125 lines
4.6 KiB
C++
125 lines
4.6 KiB
C++
/**
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* @file testBetweenFactor.cpp
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* @brief
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* @author Duy-Nguyen Ta, Varun Agrawal
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* @date Aug 2, 2013
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*/
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/base/TestableAssertions.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/geometry/Rot3.h>
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#include <gtsam/inference/Symbol.h>
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#include <gtsam/nonlinear/factorTesting.h>
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#include <gtsam/slam/BetweenFactor.h>
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using namespace std::placeholders;
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using namespace gtsam;
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using namespace gtsam::symbol_shorthand;
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using namespace gtsam::noiseModel;
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/**
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* This TEST should fail. If you want it to pass, change noise to 0.
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*/
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TEST(BetweenFactor, Rot3) {
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Rot3 R1 = Rot3::Rodrigues(0.1, 0.2, 0.3);
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Rot3 R2 = Rot3::Rodrigues(0.4, 0.5, 0.6);
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Rot3 noise = Rot3(); // Rot3::Rodrigues(0.01, 0.01, 0.01); // Uncomment to make unit test fail
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Rot3 measured = R1.between(R2)*noise ;
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BetweenFactor<Rot3> factor(R(1), R(2), measured, Isotropic::Sigma(3, 0.05));
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Matrix actualH1, actualH2;
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Vector actual = factor.evaluateError(R1, R2, actualH1, actualH2);
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Vector expected = Rot3::Logmap(measured.inverse() * R1.between(R2));
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EXPECT(assert_equal(expected,actual/*, 1e-100*/)); // Uncomment to make unit test fail
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Matrix numericalH1 = numericalDerivative21<Vector3, Rot3, Rot3>(
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std::function<Vector(const Rot3&, const Rot3&)>(std::bind(
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&BetweenFactor<Rot3>::evaluateError, factor, std::placeholders::_1,
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std::placeholders::_2, boost::none, boost::none)),
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R1, R2, 1e-5);
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EXPECT(assert_equal(numericalH1,actualH1, 1E-5));
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Matrix numericalH2 = numericalDerivative22<Vector3,Rot3,Rot3>(
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std::function<Vector(const Rot3&, const Rot3&)>(std::bind(
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&BetweenFactor<Rot3>::evaluateError, factor, std::placeholders::_1, std::placeholders::_2, boost::none,
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boost::none)), R1, R2, 1e-5);
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EXPECT(assert_equal(numericalH2,actualH2, 1E-5));
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}
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/* ************************************************************************* */
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// Constructor scalar
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TEST(BetweenFactor, ConstructorScalar) {
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SharedNoiseModel model;
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double measured = 0.0;
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BetweenFactor<double> factor(1, 2, measured, model);
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}
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/* ************************************************************************* */
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// Constructor vector3
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TEST(BetweenFactor, ConstructorVector3) {
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SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 1.0);
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Vector3 measured(1, 2, 3);
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BetweenFactor<Vector3> factor(1, 2, measured, model);
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}
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/* ************************************************************************* */
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// Constructor dynamic sized vector
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TEST(BetweenFactor, ConstructorDynamicSizeVector) {
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SharedNoiseModel model = noiseModel::Isotropic::Sigma(5, 1.0);
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Vector measured(5); measured << 1, 2, 3, 4, 5;
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BetweenFactor<Vector> factor(1, 2, measured, model);
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}
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/* ************************************************************************* */
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TEST(BetweenFactor, Point3Jacobians) {
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SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 1.0);
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Point3 measured(1, 2, 3);
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BetweenFactor<Point3> factor(1, 2, measured, model);
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Values values;
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values.insert(1, Point3(0, 0, 0));
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values.insert(2, Point3(1, 2, 3));
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Vector3 error = factor.evaluateError(Point3(0, 0, 0), Point3(1, 2, 3));
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EXPECT(assert_equal<Vector3>(Vector3::Zero(), error, 1e-9));
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EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5);
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}
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/* ************************************************************************* */
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TEST(BetweenFactor, Rot3Jacobians) {
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SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 1.0);
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Rot3 measured = Rot3::Ry(M_PI_2);
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BetweenFactor<Rot3> factor(1, 2, measured, model);
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Values values;
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values.insert(1, Rot3());
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values.insert(2, Rot3::Ry(M_PI_2));
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Vector3 error = factor.evaluateError(Rot3(), Rot3::Ry(M_PI_2));
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EXPECT(assert_equal<Vector3>(Vector3::Zero(), error, 1e-9));
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EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5);
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}
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/* ************************************************************************* */
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TEST(BetweenFactor, Pose3Jacobians) {
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SharedNoiseModel model = noiseModel::Isotropic::Sigma(6, 1.0);
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Pose3 measured(Rot3(), Point3(1, 2, 3));
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BetweenFactor<Pose3> factor(1, 2, measured, model);
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Pose3 pose1, pose2(Rot3(), Point3(1, 2, 3));
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Values values;
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values.insert(1, pose1);
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values.insert(2, pose2);
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Vector6 error = factor.evaluateError(pose1, pose2);
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EXPECT(assert_equal<Vector6>(Vector6::Zero(), error, 1e-9));
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EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 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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