Removed SLAM namespaces from testSerializationSLAM. Instead of testing each SLAM namespace individually, a single test was created that instanciates all variable-factor combinations. However, there is currently an issue with LieVector that should be resolved.
Stephen Williams
parent
01bcd9e939
commit
c2daf40c5d
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@ -18,11 +18,31 @@
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#include <tests/smallExample.h>
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#include <tests/smallExample.h>
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#include <gtsam/slam/planarSLAM.h>
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#include <gtsam/slam/PriorFactor.h>
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#include <gtsam/slam/visualSLAM.h>
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#include <gtsam/slam/BetweenFactor.h>
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#include <gtsam/slam/BearingFactor.h>
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#include <gtsam/slam/RangeFactor.h>
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#include <gtsam/slam/BearingRangeFactor.h>
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#include <gtsam/slam/ProjectionFactor.h>
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#include <gtsam/nonlinear/NonlinearEquality.h>
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#include <gtsam/nonlinear/Symbol.h>
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#include <gtsam/nonlinear/Symbol.h>
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#include <gtsam/linear/GaussianISAM.h>
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#include <gtsam/linear/GaussianISAM.h>
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#include <gtsam/linear/GaussianMultifrontalSolver.h>
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#include <gtsam/linear/GaussianMultifrontalSolver.h>
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#include <gtsam/base/LieVector.h>
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#include <gtsam/base/LieMatrix.h>
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#include <gtsam/geometry/Point2.h>
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#include <gtsam/geometry/StereoPoint2.h>
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#include <gtsam/geometry/Point3.h>
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#include <gtsam/geometry/Rot2.h>
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#include <gtsam/geometry/Rot3.h>
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#include <gtsam/geometry/Pose2.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/geometry/Cal3DS2.h>
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#include <gtsam/geometry/Cal3_S2Stereo.h>
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#include <gtsam/geometry/CalibratedCamera.h>
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#include <gtsam/geometry/SimpleCamera.h>
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#include <gtsam/base/serializationTestHelpers.h>
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#include <gtsam/base/serializationTestHelpers.h>
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#include <CppUnitLite/TestHarness.h>
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#include <CppUnitLite/TestHarness.h>
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@ -30,17 +50,70 @@ using namespace std;
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using namespace gtsam;
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using namespace gtsam;
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using namespace gtsam::serializationTestHelpers;
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using namespace gtsam::serializationTestHelpers;
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// Creating as many permutations of factors as possible
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typedef PriorFactor<LieVector> PriorFactorLieVector;
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typedef PriorFactor<LieMatrix> PriorFactorLieMatrix;
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typedef PriorFactor<Point2> PriorFactorPoint2;
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typedef PriorFactor<StereoPoint2> PriorFactorStereoPoint2;
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typedef PriorFactor<Point3> PriorFactorPoint3;
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typedef PriorFactor<Rot2> PriorFactorRot2;
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typedef PriorFactor<Rot3> PriorFactorRot3;
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typedef PriorFactor<Pose2> PriorFactorPose2;
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typedef PriorFactor<Pose3> PriorFactorPose3;
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typedef PriorFactor<Cal3_S2> PriorFactorCal3_S2;
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typedef PriorFactor<Cal3DS2> PriorFactorCal3DS2;
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typedef PriorFactor<CalibratedCamera> PriorFactorCalibratedCamera;
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typedef PriorFactor<SimpleCamera> PriorFactorSimpleCamera;
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typedef BetweenFactor<LieVector> BetweenFactorLieVector;
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typedef BetweenFactor<LieMatrix> BetweenFactorLieMatrix;
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typedef BetweenFactor<Point2> BetweenFactorPoint2;
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typedef BetweenFactor<Point3> BetweenFactorPoint3;
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typedef BetweenFactor<Rot2> BetweenFactorRot2;
