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Moved in reference frame factor from MastSLAM

release/4.3a0
Alex Cunningham 2012-09-19 02:23:43 +00:00
parent a2474ef354
commit 0ef12f2f20
3 changed files with 560 additions and 163 deletions
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342
.cproject
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@ -1,7 +1,5 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<?fileVersion 4.0.0?>
<cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
<storageModule moduleId="org.eclipse.cdt.core.settings">
<cconfiguration id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544">
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544" moduleId="org.eclipse.cdt.core.settings" name="MacOSX GCC">
@ -309,14 +307,6 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
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</target>
<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -343,6 +333,7 @@
</target>
<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree.run</buildTarget>
<stopOnError>true</stopOnError>
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@ -350,6 +341,7 @@
</target>
<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testBinaryBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -397,6 +389,7 @@
</target>
<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
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@ -404,6 +397,7 @@
</target>
<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testSymbolicFactor.run</buildTarget>
<stopOnError>true</stopOnError>
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@ -411,6 +405,7 @@
</target>
<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicFactorGraph.run</buildTarget>
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@ -426,11 +421,20 @@
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<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree</buildTarget>
<stopOnError>true</stopOnError>
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<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
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</target>
<target name="testPoseRTV.run" path="build/gtsam_unstable/dynamics" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildArguments>-j5</buildArguments>
@ -519,22 +523,6 @@
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<target name="clean" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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@ -551,6 +539,22 @@
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<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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</target>
<target name="clean" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="all" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -575,26 +579,26 @@
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</target>
<target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
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<target name="testOrdering.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testOrdering.run</buildTarget>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
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<runAllBuilders>true</runAllBuilders>
</target>
<target name="testKey.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
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@ -679,26 +683,26 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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@ -799,6 +803,14 @@
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</target>
<target name="testReferenceFrameFactor.run" path="build/gtsam_unstable/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testReferenceFrameFactor.run</buildTarget>
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<runAllBuilders>true</runAllBuilders>
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<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
@ -1033,6 +1045,7 @@
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<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGraph.run</buildTarget>
<stopOnError>true</stopOnError>
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@ -1040,6 +1053,7 @@
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<buildCommand>make</buildCommand>
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<buildTarget>testJunctionTree.run</buildTarget>
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@ -1047,6 +1061,7 @@
</target>
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@ -1206,6 +1221,7 @@
</target>
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<buildCommand>make</buildCommand>
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<buildTarget>testErrors.run</buildTarget>
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@ -1251,10 +1267,10 @@
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<runAllBuilders>true</runAllBuilders>
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<target name="testGaussianFactor.run" path="build/linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
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@ -1339,10 +1355,10 @@
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@ -1677,7 +1693,6 @@
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@ -1717,7 +1732,6 @@
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@ -1725,7 +1739,6 @@
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@ -1917,7 +1930,6 @@
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@ -1939,102 +1951,6 @@
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@ -2236,6 +2152,7 @@
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@ -2243,6 +2160,7 @@
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@ -2250,6 +2168,7 @@
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@ -2257,6 +2176,7 @@
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@ -2390,34 +2310,98 @@
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<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testPoint2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testPoint2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
@ -2461,6 +2445,38 @@
<useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testSpirit.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testWrap.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testWrap.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check.wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>check.wrap</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>wrap</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
</buildTargets>
</storageModule>
</cproject>

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gtsam_unstable/slam/ReferenceFrameFactor.h Normal file
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@ -0,0 +1,133 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/*
* @file ReferenceFrameFactor.h
* @brief A constraint for combining graphs by common landmarks and a transform node
* @author Alex Cunningham
*/
#pragma once
#include <gtsam/nonlinear/NonlinearFactor.h>
namespace gtsam {
/**
* Transform function that must be specialized specific domains
* @tparam T is a Transform type
* @tparam P is a point type
*/
template<class T, class P>
P transform_point(
const T& trans, const P& global,
boost::optional<Matrix&> Dtrans,
boost::optional<Matrix&> Dglobal) {
return trans.transform_from(global, Dtrans, Dglobal);
}
/**
* A constraint between two landmarks in separate maps
* Templated on:
* Point : Type of landmark
* Transform : Transform variable class
*
* The transform is defined as transforming global to local:
* l = lTg * g
*
* The Point and Transform concepts must be Lie types, and the transform
* relationship "Point = transform_from(Transform, Point)" must exist.
