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Check derivatives

release/4.3a0
dellaert 2015-02-19 15:00:19 +01:00
parent 6f0ea81c5e
commit 9a5f39b55b
1 changed files with 26 additions and 7 deletions
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27
gtsam/geometry/tests/testCameraSet.cpp
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@ -20,6 +20,7 @@
#include <gtsam/geometry/Pose3.h> #include <gtsam/geometry/Pose3.h>
#include <gtsam/base/numericalDerivative.h> #include <gtsam/base/numericalDerivative.h>
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
#include <boost/bind.hpp>
using namespace std; using namespace std;
using namespace gtsam; using namespace gtsam;
@ -29,15 +30,33 @@ using namespace gtsam;
#include <gtsam/geometry/Cal3Bundler.h> #include <gtsam/geometry/Cal3Bundler.h>
TEST(CameraSet, Pinhole) { TEST(CameraSet, Pinhole) {
typedef PinholeCamera<Cal3Bundler> Camera; typedef PinholeCamera<Cal3Bundler> Camera;
typedef vector<Point2> ZZ;
CameraSet<Camera> set; CameraSet<Camera> set;
set.add(Camera()); Camera camera;
set.add(Camera()); set.add(camera);
set.add(camera);
Point3 p(0, 0, 1); Point3 p(0, 0, 1);
Matrix F,E,H; // Calculate actual
vector<Point2> z = set.project(p,F,E,H); Matrix46 actualF;
Matrix43 actualE;
Matrix43 actualH;
{
Matrix26 F1;
Matrix23 E1;
Matrix23 H1;
camera.project(p, F1, E1, H1);
actualE << E1, E1;
actualF << F1, F1;
actualH << H1, H1;
}
Point2 expected; Point2 expected;
Matrix F, E, H;
ZZ z = set.project(p, F, E, H);
CHECK(assert_equal(expected, z[0])); CHECK(assert_equal(expected, z[0]));
CHECK(assert_equal(expected, z[1])); CHECK(assert_equal(expected, z[1]));
CHECK(assert_equal(actualF, F));
CHECK(assert_equal(actualE, E));
CHECK(assert_equal(actualH, H));
} }
/* ************************************************************************* */ /* ************************************************************************* */