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Promising prototype

release/4.3a0
dellaert 2014-11-27 18:51:01 +01:00
parent 298d0064a1
commit d90b256d66
1 changed files with 122 additions and 58 deletions
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180
gtsam/geometry/tests/testCal3DS2.cpp
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@ -113,63 +113,127 @@ TEST( Cal3DS2, retract)
// cout << test2 << endl; // cout << test2 << endl;
//} //}
void test(Eigen::Ref<Matrix25> H) { //void test(Eigen::Ref<Matrix25> H) {
cout << "test" << endl; // cout << "test" << endl;
cout << H.size() << endl; // cout << H.size() << endl;
cout << H.rows() << "," << H.cols() << endl; // cout << H.rows() << "," << H.cols() << endl;
if (H.size()) { // if (H.size()) {
cout << "H before:\n" << H << endl; // cout << "H before:\n" << H << endl;
H.resize(2, 5); // H.resize(2, 5);
H = Matrix25::Zero(); // H = Matrix25::Zero();
cout << "H after:\n" << H << endl; // cout << "H after:\n" << H << endl;
// }
//}
//
//TEST( Cal3DS2, Ref) {
//
// // In this case we don't want anything to happen
// cout << "\nempty" << endl;
// Matrix empty;
// test(empty);
// cout << "after" << empty << endl;
//
// // In this case we don't want a copy, TODO: does it copy???
// cout << "\nfixed" << endl;
// Matrix25 fixedDcal;
// fixedDcal.setOnes();
//
// cout << fixedDcal << endl;
// test(fixedDcal);
// cout << "after" << fixedDcal << endl;
//
// // In this case we want dynaDcal to be correctly allocate and filled
// cout << "\ndynamic wrong size" << endl;
// Matrix dynaDcal(8,5);
// dynaDcal.setOnes();
//
// cout << dynaDcal << endl;
// test(dynaDcal);
// cout << "after" << dynaDcal << endl;
//
// // In this case we want dynaDcal to be correctly allocate and filled
// cout << "\ndynamic right size" << endl;
// Matrix dynamic2(2,5);
// dynamic2.setOnes();
//
// cout << dynamic2 << endl;
// test(dynamic2);
// cout << "after" << dynamic2 << endl;
//}
//
//void test2(Eigen::Ref<Matrix> H) {
// cout << "test2" << endl;
// cout << H.size() << endl;
// cout << H.rows() << "," << H.cols() << endl;
// if (H.size()) {
// cout << "H before:\n" << H << endl;
// H.resize(2, 5);
// H = Matrix25::Zero();
// cout << "H after:\n" << H << endl;
// }
//}
//
//TEST( Cal3DS2, Ref2) {
//
// // In this case we don't want anything to happen
// cout << "\nempty" << endl;
// Matrix empty;
// test2(empty);
// cout << "after" << empty << endl;
//
// // In this case we don't want a copy, TODO: does it copy???
// cout << "\nfixed" << endl;
// Matrix25 fixedDcal;
// fixedDcal.setOnes();
//
// cout << fixedDcal << endl;
// test2(fixedDcal);
// cout << "after" << fixedDcal << endl;
//
// // In this case we want dynaDcal to be correctly allocate and filled
// cout << "\ndynamic wrong size" << endl;
// Matrix dynaDcal(8,5);
// dynaDcal.setOnes();
//
// cout << dynaDcal << endl;
// test2(dynaDcal);
// cout << "after" << dynaDcal << endl;
//
// // In this case we want dynaDcal to be correctly allocate and filled
// cout << "\ndynamic right size" << endl;
// Matrix dynamic2(2,5);
// dynamic2.setOnes();
//
// cout << dynamic2 << endl;
// test2(dynamic2);
// cout << "after" << dynamic2 << endl;
//}
/* ************************************************************************* */
template <int Rows, int Cols>
struct OptionalJacobian {
bool empty_;
Matrix dynamic;
Eigen::Matrix<double,Rows,Cols> fixed_;
OptionalJacobian():empty_(true) {}
OptionalJacobian(Eigen::Matrix<double,Rows,Cols>& fixed):empty_(false),fixed_(fixed) {}
OptionalJacobian(Matrix& dynamic):empty_(true) {}
bool empty() const {return empty_;} // TODO cast to bool !empty
void operator=(const Eigen::Matrix<double,Rows,Cols>& fixed) {
fixed_ = fixed;
} }
} void print(const string& s) {
if (!empty_) cout << s << fixed_ << endl;
}
};
TEST( Cal3DS2, Ref) { void test3(OptionalJacobian<2,5> H) {
cout << "test3" << endl;
// In this case we don't want anything to happen if (!H.empty()) {
cout << "\nempty" << endl; H.print("H before:\n");
Matrix empty;
test(empty);
cout << "after" << empty << endl;
// In this case we don't want a copy, TODO: does it copy???