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typedef BetweenFactor<Rot3> BetweenFactorRot3;
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typedef BetweenFactor<Pose2> BetweenFactorPose2;
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typedef BetweenFactor<Pose3> BetweenFactorPose3;
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typedef NonlinearEquality<LieVector> NonlinearEqualityLieVector;
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typedef NonlinearEquality<LieMatrix> NonlinearEqualityLieMatrix;
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typedef NonlinearEquality<Point2> NonlinearEqualityPoint2;
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typedef NonlinearEquality<StereoPoint2> NonlinearEqualityStereoPoint2;
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typedef NonlinearEquality<Point3> NonlinearEqualityPoint3;
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typedef NonlinearEquality<Rot2> NonlinearEqualityRot2;
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typedef NonlinearEquality<Rot3> NonlinearEqualityRot3;
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typedef NonlinearEquality<Pose2> NonlinearEqualityPose2;
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typedef NonlinearEquality<Pose3> NonlinearEqualityPose3;
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typedef NonlinearEquality<Cal3_S2> NonlinearEqualityCal3_S2;
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typedef NonlinearEquality<Cal3DS2> NonlinearEqualityCal3DS2;
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typedef NonlinearEquality<CalibratedCamera> NonlinearEqualityCalibratedCamera;
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typedef NonlinearEquality<SimpleCamera> NonlinearEqualitySimpleCamera;
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typedef RangeFactor<Pose2, Point2> RangeFactorPosePoint2;
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typedef RangeFactor<Pose3, Point3> RangeFactorPosePoint3;
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typedef RangeFactor<Pose2, Pose2> RangeFactorPose2;
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typedef RangeFactor<Pose3, Pose3> RangeFactorPose3;
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typedef RangeFactor<CalibratedCamera, Point3> RangeFactorCalibratedCameraPoint;
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typedef RangeFactor<SimpleCamera, Point3> RangeFactorSimpleCameraPoint;
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typedef RangeFactor<CalibratedCamera, CalibratedCamera> RangeFactorCalibratedCamera;
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typedef RangeFactor<SimpleCamera, SimpleCamera> RangeFactorSimpleCamera;
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typedef BearingFactor<Pose2, Point2, Rot2> BearingFactor2D;
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typedef BearingFactor<Pose3, Point3, Rot3> BearingFactor3D;
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typedef BearingRangeFactor<Pose2, Point2> BearingRangeFactor2D;
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typedef BearingRangeFactor<Pose3, Point3> BearingRangeFactor3D;
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typedef GenericProjectionFactor<Pose3, Point3, Cal3_S2> GenericProjectionFactorCal3_S2;
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typedef GenericProjectionFactor<Pose3, Point3, Cal3DS2> GenericProjectionFactorCal3DS2;
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// Convenience for named keys
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// Convenience for named keys
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using symbol_shorthand::X;
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using symbol_shorthand::X;
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using symbol_shorthand::L;
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using symbol_shorthand::L;
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/* Create GUIDs for factors */
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/* ************************************************************************* */
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BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "gtsam::JacobianFactor");
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BOOST_CLASS_EXPORT_GUID(gtsam::HessianFactor , "gtsam::HessianFactor");
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/* Create GUIDs for Noisemodels */
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/* ************************************************************************* */
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/* ************************************************************************* */
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// Export Noisemodels
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BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained");
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BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained");
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BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal");
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BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal");
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BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian");
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BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian");
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@ -50,6 +123,82 @@ BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropi
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BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel");
