109 lines
2.9 KiB
C++
109 lines
2.9 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 testBAD.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/Pose3.h>
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#include <gtsam/geometry/Cal3_S2.h>
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#include <gtsam_unstable/base/Expression.h>
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#include <gtsam/base/Testable.h>
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#include <CppUnitLite/TestHarness.h>
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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Point3 transformTo(const Pose3& x, const Point3& p,
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boost::optional<Matrix&> Dpose, boost::optional<Matrix&> Dpoint) {
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return x.transform_to(p, Dpose, Dpoint);
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}
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Point2 project(const Point3& p, boost::optional<Matrix&> Dpoint) {
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return PinholeCamera<Cal3_S2>::project_to_camera(p, Dpoint);
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}
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template<class CAL>
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Point2 uncalibrate(const CAL& K, const Point2& p, boost::optional<Matrix&> Dcal,
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boost::optional<Matrix&> Dp) {
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return K.uncalibrate(p, Dcal, Dp);
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}
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/* ************************************************************************* */
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TEST(BAD, test) {
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// Test Constant expression
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Expression<int> c(0);
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// Create leaves
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Expression<Pose3> x(1);
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Expression<Point3> p(2);
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Expression<Cal3_S2> K(3);
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// Create expression tree
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Expression<Point3> p_cam(transformTo, x, p);
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Expression<Point2> projection(project, p_cam);
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Expression<Point2> uv_hat(uncalibrate<Cal3_S2>, K, projection);
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// Check keys
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std::set<Key> expectedKeys;
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expectedKeys.insert(1);
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expectedKeys.insert(2);
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expectedKeys.insert(3);
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EXPECT(expectedKeys == uv_hat.keys());
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}
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/* ************************************************************************* */
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TEST(BAD, compose) {
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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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std::set<Key> expectedKeys;
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expectedKeys.insert(1);
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expectedKeys.insert(2);
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EXPECT(expectedKeys == 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(BAD, 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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std::set<Key> expectedKeys;
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expectedKeys.insert(1);
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EXPECT(expectedKeys == R3.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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