cout << "\nfixed" << endl;
Matrix25 fixedDcal;
fixedDcal.setOnes();
cout << fixedDcal << endl;
test(fixedDcal);
cout << "after" << fixedDcal << endl;
// In this case we want dynaDcal to be correctly allocate and filled
cout << "\ndynamic wrong size" << endl;
Matrix dynaDcal(8,5);
dynaDcal.setOnes();
cout << dynaDcal << endl;
test(dynaDcal);
cout << "after" << dynaDcal << endl;
// In this case we want dynaDcal to be correctly allocate and filled
cout << "\ndynamic right size" << endl;
Matrix dynamic2(2,5);
dynamic2.setOnes();
cout << dynamic2 << endl;
test(dynamic2);
cout << "after" << dynamic2 << endl;
}
void test2(Eigen::Ref<Matrix> H) {
cout << "test2" << endl;
cout << H.size() << endl;
cout << H.rows() << "," << H.cols() << endl;
if (H.size()) {
cout << "H before:\n" << H << endl;
H.resize(2, 5);
H = Matrix25::Zero(); H = Matrix25::Zero();
cout << "H after:\n" << H << endl; H.print("H after:\n");
} }
} }
@ -178,7 +242,7 @@ TEST( Cal3DS2, Ref2) {
// In this case we don't want anything to happen // In this case we don't want anything to happen
cout << "\nempty" << endl; cout << "\nempty" << endl;
Matrix empty; Matrix empty;
test2(empty); test3(empty);
cout << "after" << empty << endl; cout << "after" << empty << endl;
// In this case we don't want a copy, TODO: does it copy??? // In this case we don't want a copy, TODO: does it copy???
@ -187,7 +251,7 @@ TEST( Cal3DS2, Ref2) {
fixedDcal.setOnes(); fixedDcal.setOnes();
cout << fixedDcal << endl; cout << fixedDcal << endl;
test2(fixedDcal); test3(fixedDcal);
cout << "after" << fixedDcal << endl; cout << "after" << fixedDcal << endl;
// In this case we want dynaDcal to be correctly allocate and filled // In this case we want dynaDcal to be correctly allocate and filled
@ -196,7 +260,7 @@ TEST( Cal3DS2, Ref2) {
dynaDcal.setOnes(); dynaDcal.setOnes();
cout << dynaDcal << endl; cout << dynaDcal << endl;
test2(dynaDcal); test3(dynaDcal);
cout << "after" << dynaDcal << endl; cout << "after" << dynaDcal << endl;
// In this case we want dynaDcal to be correctly allocate and filled // In this case we want dynaDcal to be correctly allocate and filled
@ -205,7 +269,7 @@ TEST( Cal3DS2, Ref2) {
dynamic2.setOnes(); dynamic2.setOnes();
cout << dynamic2 << endl; cout << dynamic2 << endl;
test2(dynamic2); test3(dynamic2);
cout << "after" << dynamic2 << endl; cout << "after" << dynamic2 << endl;
} }