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BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel");
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BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal");
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BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal");
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/* Create GUIDs for geometry */
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/* ************************************************************************* */
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BOOST_CLASS_EXPORT(gtsam::LieVector);
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BOOST_CLASS_EXPORT(gtsam::LieMatrix);
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BOOST_CLASS_EXPORT(gtsam::Point2);
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BOOST_CLASS_EXPORT(gtsam::StereoPoint2);
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BOOST_CLASS_EXPORT(gtsam::Point3);
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BOOST_CLASS_EXPORT(gtsam::Rot2);
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BOOST_CLASS_EXPORT(gtsam::Rot3);
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BOOST_CLASS_EXPORT(gtsam::Pose2);
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BOOST_CLASS_EXPORT(gtsam::Pose3);
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BOOST_CLASS_EXPORT(gtsam::Cal3_S2);
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BOOST_CLASS_EXPORT(gtsam::Cal3DS2);
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BOOST_CLASS_EXPORT(gtsam::CalibratedCamera);
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BOOST_CLASS_EXPORT(gtsam::SimpleCamera);
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/* Create GUIDs for factors */
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/* ************************************************************************* */
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BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "gtsam::JacobianFactor");
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BOOST_CLASS_EXPORT_GUID(gtsam::HessianFactor , "gtsam::HessianFactor");
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BOOST_CLASS_EXPORT_GUID(PriorFactorLieVector, "gtsam::PriorFactorLieVector");
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BOOST_CLASS_EXPORT_GUID(PriorFactorLieMatrix, "gtsam::PriorFactorLieMatrix");
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BOOST_CLASS_EXPORT_GUID(PriorFactorPoint2, "gtsam::PriorFactorPoint2");
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BOOST_CLASS_EXPORT_GUID(PriorFactorStereoPoint2, "gtsam::PriorFactorStereoPoint2");
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BOOST_CLASS_EXPORT_GUID(PriorFactorPoint3, "gtsam::PriorFactorPoint3");
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BOOST_CLASS_EXPORT_GUID(PriorFactorRot2, "gtsam::PriorFactorRot2");
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BOOST_CLASS_EXPORT_GUID(PriorFactorRot3, "gtsam::PriorFactorRot3");
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BOOST_CLASS_EXPORT_GUID(PriorFactorPose2, "gtsam::PriorFactorPose2");
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BOOST_CLASS_EXPORT_GUID(PriorFactorPose3, "gtsam::PriorFactorPose3");
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BOOST_CLASS_EXPORT_GUID(PriorFactorCal3_S2, "gtsam::PriorFactorCal3_S2");
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BOOST_CLASS_EXPORT_GUID(PriorFactorCal3DS2, "gtsam::PriorFactorCal3DS2");
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BOOST_CLASS_EXPORT_GUID(PriorFactorCalibratedCamera, "gtsam::PriorFactorCalibratedCamera");
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BOOST_CLASS_EXPORT_GUID(PriorFactorSimpleCamera, "gtsam::PriorFactorSimpleCamera");
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BOOST_CLASS_EXPORT_GUID(BetweenFactorLieVector, "gtsam::BetweenFactorLieVector");
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BOOST_CLASS_EXPORT_GUID(BetweenFactorLieMatrix, "gtsam::BetweenFactorLieMatrix");
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BOOST_CLASS_EXPORT_GUID(BetweenFactorPoint2, "gtsam::BetweenFactorPoint2");
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BOOST_CLASS_EXPORT_GUID(BetweenFactorPoint3, "gtsam::BetweenFactorPoint3");
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BOOST_CLASS_EXPORT_GUID(BetweenFactorRot2, "gtsam::BetweenFactorRot2");
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BOOST_CLASS_EXPORT_GUID(BetweenFactorRot3, "gtsam::BetweenFactorRot3");
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BOOST_CLASS_EXPORT_GUID(BetweenFactorPose2, "gtsam::BetweenFactorPose2");
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BOOST_CLASS_EXPORT_GUID(BetweenFactorPose3, "gtsam::BetweenFactorPose3");
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BOOST_CLASS_EXPORT_GUID(NonlinearEqualityLieVector, "gtsam::NonlinearEqualityLieVector");
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BOOST_CLASS_EXPORT_GUID(NonlinearEqualityLieMatrix, "gtsam::NonlinearEqualityLieMatrix");
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BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPoint2, "gtsam::NonlinearEqualityPoint2");
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BOOST_CLASS_EXPORT_GUID(NonlinearEqualityStereoPoint2, "gtsam::NonlinearEqualityStereoPoint2");
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BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPoint3, "gtsam::NonlinearEqualityPoint3");
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BOOST_CLASS_EXPORT_GUID(NonlinearEqualityRot2, "gtsam::NonlinearEqualityRot2");