*
* To implement this function in new domains, specialize a new version of
* Point transform_point<Transform,Point>(transform, global, Dtrans, Dglobal)
* to use the correct point and transform types.
*
* This base class should be specialized to implement the cost function for
* specific classes of landmarks
*/
template<class POINT, class TRANSFORM>
class ReferenceFrameFactor : public NoiseModelFactor3<POINT, TRANSFORM, POINT> {
protected:
/** default constructor for serialization only */
ReferenceFrameFactor() {}
public:
typedef NoiseModelFactor3<POINT, TRANSFORM, POINT> Base;
typedef ReferenceFrameFactor<POINT, TRANSFORM> This;
typedef POINT Point;
typedef TRANSFORM Transform;
/**
* General constructor with arbitrary noise model (constrained or otherwise)
*/
ReferenceFrameFactor(Key globalKey, Key transKey, Key localKey, const noiseModel::Base::shared_ptr& model)
: Base(model,globalKey, transKey, localKey) {}
/**
* Construct a hard frame of reference reference constraint with equal mu values for
* each degree of freedom.
*/
ReferenceFrameFactor(double mu, Key globalKey, Key transKey, Key localKey)
: Base(globalKey, transKey, localKey, Point().dim(), mu) {}
/**
* Simple soft constraint constructor for frame of reference, with equal weighting for
* each degree of freedom.
*/
ReferenceFrameFactor(Key globalKey, Key transKey, Key localKey, double sigma = 1e-2)
: Base(noiseModel::Isotropic::Sigma(POINT().dim(), sigma),
globalKey, transKey, localKey) {}
virtual ~ReferenceFrameFactor(){}
virtual NonlinearFactor::shared_ptr clone() const {
return boost::static_pointer_cast<NonlinearFactor>(
NonlinearFactor::shared_ptr(new This(*this))); }
/** Combined cost and derivative function using boost::optional */
virtual Vector evaluateError(const Point& global, const Transform& trans, const Point& local,
boost::optional<Matrix&> Dforeign = boost::none,
boost::optional<Matrix&> Dtrans = boost::none,
boost::optional<Matrix&> Dlocal = boost::none) const {
Point newlocal = transform_point<Transform,Point>(trans, global, Dtrans, Dforeign);
if (Dlocal) {
Point dummy;
*Dlocal = -1* gtsam::eye(dummy.dim());
}
return local.localCoordinates(newlocal);
}
virtual void print(const std::string& s="",
const gtsam::KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
std::cout << s << ": ReferenceFrameFactor("
<< "Global: " << keyFormatter(this->key1()) << ","
<< " Transform: " << keyFormatter(this->key2()) << ","
<< " Local: " << keyFormatter(this->key3()) << ")\n";
this->noiseModel_->print(" noise model");
}
// access - convenience functions
Key global_key() const { return this->key1(); }
Key transform_key() const { return this->key2(); }
Key local_key() const { return this->key3(); }
private:
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {
ar & boost::serialization::make_nvp("NonlinearFactor3",
boost::serialization::base_object<Base>(*this));
}
};
} // \namespace gtsam

248
gtsam_unstable/slam/tests/testReferenceFrameFactor.cpp Normal file
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/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/*
* @file testReferenceFrameFactor.cpp
* @author Alex Cunningham
*/
#include <iostream>
#include <boost/bind.hpp>
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/nonlinear/Symbol.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/NonlinearEquality.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam_unstable/slam/ReferenceFrameFactor.h>
using namespace std;
using namespace boost;
using namespace gtsam;
