295630141 meter / UnitCovariance
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Vector expectedError = (Vector(1) << 0.295630141).finished();
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// Verify we get the expected error
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CHECK(assert_equal(expectedError, factor.evaluateError(pose, point), 1e-9));
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}
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/* ************************************************************************* */
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// Do tests with PinholeCamera<Cal3_S2>
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TEST( RangeFactor, Camera) {
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using Camera = PinholeCamera<Cal3_S2>;
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RangeFactor<Camera, Point3> factor1(poseKey, pointKey, measurement, model);
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RangeFactor<Camera, Pose3> factor2(poseKey, pointKey, measurement, model);
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RangeFactor<Camera, Camera> factor3(poseKey, pointKey, measurement, model);
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}
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/* ************************************************************************* */
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// Do a test with non GTSAM types
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namespace gtsam{
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template <>
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struct Range<Vector4, Vector4> {
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typedef double result_type;
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double operator()(const Vector4& v1, const Vector4& v2,
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OptionalJacobian<1, 4> H1, OptionalJacobian<1, 4> H2) {
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return (v2 - v1).norm();
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// derivatives not implemented
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}
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};
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}
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TEST(RangeFactor, NonGTSAM) {
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// Create a factor
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Key poseKey(1);
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Key pointKey(2);
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double measurement(10.0);
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RangeFactor<Vector4> factor(poseKey, pointKey, measurement, model);
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// Set the linearization point
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Vector4 pose(1.0, 2.0, 00, 0);
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Vector4 point(-4.0, 11.0, 0, 0);
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// The expected error is ||(5.0, 9.0)|| - 10.0 = 0.295630141 meter / UnitCovariance
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Vector expectedError = (Vector(1) << 0.295630141).finished();
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// Verify we get the expected error
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CHECK(assert_equal(expectedError, factor.evaluateError(pose, point), 1e-9));
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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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