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BOOST_CLASS_EXPORT_GUID(NonlinearEqualityRot3, "gtsam::NonlinearEqualityRot3");
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BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPose2, "gtsam::NonlinearEqualityPose2");
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BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPose3, "gtsam::NonlinearEqualityPose3");
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BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCal3_S2, "gtsam::NonlinearEqualityCal3_S2");
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BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCal3DS2, "gtsam::NonlinearEqualityCal3DS2");
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BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCalibratedCamera, "gtsam::NonlinearEqualityCalibratedCamera");
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BOOST_CLASS_EXPORT_GUID(NonlinearEqualitySimpleCamera, "gtsam::NonlinearEqualitySimpleCamera");
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BOOST_CLASS_EXPORT_GUID(RangeFactorPosePoint2, "gtsam::RangeFactorPosePoint2");
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BOOST_CLASS_EXPORT_GUID(RangeFactorPosePoint3, "gtsam::RangeFactorPosePoint3");
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BOOST_CLASS_EXPORT_GUID(RangeFactorPose2, "gtsam::RangeFactorPose2");
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BOOST_CLASS_EXPORT_GUID(RangeFactorPose3, "gtsam::RangeFactorPose3");
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BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCameraPoint, "gtsam::RangeFactorCalibratedCameraPoint");
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BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCameraPoint, "gtsam::RangeFactorSimpleCameraPoint");
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BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCamera, "gtsam::RangeFactorCalibratedCamera");
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BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCamera, "gtsam::RangeFactorSimpleCamera");
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BOOST_CLASS_EXPORT_GUID(BearingFactor2D, "gtsam::BearingFactor2D");
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BOOST_CLASS_EXPORT_GUID(BearingRangeFactor2D, "gtsam::BearingRangeFactor2D");
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BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3_S2, "gtsam::GenericProjectionFactorCal3_S2");
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BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3DS2, "gtsam::GenericProjectionFactorCal3DS2");
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/* ************************************************************************* */
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/* ************************************************************************* */
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TEST (Serialization, smallExample_linear) {
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TEST (Serialization, smallExample_linear) {
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using namespace example;
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using namespace example;
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@ -85,12 +234,11 @@ TEST (Serialization, gaussianISAM) {
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BOOST_CLASS_EXPORT_GUID(simulated2D::Prior, "gtsam::simulated2D::Prior" )
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BOOST_CLASS_EXPORT_GUID(simulated2D::Prior, "gtsam::simulated2D::Prior" )
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BOOST_CLASS_EXPORT_GUID(simulated2D::Odometry, "gtsam::simulated2D::Odometry" )
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BOOST_CLASS_EXPORT_GUID(simulated2D::Odometry, "gtsam::simulated2D::Odometry" )
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BOOST_CLASS_EXPORT_GUID(simulated2D::Measurement, "gtsam::simulated2D::Measurement")
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BOOST_CLASS_EXPORT_GUID(simulated2D::Measurement, "gtsam::simulated2D::Measurement")
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BOOST_CLASS_EXPORT(gtsam::Point2)
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/* ************************************************************************* */
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/* ************************************************************************* */
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TEST (Serialization, smallExample) {
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TEST (Serialization, smallExample_nonlinear) {
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using namespace example;
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using namespace example;
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Graph nfg = createNonlinearFactorGraph();
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NonlinearFactorGraph nfg = createNonlinearFactorGraph();
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Values c1 = createValues();
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Values c1 = createValues();
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EXPECT(equalsObj(nfg));
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EXPECT(equalsObj(nfg));
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EXPECT(equalsXML(nfg));
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EXPECT(equalsXML(nfg));
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}
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}
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/* ************************************************************************* */
