286 lines
8.4 KiB
C++
286 lines
8.4 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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* -------------------------------1------------------------------------------- */
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/**
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* @file testExpression.cpp
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* @date September 18, 2014
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* @author Frank Dellaert
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* @author Paul Furgale
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* @brief unit tests for Block Automatic Differentiation
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*/
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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_unstable/nonlinear/Expression.h>
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#include <gtsam/base/Testable.h>
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#include <gtsam/base/LieScalar.h>
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#include <CppUnitLite/TestHarness.h>
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#include <boost/assign/list_of.hpp>
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using boost::assign::list_of;
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using boost::assign::map_list_of;
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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template<class CAL>
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Point2 uncalibrate(const CAL& K, const Point2& p,
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boost::optional<Matrix25&> Dcal, boost::optional<Matrix2&> Dp) {
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return K.uncalibrate(p, Dcal, Dp);
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}
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static const Rot3 someR = Rot3::RzRyRx(1, 2, 3);
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/* ************************************************************************* */
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// Constant
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TEST(Expression, constant) {
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Expression<Rot3> R(someR);
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Values values;
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Rot3 actual = R.value(values);
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EXPECT(assert_equal(someR, actual));
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EXPECT_LONGS_EQUAL(0, R.traceSize())
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}
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/* ************************************************************************* */
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// Leaf
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TEST(Expression, Leaf) {
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Expression<Rot3> R(100);
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Values values;
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values.insert(100, someR);
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Rot3 actual2 = R.value(values);
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EXPECT(assert_equal(someR, actual2));
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}
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/* ************************************************************************* */
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// Many Leaves
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TEST(Expression, Leaves) {
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Values values;
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Point3 somePoint(1, 2, 3);
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values.insert(Symbol('p', 10), somePoint);
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std::vector<Expression<Point3> > points = createUnknowns<Point3>(10, 'p', 1);
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EXPECT(assert_equal(somePoint,points.back().value(values)));
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}
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/* ************************************************************************* */
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// Unary(Leaf)
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namespace unary {
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Point2 f0(const Point3& p, boost::optional<Matrix23&> H) {
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return Point2();
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}
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LieScalar f1(const Point3& p, boost::optional<Eigen::Matrix<double, 1, 3>&> H) {
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return LieScalar(0.0);
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}
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double f2(const Point3& p, boost::optional<Eigen::Matrix<double, 1, 3>&> H) {
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return 0.0;
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}
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Expression<Point3> p(1);
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set<Key> expected = list_of(1);
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}
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TEST(Expression, Unary0) {
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using namespace unary;
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Expression<Point2> e(f0, p);
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EXPECT(expected == e.keys());
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}
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TEST(Expression, Unary1) {
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using namespace unary;
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Expression<double> e(f1, p);
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EXPECT(expected == e.keys());
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}
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TEST(Expression, Unary2) {
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using namespace unary;
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Expression<double> e(f2, p);
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EXPECT(expected == e.keys());
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}
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/* ************************************************************************* */
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//Nullary Method
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TEST(Expression, NullaryMethod) {
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// Create expression
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Expression<Point3> p(67);
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Expression<double> norm(p, &Point3::norm);
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// Create Values
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Values values;
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values.insert(67, Point3(3, 4, 5));
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// Check dims as map
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std::map<Key, int> map;
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norm.dims(map);
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LONGS_EQUAL(1,map.size());
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// Get and check keys and dims
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FastVector<Key> keys;
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FastVector<int> dims;
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boost::tie(keys, dims) = norm.keysAndDims();
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LONGS_EQUAL(1,keys.size());
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LONGS_EQUAL(1,dims.size());
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LONGS_EQUAL(67,keys[0]);
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LONGS_EQUAL(3,dims[0]);
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// Get value and Jacobians
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std::vector<Matrix> H(1);
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double actual = norm.value(values, H);
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// Check all
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EXPECT(actual == sqrt(50));
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Matrix expected(1, 3);
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expected << 3.0 / sqrt(50.0), 4.0 / sqrt(50.0), 5.0 / sqrt(50.0);
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EXPECT(assert_equal(expected,H[0]));
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}
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/* ************************************************************************* */
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// Binary(Leaf,Leaf)
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namespace binary {
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// Create leaves
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double doubleF(const Pose3& pose, const Point3& point,
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boost::optional<Eigen::Matrix<double, 1, 6>&> H1,
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boost::optional<Eigen::Matrix<double, 1, 3>&> H2) {
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return 0.0;
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}
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Expression<Pose3> x(1);