typedef gtsam::ReferenceFrameFactor<gtsam::Point2, gtsam::Pose2> PointReferenceFrameFactor;
typedef gtsam::ReferenceFrameFactor<gtsam::Pose2, gtsam::Pose2> PoseReferenceFrameFactor;
Key lA1 = symbol_shorthand::L(1), lA2 = symbol_shorthand::L(2), lB1 = symbol_shorthand::L(11), lB2 = symbol_shorthand::L(12);
Key tA1 = symbol_shorthand::T(1), tB1 = symbol_shorthand::T(2);
/* ************************************************************************* */
TEST( ReferenceFrameFactor, equals ) {
PointReferenceFrameFactor
c1(lB1, tA1, lA1),
c2(lB1, tA1, lA1),
c3(lB1, tA1, lA2);
EXPECT(assert_equal(c1, c1));
EXPECT(assert_equal(c1, c2));
EXPECT(!c1.equals(c3));
}
/* ************************************************************************* */
LieVector evaluateError_(const PointReferenceFrameFactor& c,
const Point2& global, const Pose2& trans, const Point2& local) {
return LieVector(c.evaluateError(global, trans, local));
}
TEST( ReferenceFrameFactor, jacobians ) {
// from examples below
Point2 local(2.0, 3.0), global(-1.0, 2.0);
Pose2 trans(1.5, 2.5, 0.3);
PointReferenceFrameFactor tc(lA1, tA1, lB1);
Matrix actualDT, actualDL, actualDF;
tc.evaluateError(global, trans, local, actualDF, actualDT, actualDL);
Matrix numericalDT, numericalDL, numericalDF;
numericalDF = numericalDerivative31<LieVector,Point2,Pose2,Point2>(
boost::bind(evaluateError_, tc, _1, _2, _3),
global, trans, local, 1e-5);
numericalDT = numericalDerivative32<LieVector,Point2,Pose2,Point2>(
boost::bind(evaluateError_, tc, _1, _2, _3),
global, trans, local, 1e-5);
numericalDL = numericalDerivative33<LieVector,Point2,Pose2,Point2>(
boost::bind(evaluateError_, tc, _1, _2, _3),
global, trans, local, 1e-5);
EXPECT(assert_equal(numericalDF, actualDF));
EXPECT(assert_equal(numericalDL, actualDL));
EXPECT(assert_equal(numericalDT, actualDT));
}
/* ************************************************************************* */
TEST( ReferenceFrameFactor, jacobians_zero ) {
// get values that are ideal
Pose2 trans(2.0, 3.0, 0.0);
Point2 global(5.0, 6.0);
Point2 local = trans.transform_from(global);
PointReferenceFrameFactor tc(lA1, tA1, lB1);
Vector actCost = tc.evaluateError(global, trans, local),
expCost = zero(2);
EXPECT(assert_equal(expCost, actCost, 1e-5));
Matrix actualDT, actualDL, actualDF;
tc.evaluateError(global, trans, local, actualDF, actualDT, actualDL);
Matrix numericalDT, numericalDL, numericalDF;
numericalDF = numericalDerivative31<LieVector,Point2,Pose2,Point2>(
boost::bind(evaluateError_, tc, _1, _2, _3),
global, trans, local, 1e-5);
numericalDT = numericalDerivative32<LieVector,Point2,Pose2,Point2>(
boost::bind(evaluateError_, tc, _1, _2, _3),
global, trans, local, 1e-5);
numericalDL = numericalDerivative33<LieVector,Point2,Pose2,Point2>(
boost::bind(evaluateError_, tc, _1, _2, _3),
global, trans, local, 1e-5);
EXPECT(assert_equal(numericalDF, actualDF));
EXPECT(assert_equal(numericalDL, actualDL));
EXPECT(assert_equal(numericalDT, actualDT));
}
/* ************************************************************************* */
TEST_UNSAFE( ReferenceFrameFactor, converge_trans ) {
// initial points
Point2 local1(2.0, 2.0), local2(4.0, 5.0),
global1(-1.0, 5.0), global2(2.0, 3.0);
Pose2 transIdeal(7.0, 3.0, M_PI/2);
// verify direction
EXPECT(assert_equal(local1, transIdeal.transform_from(global1)));
EXPECT(assert_equal(local2, transIdeal.transform_from(global2)));
// choose transform
// Pose2 trans = transIdeal; // ideal - works
// Pose2 trans = transIdeal * Pose2(0.1, 1.0, 0.00); // translation - works
// Pose2 trans = transIdeal * Pose2(10.1, 1.0, 0.00); // large translation - works