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/* ************************************************************************* */
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/* Create GUIDs for factors */
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TEST (Serialization, factors) {
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BOOST_CLASS_EXPORT_GUID(planarSLAM::Prior, "gtsam::planarSLAM::Prior");
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BOOST_CLASS_EXPORT_GUID(planarSLAM::Bearing, "gtsam::planarSLAM::Bearing");
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BOOST_CLASS_EXPORT_GUID(planarSLAM::Range, "gtsam::planarSLAM::Range");
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BOOST_CLASS_EXPORT_GUID(planarSLAM::BearingRange,"gtsam::planarSLAM::BearingRange");
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BOOST_CLASS_EXPORT_GUID(planarSLAM::Odometry, "gtsam::planarSLAM::Odometry");
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BOOST_CLASS_EXPORT_GUID(planarSLAM::Constraint, "gtsam::planarSLAM::Constraint");
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BOOST_CLASS_EXPORT(gtsam::Pose2)
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LieVector lieVector(4, 1.0, 2.0, 3.0, 4.0);
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LieMatrix lieMatrix(2, 3, 1.0, 2.0, 3.0, 4.0, 5.0 ,6.0);
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Point2 point2(1.0, 2.0);
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StereoPoint2 stereoPoint2(1.0, 2.0, 3.0);
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Point3 point3(1.0, 2.0, 3.0);
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Rot2 rot2(1.0);
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Rot3 rot3(Rot3::RzRyRx(1.0, 2.0, 3.0));
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Pose2 pose2(rot2, point2);
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Pose3 pose3(rot3, point3);
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Cal3_S2 cal3_s2(1.0, 2.0, 3.0, 4.0, 5.0);
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Cal3DS2 cal3ds2(1.0, 2.0, 3.0, 4.0, 5.0,6.0, 7.0, 8.0, 9.0);
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CalibratedCamera calibratedCamera(pose3);
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SimpleCamera simpleCamera(pose3, cal3_s2);
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Symbol a01('a',1), a02('a',2), a03('a',3), a04('a',4), a05('a',5), a06('a',6), a07('a',7), a08('a',8), a09('a',9), a10('a',10), a11('a',11), a12('a',12), a13('a',13);
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Symbol b01('b',1), b02('b',2), b03('b',3), b04('b',4), b05('b',5), b06('b',6), b07('b',7), b08('b',8), b09('b',9), b10('b',10), b11('b',11), b12('b',12), b13('b',13);
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Values values;
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// values.insert(a01, lieVector);
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// values.insert(a02, lieMatrix);
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values.insert(a03, point2);
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values.insert(a04, stereoPoint2);
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values.insert(a05, point3);
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values.insert(a06, rot2);
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values.insert(a07, rot3);
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values.insert(a08, pose2);
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values.insert(a09, pose3);
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values.insert(a10, cal3_s2);
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values.insert(a11, cal3ds2);
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values.insert(a12, calibratedCamera);
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values.insert(a13, simpleCamera);
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/* ************************************************************************* */
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TEST (Serialization, planar_system) {
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using namespace planarSLAM;
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planarSLAM::Values values;
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Symbol i2('x',2), i3('x',3), i4('x',4), i9('x',9), j3('l',3), j5('l',5), j9('l',9);
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values.insert(j3, Point2(1.0, 2.0));
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values.insert(i4, Pose2(1.0, 2.0, 0.3));
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SharedNoiseModel model1 = noiseModel::Isotropic::Sigma(1, 0.3);
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SharedNoiseModel model1 = noiseModel::Isotropic::Sigma(1, 0.3);
|
||||||
SharedNoiseModel model2 = noiseModel::Isotropic::Sigma(2, 0.3);
|
SharedNoiseModel model2 = noiseModel::Isotropic::Sigma(2, 0.3);
|
||||||
SharedNoiseModel model3 = noiseModel::Isotropic::Sigma(3, 0.3);
|
SharedNoiseModel model3 = noiseModel::Isotropic::Sigma(3, 0.3);
|
||||||
|
SharedNoiseModel model4 = noiseModel::Isotropic::Sigma(4, 0.3);
|
||||||
|
SharedNoiseModel model5 = noiseModel::Isotropic::Sigma(5, 0.3);
|
||||||
|
SharedNoiseModel model6 = noiseModel::Isotropic::Sigma(6, 0.3);
|
||||||
|
SharedNoiseModel model9 = noiseModel::Isotropic::Sigma(9, 0.3);
|
||||||
|
SharedNoiseModel model11 = noiseModel::Isotropic::Sigma(11, 0.3);
|
||||||
|
|
||||||
Prior prior(i3, Pose2(0.1,-0.3, 0.2), model1);
|
|
||||||
Bearing bearing(i3, j5, Rot2::fromDegrees(0.5), model1);
|
|
||||||
Range range(i2, j9, 7.0, model1);
|
|
||||||
BearingRange bearingRange(i2, j3, Rot2::fromDegrees(0.6), 2.0, model2);
|
|
||||||
Odometry odometry(i2, i3, Pose2(1.0, 2.0, 0.3), model3);
|
|
||||||
Constraint constraint(i9, Pose2(2.0,-1.0, 0.2));
|
|
||||||
|
|
||||||
Graph graph;
|
|
||||||
graph.add(prior);
|
PriorFactorLieVector priorFactorLieVector(a01, lieVector, model4);
|
||||||
graph.add(bearing);
|
PriorFactorLieMatrix priorFactorLieMatrix(a02, lieMatrix, model6);
|
||||||
graph.add(range);
|
PriorFactorPoint2 priorFactorPoint2(a03, point2, model2);
|
||||||
graph.add(bearingRange);
|
PriorFactorStereoPoint2 priorFactorStereoPoint2(a04, stereoPoint2, model3);
|
||||||
graph.add(odometry);
|
PriorFactorPoint3 priorFactorPoint3(a05, point3, model3);
|
||||||
graph.add(constraint);
|
PriorFactorRot2 priorFactorRot2(a06, rot2, model1);
|
||||||
|
PriorFactorRot3 priorFactorRot3(a07, rot3, model3);
|
||||||
|
PriorFactorPose2 priorFactorPose2(a08, pose2, model3);
|
||||||
|
PriorFactorPose3 priorFactorPose3(a09, pose3, model6);
|
||||||
|
PriorFactorCal3_S2 priorFactorCal3_S2(a10, cal3_s2, model5);
|
||||||
|
PriorFactorCal3DS2 priorFactorCal3DS2(a11, cal3ds2, model9);
|
||||||
|
PriorFactorCalibratedCamera priorFactorCalibratedCamera(a12, calibratedCamera, model6);
|
||||||
|
PriorFactorSimpleCamera priorFactorSimpleCamera(a13, simpleCamera, model11);
|
||||||
|
|
||||||
|
BetweenFactorLieVector betweenFactorLieVector(a01, b01, lieVector, model4);
|
||||||
|
BetweenFactorLieMatrix betweenFactorLieMatrix(a02, b02, lieMatrix, model6);
|
||||||
|
BetweenFactorPoint2 betweenFactorPoint2(a03, b03, point2, model2);
|
||||||
|
BetweenFactorPoint3 betweenFactorPoint3(a05, b05, point3, model3);
|
||||||
|
BetweenFactorRot2 betweenFactorRot2(a06, b06, rot2, model1);
|
||||||
|
BetweenFactorRot3 betweenFactorRot3(a07, b07, rot3, model3);
|
||||||
|
BetweenFactorPose2 betweenFactorPose2(a08, b08, pose2, model3);
|
||||||
|
BetweenFactorPose3 betweenFactorPose3(a09, b09, pose3, model6);
|
||||||
|
|
||||||
|
NonlinearEqualityLieVector nonlinearEqualityLieVector(a01, lieVector);
|
||||||
|
NonlinearEqualityLieMatrix nonlinearEqualityLieMatrix(a02, lieMatrix);
|
||||||
|
NonlinearEqualityPoint2 nonlinearEqualityPoint2(a03, point2);
|
||||||
|
NonlinearEqualityStereoPoint2 nonlinearEqualityStereoPoint2(a04, stereoPoint2);
|
||||||
|
NonlinearEqualityPoint3 nonlinearEqualityPoint3(a05, point3);
|
||||||
|
NonlinearEqualityRot2 nonlinearEqualityRot2(a06, rot2);
|
||||||
|
NonlinearEqualityRot3 nonlinearEqualityRot3(a07, rot3);
|
||||||
|
NonlinearEqualityPose2 nonlinearEqualityPose2(a08, pose2);
|
||||||
|
NonlinearEqualityPose3 nonlinearEqualityPose3(a09, pose3);
|
||||||
|
NonlinearEqualityCal3_S2 nonlinearEqualityCal3_S2(a10, cal3_s2);
|
||||||
|
NonlinearEqualityCal3DS2 nonlinearEqualityCal3DS2(a11, cal3ds2);
|
||||||
|
NonlinearEqualityCalibratedCamera nonlinearEqualityCalibratedCamera(a12, calibratedCamera);
|
||||||
|
NonlinearEqualitySimpleCamera nonlinearEqualitySimpleCamera(a13, simpleCamera);
|
||||||
|
|
||||||
|
RangeFactorPosePoint2 rangeFactorPosePoint2(a08, a03, 2.0, model1);
|
||||||
|
RangeFactorPosePoint3 rangeFactorPosePoint3(a09, a05, 2.0, model1);
|
||||||
|
RangeFactorPose2 rangeFactorPose2(a08, b08, 2.0, model1);
|
||||||
|
RangeFactorPose3 rangeFactorPose3(a09, b09, 2.0, model1);
|
||||||
|
RangeFactorCalibratedCameraPoint rangeFactorCalibratedCameraPoint(a12, a05, 2.0, model1);
|
||||||
|
RangeFactorSimpleCameraPoint rangeFactorSimpleCameraPoint(a13, a05, 2.0, model1);
|
||||||
|
RangeFactorCalibratedCamera rangeFactorCalibratedCamera(a12, b12, 2.0, model1);
|
||||||
|
RangeFactorSimpleCamera rangeFactorSimpleCamera(a13, b13, 2.0, model1);
|
||||||
|
|
||||||
|
BearingFactor2D bearingFactor2D(a08, a03, rot2, model1);
|
||||||
|
|
||||||
|
BearingRangeFactor2D bearingRangeFactor2D(a08, a03, rot2, 2.0, model2);
|
||||||
|
|
||||||
|
GenericProjectionFactorCal3_S2 genericProjectionFactorCal3_S2(point2, model2, a09, a05, boost::make_shared<Cal3_S2>(cal3_s2));
|
||||||
|
GenericProjectionFactorCal3DS2 genericProjectionFactorCal3DS2(point2, model2, a09, a05, boost::make_shared<Cal3DS2>(cal3ds2));
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
NonlinearFactorGraph graph;
|
||||||
|
// graph.add(priorFactorLieVector);
|
||||||
|
// graph.add(priorFactorLieMatrix);
|
||||||
|
graph.add(priorFactorPoint2);
|
||||||
|
graph.add(priorFactorStereoPoint2);
|
||||||
|
graph.add(priorFactorPoint3);
|
||||||
|
graph.add(priorFactorRot2);
|
||||||
|
graph.add(priorFactorRot3);
|
||||||
|
graph.add(priorFactorPose2);
|
||||||
|
graph.add(priorFactorPose3);
|
||||||
|
graph.add(priorFactorCal3_S2);
|
||||||
|
graph.add(priorFactorCal3_S2);
|
||||||
|
graph.add(priorFactorCalibratedCamera);
|
||||||
|
graph.add(priorFactorSimpleCamera);
|
||||||
|
|
||||||
|
// graph.add(betweenFactorLieVector);
|
||||||
|
// graph.add(betweenFactorLieMatrix);
|
||||||
|
graph.add(betweenFactorPoint2);
|
||||||
|
graph.add(betweenFactorPoint3);
|
||||||
|
graph.add(betweenFactorRot2);
|
||||||
|
graph.add(betweenFactorRot3);
|
||||||
|
graph.add(betweenFactorPose2);
|
||||||
|
graph.add(betweenFactorPose3);
|
||||||
|
|
||||||
|
// graph.add(nonlinearEqualityLieVector);
|
||||||
|
// graph.add(nonlinearEqualityLieMatrix);
|
||||||
|
graph.add(nonlinearEqualityPoint2);
|
||||||
|
graph.add(nonlinearEqualityStereoPoint2);
|
||||||
|
graph.add(nonlinearEqualityPoint3);
|
||||||
|
graph.add(nonlinearEqualityRot2);
|
||||||
|
graph.add(nonlinearEqualityRot3);
|
||||||
|
graph.add(nonlinearEqualityPose2);
|
||||||
|
graph.add(nonlinearEqualityPose3);
|
||||||
|
graph.add(nonlinearEqualityCal3_S2);
|
||||||
|
graph.add(nonlinearEqualityCal3DS2);
|
||||||
|
graph.add(nonlinearEqualityCalibratedCamera);
|
||||||
|
graph.add(nonlinearEqualitySimpleCamera);
|
||||||
|
|
||||||
|
graph.add(rangeFactorPosePoint2);
|
||||||
|
graph.add(rangeFactorPosePoint3);
|
||||||
|
graph.add(rangeFactorPose2);
|
