81 lines
2.6 KiB
C++
81 lines
2.6 KiB
C++
/**********************************************************
|
|
Written by Frank Dellaert, Nov 2009
|
|
**********************************************************/
|
|
|
|
#include <CppUnitLite/TestHarness.h>
|
|
|
|
#include "VSLAMConfig.h"
|
|
#include "VSLAMFactor.h"
|
|
#include "VSLAMGraph.h"
|
|
#include "Point3.h"
|
|
#include "Pose3.h"
|
|
|
|
using namespace std;
|
|
using namespace gtsam;
|
|
|
|
// make cube
|
|
Point3 x000(-1, -1, -1), x001(-1, -1, +1), x010(-1, +1, -1), x011(-1, +1, +1),
|
|
x100(-1, -1, -1), x101(-1, -1, +1), x110(-1, +1, -1), x111(-1, +1, +1);
|
|
|
|
// make a realistic calibration matrix
|
|
double fov = 60; // degrees
|
|
size_t w=640,h=480;
|
|
Cal3_S2 K(fov,w,h);
|
|
|
|
// make cameras
|
|
|
|
/* ************************************************************************* */
|
|
TEST( VSLAMFactor, error )
|
|
{
|
|
// Create the factor with a measurement that is 3 pixels off in x
|
|
Vector z = Vector_(2,323.,240.);
|
|
double sigma=1.0;
|
|
int cameraFrameNumber=1, landmarkNumber=1;
|
|
boost::shared_ptr<VSLAMFactor>
|
|
factor(new VSLAMFactor(z, sigma, cameraFrameNumber, landmarkNumber, K));
|
|
|
|
// For the following configuration, the factor predicts 320,240
|
|
VSLAMConfig config;
|
|
Rot3 R;Point3 t1(0,0,-6); Pose3 x1(R,t1); config.addCameraPose(1, x1);
|
|
Point3 l1; config.addLandmarkPoint(1, l1);
|
|
CHECK(assert_equal(Vector_(2,320.,240.),factor->predict(config)));
|
|
|
|
// Which yields an error of 3^2/2 = 4.5
|
|
DOUBLES_EQUAL(4.5,factor->error(config),1e-9);
|
|
|
|
// Check linearize
|
|
Matrix Al1 = Matrix_(2, 3, 61.584, 0., 0., 0., 61.584, 0.);
|
|
Matrix Ax1 = Matrix_(2, 6, 0., -369.504, 0., -61.584, 0., 0., 369.504, 0., 0., 0., -61.584, 0.);
|
|
Vector b = Vector_(2,3.,0.);
|
|
LinearFactor expected("l1", Al1, "x1", Ax1, b, 1);
|
|
LinearFactor::shared_ptr actual = factor->linearize(config);
|
|
CHECK(assert_equal(expected,*actual,1e-3));
|
|
|
|
// linearize graph
|
|
VSLAMGraph graph;
|
|
graph.push_back(factor);
|
|
LinearFactorGraph expected_lfg;
|
|
expected_lfg.push_back(actual);
|
|
LinearFactorGraph actual_lfg = graph.linearize(config);
|
|
CHECK(assert_equal(expected_lfg,actual_lfg));
|
|
|
|
// exmap on a config
|
|
VectorConfig delta;
|
|
delta.insert("x1",Vector_(6, 0.,0.,0., 1.,1.,1.));
|
|
delta.insert("l1",Vector_(3, 1.,2.,3.));
|
|
VSLAMConfig actual_config = config.exmap(delta);
|
|
VSLAMConfig expected_config;
|
|
Point3 t2(1,1,-5); Pose3 x2(R,t2); expected_config.addCameraPose(1, x2);
|
|
Point3 l2(1,2,3); expected_config.addLandmarkPoint(1, l2);
|
|
CHECK(assert_equal(expected_config,actual_config,1e-9));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
int main() {
|
|
TestResult tr;
|
|
TestRegistry::runAllTests(tr);
|
|
return 0;
|
|
}
|
|
/* ************************************************************************* */
|
|
|