// Pose2 trans = transIdeal * Pose2(0.0, 0.0, 0.1); // small rotation - works
Pose2 trans = transIdeal * Pose2(-200.0, 100.0, 1.3); // combined - works
// Pose2 trans = transIdeal * Pose2(-200.0, 100.0, 2.0); // beyond pi/2 - fails
NonlinearFactorGraph graph;
graph.add(PointReferenceFrameFactor(lB1, tA1, lA1));
graph.add(PointReferenceFrameFactor(lB2, tA1, lA2));
// hard constraints on points
double error_gain = 1000.0;
graph.add(NonlinearEquality<gtsam::Point2>(lA1, local1, error_gain));
graph.add(NonlinearEquality<gtsam::Point2>(lA2, local2, error_gain));
graph.add(NonlinearEquality<gtsam::Point2>(lB1, global1, error_gain));
graph.add(NonlinearEquality<gtsam::Point2>(lB2, global2, error_gain));
// create initial estimate
Values init;
init.insert(lA1, local1);
init.insert(lA2, local2);
init.insert(lB1, global1);
init.insert(lB2, global2);
init.insert(tA1, trans);
// optimize
LevenbergMarquardtOptimizer solver(graph, init);
Values actual = solver.optimize();
Values expected;
expected.insert(lA1, local1);
expected.insert(lA2, local2);
expected.insert(lB1, global1);
expected.insert(lB2, global2);
expected.insert(tA1, transIdeal);
EXPECT(assert_equal(expected, actual, 1e-4));
}
/* ************************************************************************* */
TEST( ReferenceFrameFactor, converge_local ) {
// initial points
Point2 global(-1.0, 2.0);
// Pose2 trans(1.5, 2.5, 0.3); // original
// Pose2 trans(1.5, 2.5, 1.0); // larger rotation
Pose2 trans(1.5, 2.5, 3.1); // significant rotation
Point2 idealLocal = trans.transform_from(global);
// perturb the initial estimate
// Point2 local = idealLocal; // Ideal case - works
// Point2 local = idealLocal + Point2(1.0, 0.0); // works
Point2 local = idealLocal + Point2(-10.0, 10.0); // works
NonlinearFactorGraph graph;
double error_gain = 1000.0;
graph.add(PointReferenceFrameFactor(lB1, tA1, lA1));
graph.add(NonlinearEquality<gtsam::Point2>(lB1, global, error_gain));
graph.add(NonlinearEquality<gtsam::Pose2>(tA1, trans, error_gain));
// create initial estimate
Values init;
init.insert(lA1, local);
init.insert(lB1, global);
init.insert(tA1, trans);
// optimize
LevenbergMarquardtOptimizer solver(graph, init);
Values actual = solver.optimize();
CHECK(actual.exists(lA1));
EXPECT(assert_equal(idealLocal, actual.at<Point2>(lA1), 1e-5));
}
/* ************************************************************************* */
TEST( ReferenceFrameFactor, converge_global ) {
// initial points
Point2 local(2.0, 3.0);
// Pose2 trans(1.5, 2.5, 0.3); // original
// Pose2 trans(1.5, 2.5, 1.0); // larger rotation
Pose2 trans(1.5, 2.5, 3.1); // significant rotation
Point2 idealForeign = trans.inverse().transform_from(local);
// perturb the initial estimate
// Point2 global = idealForeign; // Ideal - works
// Point2 global = idealForeign + Point2(1.0, 0.0); // simple - works
Point2 global = idealForeign + Point2(10.0, -10.0); // larger - works
NonlinearFactorGraph graph;
double error_gain = 1000.0;
graph.add(PointReferenceFrameFactor(lB1, tA1, lA1));
graph.add(NonlinearEquality<gtsam::Point2>(lA1, local, error_gain));
graph.add(NonlinearEquality<gtsam::Pose2>(tA1, trans, error_gain));
// create initial estimate
Values init;
init.insert(lA1, local);
init.insert(lB1, global);
init.insert(tA1, trans);
// optimize
LevenbergMarquardtOptimizer solver(graph, init);
Values actual = solver.optimize();
// verify
CHECK(actual.exists(lB1));
EXPECT(assert_equal(idealForeign, actual.at<Point2>(lB1), 1e-5));
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */