200 lines
6.3 KiB
C++
200 lines
6.3 KiB
C++
/**
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* @file testGraph.cpp
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* @brief Unit test for two cameras and four landmarks
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* single camera
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* @author Chris Beall
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* @author Frank Dellaert
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* @author Viorela Ila
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*/
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#include <CppUnitLite/TestHarness.h>
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#include <boost/shared_ptr.hpp>
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using namespace boost;
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#define GTSAM_MAGIC_KEY
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#include "NonlinearFactorGraph-inl.h"
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#include "NonlinearOptimizer-inl.h"
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#include "graph-inl.h"
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#include "visualSLAM.h"
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using namespace std;
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using namespace gtsam;
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using namespace gtsam::visualSLAM;
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using namespace boost;
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typedef NonlinearOptimizer<Graph,Config> Optimizer;
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static SharedGaussian sigma(noiseModel::Unit::Create(1));
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/* ************************************************************************* */
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Point3 landmark1(-1.0,-1.0, 0.0);
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Point3 landmark2(-1.0, 1.0, 0.0);
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Point3 landmark3( 1.0, 1.0, 0.0);
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Point3 landmark4( 1.0,-1.0, 0.0);
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Pose3 camera1(Matrix_(3,3,
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1., 0., 0.,
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0.,-1., 0.,
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0., 0.,-1.
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),
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Point3(0,0,6.25));
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Pose3 camera2(Matrix_(3,3,
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1., 0., 0.,
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0.,-1., 0.,
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0., 0.,-1.
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),
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Point3(0,0,5.00));
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/* ************************************************************************* */
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Graph testGraph() {
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Point2 z11(-100, 100);
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Point2 z12(-100,-100);
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Point2 z13( 100,-100);
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Point2 z14( 100, 100);
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Point2 z21(-125, 125);
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Point2 z22(-125,-125);
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Point2 z23( 125,-125);
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Point2 z24( 125, 125);
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shared_ptrK sK(new Cal3_S2(625, 625, 0, 0, 0));
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Graph g;
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g.addMeasurement(z11, sigma, 1, 1, sK);
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g.addMeasurement(z12, sigma, 1, 2, sK);
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g.addMeasurement(z13, sigma, 1, 3, sK);
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g.addMeasurement(z14, sigma, 1, 4, sK);
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g.addMeasurement(z21, sigma, 2, 1, sK);
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g.addMeasurement(z22, sigma, 2, 2, sK);
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g.addMeasurement(z23, sigma, 2, 3, sK);
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g.addMeasurement(z24, sigma, 2, 4, sK);
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return g;
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}
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/* ************************************************************************* */
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TEST( Graph, optimizeLM)
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{
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// build a graph
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shared_ptr<Graph> graph(new Graph(testGraph()));
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// add 3 landmark constraints
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graph->addPointConstraint(1, landmark1);
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graph->addPointConstraint(2, landmark2);
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graph->addPointConstraint(3, landmark3);
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// Create an initial configuration corresponding to the ground truth
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boost::shared_ptr<Config> initialEstimate(new Config);
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initialEstimate->insert(1, camera1);
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initialEstimate->insert(2, camera2);
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initialEstimate->insert(1, landmark1);
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initialEstimate->insert(2, landmark2);
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initialEstimate->insert(3, landmark3);
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initialEstimate->insert(4, landmark4);
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// Create an ordering of the variables
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list<Symbol> keys;
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keys.push_back("l1");
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keys.push_back("l2");
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keys.push_back("l3");
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keys.push_back("l4");
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keys.push_back("x1");
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keys.push_back("x2");
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shared_ptr<Ordering> ordering(new Ordering(keys));
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// Create an optimizer and check its error
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// We expect the initial to be zero because config is the ground truth
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Optimizer::shared_solver solver(new Optimizer::solver(ordering));
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Optimizer optimizer(graph, initialEstimate, solver);
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DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9);
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// Iterate once, and the config should not have changed because we started
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// with the ground truth
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Optimizer afterOneIteration = optimizer.iterate();
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DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9);
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// check if correct
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CHECK(assert_equal(*initialEstimate,*(afterOneIteration.config())));
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}
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/* ************************************************************************* */
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TEST( Graph, optimizeLM2)
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{
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// build a graph
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shared_ptr<Graph> graph(new Graph(testGraph()));
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// add 2 camera constraints
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graph->addPoseConstraint(1, camera1);
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graph->addPoseConstraint(2, camera2);
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// Create an initial configuration corresponding to the ground truth
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boost::shared_ptr<Config> initialEstimate(new Config);
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initialEstimate->insert(1, camera1);
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initialEstimate->insert(2, camera2);
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initialEstimate->insert(1, landmark1);
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initialEstimate->insert(2, landmark2);
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initialEstimate->insert(3, landmark3);
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initialEstimate->insert(4, landmark4);
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// Create an ordering of the variables
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list<Symbol> keys;
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keys.push_back("l1");
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keys.push_back("l2");
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keys.push_back("l3");
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keys.push_back("l4");
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keys.push_back("x1");
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keys.push_back("x2");
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shared_ptr<Ordering> ordering(new Ordering(keys));
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// Create an optimizer and check its error
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// We expect the initial to be zero because config is the ground truth
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Optimizer::shared_solver solver(new Optimizer::solver(ordering));
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Optimizer optimizer(graph, initialEstimate, solver);
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DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9);
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// Iterate once, and the config should not have changed because we started
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// with the ground truth
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Optimizer afterOneIteration = optimizer.iterate();
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DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9);
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// check if correct
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CHECK(assert_equal(*initialEstimate,*(afterOneIteration.config())));
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}
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/* ************************************************************************* */
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TEST( Graph, CHECK_ORDERING)
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{
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// build a graph
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shared_ptr<Graph> graph(new Graph(testGraph()));
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// add 2 camera constraints
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graph->addPoseConstraint(1, camera1);
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graph->addPoseConstraint(2, camera2);
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// Create an initial configuration corresponding to the ground truth
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boost::shared_ptr<Config> initialEstimate(new Config);
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initialEstimate->insert(1, camera1);
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initialEstimate->insert(2, camera2);
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initialEstimate->insert(1, landmark1);
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initialEstimate->insert(2, landmark2);
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initialEstimate->insert(3, landmark3);
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initialEstimate->insert(4, landmark4);
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shared_ptr<Ordering> ordering(new Ordering(graph->getOrdering()));
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// Create an optimizer and check its error
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// We expect the initial to be zero because config is the ground truth
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Optimizer::shared_solver solver(new Optimizer::solver(ordering));
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Optimizer optimizer(graph, initialEstimate, solver);
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DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9);
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// Iterate once, and the config should not have changed because we started
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// with the ground truth
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Optimizer afterOneIteration = optimizer.iterate();
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DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9);
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// check if correct
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CHECK(assert_equal(*initialEstimate,*(afterOneIteration.config())));
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
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/* ************************************************************************* */
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