2010-10-14 12:54:38 +08:00
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/* ----------------------------------------------------------------------------
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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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2009-11-24 23:12:59 +08:00
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/*
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2010-10-09 11:09:58 +08:00
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* @file testValues.cpp
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* @brief Tests for the Visual SLAM values structure class
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2009-11-24 23:12:59 +08:00
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* @author Alex Cunningham
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*/
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2010-08-20 01:23:19 +08:00
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#include <gtsam/CppUnitLite/TestHarness.h>
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2010-01-18 03:34:57 +08:00
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#define GTSAM_MAGIC_KEY
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2010-10-09 11:09:58 +08:00
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#include <gtsam/linear/VectorValues.h>
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2010-08-20 01:23:19 +08:00
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#include <gtsam/slam/visualSLAM.h>
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2009-11-24 23:12:59 +08:00
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using namespace std;
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using namespace gtsam;
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2010-01-16 09:16:59 +08:00
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using namespace gtsam::visualSLAM;
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2009-11-24 23:12:59 +08:00
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/* ************************************************************************* */
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2010-10-09 11:09:58 +08:00
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TEST( Values, update_with_large_delta) {
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2009-11-24 23:12:59 +08:00
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// this test ensures that if the update for delta is larger than
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// the size of the config, it only updates existing variables
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2010-10-09 11:09:58 +08:00
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Values init;
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2010-01-14 10:58:29 +08:00
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init.insert(1, Pose3());
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init.insert(1, Point3(1.0, 2.0, 3.0));
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2009-11-24 23:12:59 +08:00
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2010-10-09 11:09:58 +08:00
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Values expected;
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2010-01-14 10:58:29 +08:00
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expected.insert(1, Pose3(Rot3(), Point3(0.1, 0.1, 0.1)));
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expected.insert(1, Point3(1.1, 2.1, 3.1));
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Large gtsam refactoring
To support faster development *and* better performance Richard and I pushed through a large refactoring of NonlinearFactors.
The following are the biggest changes:
1) NonLinearFactor1 and NonLinearFactor2 are now templated on Config, Key type, and X type, where X is the argument to the measurement function.
2) The measurement itself is no longer kept in the nonlinear factor. Instead, a derived class (see testVSLAMFactor, testNonlinearEquality, testPose3Factor etc...) has to implement a function to compute the errors, "evaluateErrors". Instead of (h(x)-z), it needs to return (z-h(x)), so Ax-b is an approximation of the error. IMPORTANT: evaluateErrors needs - if asked - *combine* the calculation of the function value h(x) and the derivatives dh(x)/dx. This was a major performance issue. To do this, boost::optional<Matrix&> arguments are provided, and tin EvaluateErrors you just says something like
if (H) *H = Matrix_(3,6,....);
3) We are no longer using int or strings for nonlinear factors. Instead, the preferred key type is now Symbol, defined in Key.h. This is both fast and cool: you can construct it from an int, and cast it to a strong. It also does type checking: a Symbol<Pose3,'x'> will not match a Symbol<Pose2,'x'>
4) minor: take a look at LieConfig.h: it help you avoid writing a lot of code bu automatically creating configs for a certain type. See e.g. Pose3Config.h. A "double" LieConfig is on the way - Thanks Richard and Manohar !
2010-01-14 06:25:03 +08:00
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2010-10-09 06:04:47 +08:00
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Ordering largeOrdering;
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2010-10-09 11:09:58 +08:00
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Values largeValues = init;
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largeValues.insert(2, Pose3());
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2010-10-09 06:04:47 +08:00
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largeOrdering += "x1","l1","x2";
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2010-10-09 11:09:58 +08:00
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VectorValues delta(largeValues.dims(largeOrdering));
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2010-10-09 06:04:47 +08:00
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delta[largeOrdering["x1"]] = Vector_(6, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1);
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delta[largeOrdering["l1"]] = Vector_(3, 0.1, 0.1, 0.1);
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delta[largeOrdering["x2"]] = Vector_(6, 0.0, 0.0, 0.0, 100.1, 4.1, 9.1);
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2010-10-09 11:09:58 +08:00
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Values actual = init.expmap(delta, largeOrdering);
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2009-11-24 23:12:59 +08:00
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Large gtsam refactoring
To support faster development *and* better performance Richard and I pushed through a large refactoring of NonlinearFactors.
The following are the biggest changes:
1) NonLinearFactor1 and NonLinearFactor2 are now templated on Config, Key type, and X type, where X is the argument to the measurement function.
2) The measurement itself is no longer kept in the nonlinear factor. Instead, a derived class (see testVSLAMFactor, testNonlinearEquality, testPose3Factor etc...) has to implement a function to compute the errors, "evaluateErrors". Instead of (h(x)-z), it needs to return (z-h(x)), so Ax-b is an approximation of the error. IMPORTANT: evaluateErrors needs - if asked - *combine* the calculation of the function value h(x) and the derivatives dh(x)/dx. This was a major performance issue. To do this, boost::optional<Matrix&> arguments are provided, and tin EvaluateErrors you just says something like
if (H) *H = Matrix_(3,6,....);
3) We are no longer using int or strings for nonlinear factors. Instead, the preferred key type is now Symbol, defined in Key.h. This is both fast and cool: you can construct it from an int, and cast it to a strong. It also does type checking: a Symbol<Pose3,'x'> will not match a Symbol<Pose2,'x'>
4) minor: take a look at LieConfig.h: it help you avoid writing a lot of code bu automatically creating configs for a certain type. See e.g. Pose3Config.h. A "double" LieConfig is on the way - Thanks Richard and Manohar !
2010-01-14 06:25:03 +08:00
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CHECK(assert_equal(expected,actual));
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2009-11-24 23:12:59 +08:00
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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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