||||||
|
graph.add(rangeFactorPose3);
|
||||||
|
graph.add(rangeFactorCalibratedCameraPoint);
|
||||||
|
graph.add(rangeFactorSimpleCameraPoint);
|
||||||
|
graph.add(rangeFactorCalibratedCamera);
|
||||||
|
graph.add(rangeFactorSimpleCamera);
|
||||||
|
|
||||||
|
graph.add(bearingFactor2D);
|
||||||
|
|
||||||
|
graph.add(bearingRangeFactor2D);
|
||||||
|
|
||||||
|
graph.add(genericProjectionFactorCal3_S2);
|
||||||
|
graph.add(genericProjectionFactorCal3DS2);
|
||||||
|
|
||||||
|
|
||||||
// text
|
// text
|
||||||
EXPECT(equalsObj<Symbol>(i2));
|
EXPECT(equalsObj<Symbol>(a01));
|
||||||
EXPECT(equalsObj<Symbol>(j3));
|
EXPECT(equalsObj<Symbol>(b02));
|
||||||
EXPECT(equalsObj<planarSLAM::Values>(values));
|
EXPECT(equalsObj<Values>(values));
|
||||||
EXPECT(equalsObj<Prior>(prior));
|
EXPECT(equalsObj<NonlinearFactorGraph>(graph));
|
||||||
EXPECT(equalsObj<Bearing>(bearing));
|
|
||||||
EXPECT(equalsObj<BearingRange>(bearingRange));
|
// EXPECT(equalsObj<PriorFactorLieVector>(priorFactorLieVector));
|
||||||
EXPECT(equalsObj<Range>(range));
|
// EXPECT(equalsObj<PriorFactorLieMatrix>(priorFactorLieMatrix));
|
||||||
EXPECT(equalsObj<Odometry>(odometry));
|
EXPECT(equalsObj<PriorFactorPoint2>(priorFactorPoint2));
|
||||||
EXPECT(equalsObj<Constraint>(constraint));
|
EXPECT(equalsObj<PriorFactorStereoPoint2>(priorFactorStereoPoint2));
|
||||||
EXPECT(equalsObj<Graph>(graph));
|
EXPECT(equalsObj<PriorFactorPoint3>(priorFactorPoint3));
|
||||||
|
EXPECT(equalsObj<PriorFactorRot2>(priorFactorRot2));
|
||||||
|
EXPECT(equalsObj<PriorFactorRot3>(priorFactorRot3));
|
||||||
|
EXPECT(equalsObj<PriorFactorPose2>(priorFactorPose2));
|
||||||
|
EXPECT(equalsObj<PriorFactorPose3>(priorFactorPose3));
|
||||||
|
EXPECT(equalsObj<PriorFactorCal3_S2>(priorFactorCal3_S2));
|
||||||
|
EXPECT(equalsObj<PriorFactorCal3DS2>(priorFactorCal3DS2));
|
||||||
|
EXPECT(equalsObj<PriorFactorCalibratedCamera>(priorFactorCalibratedCamera));
|
||||||
|
EXPECT(equalsObj<PriorFactorSimpleCamera>(priorFactorSimpleCamera));
|
||||||
|
|
||||||
|
// EXPECT(equalsObj<BetweenFactorLieVector>(betweenFactorLieVector));
|
||||||
|
// EXPECT(equalsObj<BetweenFactorLieMatrix>(betweenFactorLieMatrix));
|
||||||
|
EXPECT(equalsObj<BetweenFactorPoint2>(betweenFactorPoint2));
|
||||||
|
EXPECT(equalsObj<BetweenFactorPoint3>(betweenFactorPoint3));
|
||||||
|
EXPECT(equalsObj<BetweenFactorRot2>(betweenFactorRot2));
|
||||||
|
EXPECT(equalsObj<BetweenFactorRot3>(betweenFactorRot3));
|
||||||
|
EXPECT(equalsObj<BetweenFactorPose2>(betweenFactorPose2));
|
||||||
|
EXPECT(equalsObj<BetweenFactorPose3>(betweenFactorPose3));
|
||||||
|
|
||||||
|
// EXPECT(equalsObj<NonlinearEqualityLieVector>(nonlinearEqualityLieVector));
|
||||||
|
// EXPECT(equalsObj<NonlinearEqualityLieMatrix>(nonlinearEqualityLieMatrix));
|
||||||
|
EXPECT(equalsObj<NonlinearEqualityPoint2>(nonlinearEqualityPoint2));
|
||||||
|
EXPECT(equalsObj<NonlinearEqualityStereoPoint2>(nonlinearEqualityStereoPoint2));
|
||||||
|
EXPECT(equalsObj<NonlinearEqualityPoint3>(nonlinearEqualityPoint3));
|
||||||
|
EXPECT(equalsObj<NonlinearEqualityRot2>(nonlinearEqualityRot2));
|
||||||
|
EXPECT(equalsObj<NonlinearEqualityRot3>(nonlinearEqualityRot3));
|
||||||
|
EXPECT(equalsObj<NonlinearEqualityPose2>(nonlinearEqualityPose2));
|
||||||
|
EXPECT(equalsObj<NonlinearEqualityPose3>(nonlinearEqualityPose3));
|
||||||
|
EXPECT(equalsObj<NonlinearEqualityCal3_S2>(nonlinearEqualityCal3_S2));
|
||||||
|
EXPECT(equalsObj<NonlinearEqualityCal3DS2>(nonlinearEqualityCal3DS2));
|
||||||
|
EXPECT(equalsObj<NonlinearEqualityCalibratedCamera>(nonlinearEqualityCalibratedCamera));
|
||||||
|
EXPECT(equalsObj<NonlinearEqualitySimpleCamera>(nonlinearEqualitySimpleCamera));
|
||||||
|
|
||||||
|
EXPECT(equalsObj<RangeFactorPosePoint2>(rangeFactorPosePoint2));
|
||||||
|
EXPECT(equalsObj<RangeFactorPosePoint3>(rangeFactorPosePoint3));
|
||||||
|
EXPECT(equalsObj<RangeFactorPose2>(rangeFactorPose2));
|
||||||
|
EXPECT(equalsObj<RangeFactorPose3>(rangeFactorPose3));
|
||||||
|
EXPECT(equalsObj<RangeFactorCalibratedCameraPoint>(rangeFactorCalibratedCameraPoint));
|
||||||
|
EXPECT(equalsObj<RangeFactorSimpleCameraPoint>(rangeFactorSimpleCameraPoint));
|
||||||
|
EXPECT(equalsObj<RangeFactorCalibratedCamera>(rangeFactorCalibratedCamera));
|
||||||
|
EXPECT(equalsObj<RangeFactorSimpleCamera>(rangeFactorSimpleCamera));
|
||||||
|
|
||||||
|
EXPECT(equalsObj<BearingFactor2D>(bearingFactor2D));
|
||||||
|
|
||||||
|
EXPECT(equalsObj<BearingRangeFactor2D>(bearingRangeFactor2D));
|
||||||
|
|
||||||
|
EXPECT(equalsObj<GenericProjectionFactorCal3_S2>(genericProjectionFactorCal3_S2));
|
||||||
|
EXPECT(equalsObj<GenericProjectionFactorCal3DS2>(genericProjectionFactorCal3DS2));
|
||||||
|
|
||||||
|
|
||||||
// xml
|
// xml
|
||||||
EXPECT(equalsXML<Symbol>(i2));
|
EXPECT(equalsXML<Symbol>(a01));
|
||||||
EXPECT(equalsXML<Symbol>(j3));
|
EXPECT(equalsXML<Symbol>(b02));
|
||||||
EXPECT(equalsXML<planarSLAM::Values>(values));
|
EXPECT(equalsXML<Values>(values));
|
||||||
EXPECT(equalsXML<Prior>(prior));
|
EXPECT(equalsXML<NonlinearFactorGraph>(graph));
|
||||||
EXPECT(equalsXML<Bearing>(bearing));
|
|
||||||
EXPECT(equalsXML<BearingRange>(bearingRange));
|
// EXPECT(equalsXML<PriorFactorLieVector>(priorFactorLieVector));
|
||||||
EXPECT(equalsXML<Range>(range));
|
// EXPECT(equalsXML<PriorFactorLieMatrix>(priorFactorLieMatrix));
|
||||||
EXPECT(equalsXML<Odometry>(odometry));
|
EXPECT(equalsXML<PriorFactorPoint2>(priorFactorPoint2));
|
||||||
EXPECT(equalsXML<Constraint>(constraint));
|
EXPECT(equalsXML<PriorFactorStereoPoint2>(priorFactorStereoPoint2));
|
||||||
EXPECT(equalsXML<Graph>(graph));
|
EXPECT(equalsXML<PriorFactorPoint3>(priorFactorPoint3));
|
||||||
|
EXPECT(equalsXML<PriorFactorRot2>(priorFactorRot2));
|
||||||
|