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Expression<Point3> p(2);
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Expression<Point3> p_cam(x, &Pose3::transform_to, p);
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}
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/* ************************************************************************* */
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// Check that creating an expression to double compiles
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TEST(Expression, BinaryToDouble) {
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using namespace binary;
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Expression<double> p_cam(doubleF, x, p);
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}
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/* ************************************************************************* */
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// keys
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TEST(Expression, BinaryKeys) {
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set<Key> expected = list_of(1)(2);
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EXPECT(expected == binary::p_cam.keys());
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}
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/* ************************************************************************* */
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// dimensions
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TEST(Expression, BinaryDimensions) {
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map<Key, int> actual, expected = map_list_of<Key, int>(1, 6)(2, 3);
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binary::p_cam.dims(actual);
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EXPECT(actual==expected);
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}
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/* ************************************************************************* */
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// dimensions
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TEST(Expression, BinaryTraceSize) {
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typedef BinaryExpression<Point3, Pose3, Point3> Binary;
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size_t expectedTraceSize = sizeof(Binary::Record);
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EXPECT_LONGS_EQUAL(expectedTraceSize, binary::p_cam.traceSize());
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}
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/* ************************************************************************* */
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// Binary(Leaf,Unary(Binary(Leaf,Leaf)))
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namespace tree {
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using namespace binary;
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// Create leaves
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Expression<Cal3_S2> K(3);
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// Create expression tree
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Expression<Point2> projection(PinholeCamera<Cal3_S2>::project_to_camera, p_cam);
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Expression<Point2> uv_hat(uncalibrate<Cal3_S2>, K, projection);
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}
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/* ************************************************************************* */
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// keys
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TEST(Expression, TreeKeys) {
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set<Key> expected = list_of(1)(2)(3);
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EXPECT(expected == tree::uv_hat.keys());
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}
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/* ************************************************************************* */
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// dimensions
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TEST(Expression, TreeDimensions) {
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map<Key, int> actual, expected = map_list_of<Key, int>(1, 6)(2, 3)(3, 5);
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tree::uv_hat.dims(actual);
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EXPECT(actual==expected);
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}
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/* ************************************************************************* */
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// TraceSize
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TEST(Expression, TreeTraceSize) {
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typedef UnaryExpression<Point2, Point3> Unary;
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typedef BinaryExpression<Point3, Pose3, Point3> Binary1;
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typedef BinaryExpression<Point2, Point2, Cal3_S2> Binary2;
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size_t expectedTraceSize = sizeof(Unary::Record) + sizeof(Binary1::Record)
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+ sizeof(Binary2::Record);
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EXPECT_LONGS_EQUAL(expectedTraceSize, tree::uv_hat.traceSize());
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}
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/* ************************************************************************* */
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TEST(Expression, compose1) {
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// Create expression
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Expression<Rot3> R1(1), R2(2);
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Expression<Rot3> R3 = R1 * R2;
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// Check keys
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set<Key> expected = list_of(1)(2);
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EXPECT(expected == R3.keys());
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}
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/* ************************************************************************* */
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// Test compose with arguments referring to the same rotation
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TEST(Expression, compose2) {
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// Create expression
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Expression<Rot3> R1(1), R2(1);
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Expression<Rot3> R3 = R1 * R2;
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// Check keys
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set<Key> expected = list_of(1);
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EXPECT(expected == R3.keys());
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}
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/* ************************************************************************* */
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// Test compose with one arguments referring to constant rotation
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TEST(Expression, compose3) {
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// Create expression
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Expression<Rot3> R1(Rot3::identity()), R2(3);
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Expression<Rot3> R3 = R1 * R2;
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// Check keys
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set<Key> expected = list_of(3);
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EXPECT(expected == R3.keys());
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}
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/* ************************************************************************* */
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// Test with ternary function
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Rot3 composeThree(const Rot3& R1, const Rot3& R2, const Rot3& R3,
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boost::optional<Matrix3&> H1, boost::optional<Matrix3&> H2,
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boost::optional<Matrix3&> H3) {
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// return dummy derivatives (not correct, but that's ok for testing here)
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if (H1)
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*H1 = eye(3);
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if (H2)
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*H2 = eye(3);
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if (H3)
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*H3 = eye(3);
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return R1 * (R2 * R3);
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}
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TEST(Expression, ternary) {
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// Create expression
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Expression<Rot3> A(1), B(2), C(3);
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Expression<Rot3> ABC(composeThree, A, B, C);
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// Check keys
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set<Key> expected = list_of(1)(2)(3);
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EXPECT(expected == ABC.keys());
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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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