EXPECT(equalsXML<PriorFactorRot3>(priorFactorRot3));
|
||||||
|
EXPECT(equalsXML<PriorFactorPose2>(priorFactorPose2));
|
||||||
|
EXPECT(equalsXML<PriorFactorPose3>(priorFactorPose3));
|
||||||
|
EXPECT(equalsXML<PriorFactorCal3_S2>(priorFactorCal3_S2));
|
||||||
|
EXPECT(equalsXML<PriorFactorCal3DS2>(priorFactorCal3DS2));
|
||||||
|
EXPECT(equalsXML<PriorFactorCalibratedCamera>(priorFactorCalibratedCamera));
|
||||||
|
EXPECT(equalsXML<PriorFactorSimpleCamera>(priorFactorSimpleCamera));
|
||||||
|
|
||||||
|
// EXPECT(equalsXML<BetweenFactorLieVector>(betweenFactorLieVector));
|
||||||
|
// EXPECT(equalsXML<BetweenFactorLieMatrix>(betweenFactorLieMatrix));
|
||||||
|
EXPECT(equalsXML<BetweenFactorPoint2>(betweenFactorPoint2));
|
||||||
|
EXPECT(equalsXML<BetweenFactorPoint3>(betweenFactorPoint3));
|
||||||
|
EXPECT(equalsXML<BetweenFactorRot2>(betweenFactorRot2));
|
||||||
|
EXPECT(equalsXML<BetweenFactorRot3>(betweenFactorRot3));
|
||||||
|
EXPECT(equalsXML<BetweenFactorPose2>(betweenFactorPose2));
|
||||||
|
EXPECT(equalsXML<BetweenFactorPose3>(betweenFactorPose3));
|
||||||
|
|
||||||
|
// EXPECT(equalsXML<NonlinearEqualityLieVector>(nonlinearEqualityLieVector));
|
||||||
|
// EXPECT(equalsXML<NonlinearEqualityLieMatrix>(nonlinearEqualityLieMatrix));
|
||||||
|
EXPECT(equalsXML<NonlinearEqualityPoint2>(nonlinearEqualityPoint2));
|
||||||
|
EXPECT(equalsXML<NonlinearEqualityStereoPoint2>(nonlinearEqualityStereoPoint2));
|
||||||
|
EXPECT(equalsXML<NonlinearEqualityPoint3>(nonlinearEqualityPoint3));
|
||||||
|
EXPECT(equalsXML<NonlinearEqualityRot2>(nonlinearEqualityRot2));
|
||||||
|
EXPECT(equalsXML<NonlinearEqualityRot3>(nonlinearEqualityRot3));
|
||||||
|
EXPECT(equalsXML<NonlinearEqualityPose2>(nonlinearEqualityPose2));
|
||||||
|
EXPECT(equalsXML<NonlinearEqualityPose3>(nonlinearEqualityPose3));
|
||||||
|
EXPECT(equalsXML<NonlinearEqualityCal3_S2>(nonlinearEqualityCal3_S2));
|
||||||
|
EXPECT(equalsXML<NonlinearEqualityCal3DS2>(nonlinearEqualityCal3DS2));
|
||||||
|
EXPECT(equalsXML<NonlinearEqualityCalibratedCamera>(nonlinearEqualityCalibratedCamera));
|
||||||
|
EXPECT(equalsXML<NonlinearEqualitySimpleCamera>(nonlinearEqualitySimpleCamera));
|
||||||
|
|
||||||
|
EXPECT(equalsXML<RangeFactorPosePoint2>(rangeFactorPosePoint2));
|
||||||
|
EXPECT(equalsXML<RangeFactorPosePoint3>(rangeFactorPosePoint3));
|
||||||
|
EXPECT(equalsXML<RangeFactorPose2>(rangeFactorPose2));
|
||||||
|
EXPECT(equalsXML<RangeFactorPose3>(rangeFactorPose3));
|
||||||
|
EXPECT(equalsXML<RangeFactorCalibratedCameraPoint>(rangeFactorCalibratedCameraPoint));
|
||||||
|
EXPECT(equalsXML<RangeFactorSimpleCameraPoint>(rangeFactorSimpleCameraPoint));
|
||||||
|
EXPECT(equalsXML<RangeFactorCalibratedCamera>(rangeFactorCalibratedCamera));
|
||||||
|
EXPECT(equalsXML<RangeFactorSimpleCamera>(rangeFactorSimpleCamera));
|
||||||
|
|
||||||
|
EXPECT(equalsXML<BearingFactor2D>(bearingFactor2D));
|
||||||
|
|
||||||
|
EXPECT(equalsXML<BearingRangeFactor2D>(bearingRangeFactor2D));
|
||||||
|
|
||||||
|
EXPECT(equalsXML<GenericProjectionFactorCal3_S2>(genericProjectionFactorCal3_S2));
|
||||||
|
EXPECT(equalsXML<GenericProjectionFactorCal3DS2>(genericProjectionFactorCal3DS2));
|
||||||
}
|
}
|
||||||
|
|
||||||
/* ************************************************************************* */
|
|
||||||
/* Create GUIDs for factors */
|
|
||||||
BOOST_CLASS_EXPORT_GUID(visualSLAM::PoseConstraint, "gtsam::visualSLAM::PoseConstraint");
|
|
||||||
BOOST_CLASS_EXPORT_GUID(visualSLAM::PointConstraint, "gtsam::visualSLAM::PointConstraint");
|
|
||||||
BOOST_CLASS_EXPORT_GUID(visualSLAM::PosePrior, "gtsam::visualSLAM::PosePrior");
|
|
||||||
BOOST_CLASS_EXPORT_GUID(visualSLAM::PointPrior, "gtsam::visualSLAM::PointPrior");
|
|
||||||
BOOST_CLASS_EXPORT_GUID(visualSLAM::ProjectionFactor,"gtsam::visualSLAM::ProjectionFactor");
|
|
||||||
BOOST_CLASS_EXPORT_GUID(visualSLAM::StereoFactor, "gtsam::visualSLAM::StereoFactor");
|
|
||||||
|
|
||||||
BOOST_CLASS_EXPORT(gtsam::Pose3)
|
|
||||||
BOOST_CLASS_EXPORT(gtsam::Point3)
|
|
||||||
|
|
||||||
static Point3 pt3(1.0, 2.0, 3.0);
|
|
||||||
static Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0);
|
|
||||||
static Pose3 pose3(rt3, pt3);
|
|
||||||
static Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5);
|
|
||||||
|
|
||||||
/* ************************************************************************* */
|
|
||||||
TEST (Serialization, visual_system) {
|
|
||||||
using namespace visualSLAM;
|
|
||||||
visualSLAM::Values values;
|
|
||||||
Symbol x1('x',1), x2('x',2);
|
|
||||||
Symbol l1('l',1), l2('l',2);
|
|
||||||
Pose3 pose1 = pose3, pose2 = pose3.inverse();
|
|
||||||
Point3 pt1(1.0, 2.0, 3.0), pt2(4.0, 5.0, 6.0);
|
|
||||||
values.insert(x1, pose1);
|
|
||||||
values.insert(l1, pt1);
|
|
||||||
SharedNoiseModel model2 = noiseModel::Isotropic::Sigma(2, 0.3);
|
|
||||||
SharedNoiseModel model3 = noiseModel::Isotropic::Sigma(3, 0.3);
|
|
||||||
SharedNoiseModel model6 = noiseModel::Isotropic::Sigma(6, 0.3);
|
|
||||||
boost::shared_ptr<Cal3_S2> K(new Cal3_S2(cal1));
|
|
||||||
|
|
||||||
Graph graph;
|
|
||||||
graph.addMeasurement(Point2(1.0, 2.0), model2, x1, l1, K);
|
|
||||||
graph.addPointConstraint(l1, pt1);
|
|
||||||
graph.addPointPrior(l1, pt2, model3);
|
|
||||||
graph.addPoseConstraint(x1, pose1);
|
|
||||||
graph.addPosePrior(x1, pose2, model6);
|
|
||||||
|
|
||||||
EXPECT(equalsObj(values));
|
|
||||||
EXPECT(equalsObj(graph));
|
|
||||||
|
|
||||||
EXPECT(equalsXML(values));
|
|
||||||
EXPECT(equalsXML(graph));
|
|
||||||
}
|
|
||||||
|
|
||||||
/* ************************************************************************* */
|
/* ************************************************************************* */
|
||||||
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
|
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue