Get rid of debugging fluff and more copy/paste
dellaert
parent
014159de44
commit
daf16acdfa
|
|
@ -31,8 +31,6 @@
|
|||
|
||||
using namespace boost::assign;
|
||||
|
||||
static bool isDebugTest = false;
|
||||
|
||||
static const double rankTol = 1.0;
|
||||
static const double linThreshold = -1.0;
|
||||
static const bool manageDegeneracy = true;
|
||||
|
|
@ -54,6 +52,11 @@ static Point2 measurement1(323.0, 240.0);
|
|||
typedef SmartProjectionPoseFactor<Cal3_S2> SmartFactor;
|
||||
typedef SmartProjectionPoseFactor<Cal3Bundler> SmartFactorBundler;
|
||||
|
||||
LevenbergMarquardtParams params;
|
||||
// Make more verbose like so (in tests):
|
||||
// params.verbosityLM = LevenbergMarquardtParams::TRYDELTA;
|
||||
// params.verbosity = NonlinearOptimizerParams::ERROR;
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( SmartProjectionPoseFactor, Constructor) {
|
||||
SmartFactor::shared_ptr factor1(new SmartFactor());
|
||||
|
|
@ -154,7 +157,7 @@ TEST( SmartProjectionPoseFactor, noisy ) {
|
|||
|
||||
using namespace vanillaPose;
|
||||
|
||||
// Project two landmarks into two cameras and triangulate
|
||||
// Project two landmarks into two cameras
|
||||
Point2 pixelError(0.2, 0.2);
|
||||
Point2 level_uv = level_camera.project(landmark1) + pixelError;
|
||||
Point2 level_uv_right = level_camera_right.project(landmark1);
|
||||
|
|
@ -196,7 +199,7 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) {
|
|||
using namespace vanillaPose2;
|
||||
vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
|
||||
|
||||
// Project three landmarks into three cameras and triangulate
|
||||
// Project three landmarks into three cameras
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
|
||||
|
|
@ -239,12 +242,6 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) {
|
|||
-0.000986635786, 0.0314107591, -0.999013364, -0.0313952598),
|
||||
Point3(0.1, -0.1, 1.9)), values.at<Camera>(x3).pose()));
|
||||
|
||||
LevenbergMarquardtParams params;
|
||||
if (isDebugTest)
|
||||
params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA;
|
||||
if (isDebugTest)
|
||||
params.verbosity = NonlinearOptimizerParams::ERROR;
|
||||
|
||||
Values result;
|
||||
gttic_(SmartProjectionPoseFactor);
|
||||
LevenbergMarquardtOptimizer optimizer(graph, values, params);
|
||||
|
|
@ -257,8 +254,6 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) {
|
|||
|
||||
// result.print("results of 3 camera, 3 landmark optimization \n");
|
||||
EXPECT(assert_equal(pose_above, result.at<Camera>(x3).pose(), 1e-8));
|
||||
if (isDebugTest)
|
||||
tictoc_print_();
|
||||
}
|
||||
|
||||
/* *************************************************************************/
|
||||
|
|
@ -420,7 +415,7 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) {
|
|||
|
||||
vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
|
||||
|
||||
// Project three landmarks into three cameras and triangulate
|
||||
// Project three landmarks into three cameras
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
|
||||
|
|
@ -459,12 +454,6 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) {
|
|||
-0.0313952598), Point3(0.1, -0.1, 1.9)),
|
||||
values.at<Camera>(x3).pose()));
|
||||
|
||||
LevenbergMarquardtParams params;
|
||||
if (isDebugTest)
|
||||
params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA;
|
||||
if (isDebugTest)
|
||||
params.verbosity = NonlinearOptimizerParams::ERROR;
|
||||
|
||||
Values result;
|
||||
gttic_(SmartProjectionPoseFactor);
|
||||
LevenbergMarquardtOptimizer optimizer(graph, values, params);
|
||||
|
|
@ -474,8 +463,6 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) {
|
|||
|
||||
// result.print("results of 3 camera, 3 landmark optimization \n");
|
||||
EXPECT(assert_equal(pose_above, result.at<Camera>(x3).pose(), 1e-7));
|
||||
if (isDebugTest)
|
||||
tictoc_print_();
|
||||
}
|
||||
|
||||
/* *************************************************************************/
|
||||
|
|
@ -490,7 +477,7 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) {
|
|||
|
||||
vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
|
||||
|
||||
// Project three landmarks into three cameras and triangulate
|
||||
// Project three landmarks into three cameras
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
|
||||
|
|
@ -524,12 +511,6 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) {
|
|||
values.insert(x2, cam2);
|
||||
values.insert(x3, Camera(pose_above * noise_pose, sharedK));
|
||||
|
||||
LevenbergMarquardtParams params;
|
||||
if (isDebugTest)
|
||||
params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA;
|
||||
if (isDebugTest)
|
||||
params.verbosity = NonlinearOptimizerParams::ERROR;
|
||||
|
||||
Values result;
|
||||
LevenbergMarquardtOptimizer optimizer(graph, values, params);
|
||||
result = optimizer.optimize();
|
||||
|
|
@ -550,7 +531,7 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) {
|
|||
|
||||
vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
|
||||
|
||||
// Project three landmarks into three cameras and triangulate
|
||||
// Project three landmarks into three cameras
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
|
||||
|
|
@ -588,7 +569,6 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) {
|
|||
values.insert(x3, Camera(pose_above * noise_pose, sharedK));
|
||||
|
||||
// All factors are disabled and pose should remain where it is
|
||||
LevenbergMarquardtParams params;
|
||||
Values result;
|
||||
LevenbergMarquardtOptimizer optimizer(graph, values, params);
|
||||
result = optimizer.optimize();
|
||||
|
|
@ -614,7 +594,7 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) {
|
|||
vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3,
|
||||
measurements_cam4;
|
||||
|
||||
// Project three landmarks into three cameras and triangulate
|
||||
// Project 4 landmarks into three cameras
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
|
||||
|
|
@ -657,7 +637,6 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) {
|
|||
values.insert(x3, cam3);
|
||||
|
||||
// All factors are disabled and pose should remain where it is
|
||||
LevenbergMarquardtParams params;
|
||||
Values result;
|
||||
LevenbergMarquardtOptimizer optimizer(graph, values, params);
|
||||
result = optimizer.optimize();
|
||||
|
|
@ -676,7 +655,7 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) {
|
|||
|
||||
vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
|
||||
|
||||
// Project three landmarks into three cameras and triangulate
|
||||
// Project three landmarks into three cameras
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
|
||||
|
|
@ -709,12 +688,6 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) {
|
|||
values.insert(x2, cam2);
|
||||
values.insert(x3, Camera(pose_above * noise_pose, sharedK));
|
||||
|
||||
LevenbergMarquardtParams params;
|
||||
if (isDebugTest)
|
||||
params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA;
|
||||
if (isDebugTest)
|
||||
params.verbosity = NonlinearOptimizerParams::ERROR;
|
||||
|
||||
Values result;
|
||||
LevenbergMarquardtOptimizer optimizer(graph, values, params);
|
||||
result = optimizer.optimize();
|
||||
|
|
@ -735,7 +708,7 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) {
|
|||
typedef GenericProjectionFactor<Pose3, Point3> ProjectionFactor;
|
||||
NonlinearFactorGraph graph;
|
||||
|
||||
// Project three landmarks into three cameras and triangulate
|
||||
// Project three landmarks into three cameras
|
||||
graph.push_back(
|
||||
ProjectionFactor(cam1.project(landmark1), model, x1, L(1), sharedK2));
|
||||
graph.push_back(
|
||||
|
|
@ -773,11 +746,6 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) {
|
|||
|
||||
DOUBLES_EQUAL(48406055, graph.error(values), 1);
|
||||
|
||||
LevenbergMarquardtParams params;
|
||||
if (isDebugTest)
|
||||
params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA;
|
||||
if (isDebugTest)
|
||||
params.verbosity = NonlinearOptimizerParams::ERROR;
|
||||
LevenbergMarquardtOptimizer optimizer(graph, values, params);
|
||||
Values result = optimizer.optimize();
|
||||
|
||||
|
|
@ -799,14 +767,13 @@ TEST( SmartProjectionPoseFactor, CheckHessian) {
|
|||
// Two slightly different cameras
|
||||
Pose3 pose2 = level_pose
|
||||
* Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
|
||||
Pose3 pose3 = pose2
|
||||
* Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
|
||||
Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
|
||||
Camera cam2(pose2, sharedK);
|
||||
Camera cam3(pose3, sharedK);
|
||||
|
||||
vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
|
||||
|
||||
// Project three landmarks into three cameras and triangulate
|
||||
// Project three landmarks into three cameras
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
|
||||
|
|
@ -888,7 +855,7 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac
|
|||
|
||||
vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
|
||||
|
||||
// Project three landmarks into three cameras and triangulate
|
||||
// Project three landmarks into three cameras
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
|
||||
|
||||
|
|
@ -931,12 +898,6 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac
|
|||
Point3(0.145118171, -0.252907438, 0.819956033)),
|
||||
values.at<Camera>(x3).pose()));
|
||||
|
||||
LevenbergMarquardtParams params;
|
||||
if (isDebugTest)
|
||||
params.verbosityLM = LevenbergMarquardtParams::TRYDELTA;
|
||||
if (isDebugTest)
|
||||
params.verbosity = NonlinearOptimizerParams::ERROR;
|
||||
|
||||
Values result;
|
||||
gttic_(SmartProjectionPoseFactor);
|
||||
LevenbergMarquardtOptimizer optimizer(graph, values, params);
|
||||
|
|
@ -944,10 +905,6 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac
|
|||
gttoc_(SmartProjectionPoseFactor);
|
||||
tictoc_finishedIteration_();
|
||||
|
||||
// result.print("results of 3 camera, 3 landmark optimization \n");
|
||||
cout
|
||||
<< "TEST COMMENTED: rotation only version of smart factors has been deprecated "
|
||||
<< endl;
|
||||
EXPECT(
|
||||
assert_equal(
|
||||
Pose3(
|
||||
|
|
@ -956,8 +913,6 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac
|
|||
-0.564921063),
|
||||
Point3(0.145118171, -0.252907438, 0.819956033)),
|
||||
result.at<Camera>(x3).pose()));
|
||||
if (isDebugTest)
|
||||
tictoc_print_();
|
||||
}
|
||||
|
||||
/* *************************************************************************/
|
||||
|
|
@ -974,14 +929,13 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor )
|
|||
// Two different cameras
|
||||
Pose3 pose2 = level_pose
|
||||
* Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
|
||||
Pose3 pose3 = pose2
|
||||
* Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
|
||||
Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
|
||||
Camera cam2(pose2, sharedK);
|
||||
Camera cam3(pose3, sharedK);
|
||||
|
||||
vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
|
||||
|
||||
// Project three landmarks into three cameras and triangulate
|
||||
// Project three landmarks into three cameras
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
|
||||
|
|
@ -1032,12 +986,6 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor )
|
|||
Point3(0.0897734171, -0.110201006, 0.901022872)),
|
||||
values.at<Camera>(x3).pose()));
|
||||
|
||||
LevenbergMarquardtParams params;
|
||||
if (isDebugTest)
|
||||
params.verbosityLM = LevenbergMarquardtParams::TRYDELTA;
|
||||
if (isDebugTest)
|
||||
params.verbosity = NonlinearOptimizerParams::ERROR;
|
||||
|
||||
Values result;
|
||||
gttic_(SmartProjectionPoseFactor);
|
||||
LevenbergMarquardtOptimizer optimizer(graph, values, params);
|
||||
|
|
@ -1045,10 +993,6 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor )
|
|||
gttoc_(SmartProjectionPoseFactor);
|
||||
tictoc_finishedIteration_();
|
||||
|
||||
// result.print("results of 3 camera, 3 landmark optimization \n");
|
||||
cout
|
||||
<< "TEST COMMENTED: rotation only version of smart factors has been deprecated "
|
||||
<< endl;
|
||||
EXPECT(
|
||||
assert_equal(
|
||||
Pose3(
|
||||
|
|
@ -1057,8 +1001,6 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor )
|
|||
-0.130455917),
|
||||
Point3(0.0897734171, -0.110201006, 0.901022872)),
|
||||
result.at<Camera>(x3).pose()));
|
||||
if (isDebugTest)
|
||||
tictoc_print_();
|
||||
}
|
||||
|
||||
/* *************************************************************************/
|
||||
|
|
@ -1071,7 +1013,7 @@ TEST( SmartProjectionPoseFactor, Hessian ) {
|
|||
views.push_back(x1);
|
||||
views.push_back(x2);
|
||||
|
||||
// Project three landmarks into 2 cameras and triangulate
|
||||
// Project three landmarks into 2 cameras
|
||||
Point2 cam1_uv1 = cam1.project(landmark1);
|
||||
Point2 cam2_uv1 = cam2.project(landmark1);
|
||||
vector<Point2> measurements_cam1;
|
||||
|
|
@ -1088,8 +1030,6 @@ TEST( SmartProjectionPoseFactor, Hessian ) {
|
|||
values.insert(x2, cam2);
|
||||
|
||||
boost::shared_ptr<GaussianFactor> factor = smartFactor1->linearize(values);
|
||||
if (isDebugTest)
|
||||
factor->print("Hessian factor \n");
|
||||
|
||||
// compute triangulation from linearization point
|
||||
// compute reprojection errors (sum squared)
|
||||
|
|
@ -1179,8 +1119,6 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) {
|
|||
values.insert(x3, cam3);
|
||||
|
||||
boost::shared_ptr<GaussianFactor> factor = smartFactor->linearize(values);
|
||||
if (isDebugTest)
|
||||
factor->print("Hessian factor \n");
|
||||
|
||||
Pose3 poseDrift = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0));
|
||||
|
||||
|
|
@ -1189,10 +1127,8 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) {
|
|||
rotValues.insert(x2, Camera(poseDrift.compose(level_pose), sharedK2));
|
||||
rotValues.insert(x3, Camera(poseDrift.compose(level_pose), sharedK2));
|
||||
|
||||
boost::shared_ptr<GaussianFactor> factorRot = smartFactor->linearize(
|
||||
rotValues);
|
||||
if (isDebugTest)
|
||||
factorRot->print("Hessian factor \n");
|
||||
boost::shared_ptr<GaussianFactor> factorRot = //
|
||||
smartFactor->linearize(rotValues);
|
||||
|
||||
// Hessian is invariant to rotations in the nondegenerate case
|
||||
EXPECT(assert_equal(factor->information(), factorRot->information(), 1e-8));
|
||||
|
|
@ -1230,27 +1166,10 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) {
|
|||
|
||||
vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
|
||||
|
||||
// Project three landmarks into three cameras and triangulate
|
||||
Point2 cam1_uv1 = cam1.project(landmark1);
|
||||
Point2 cam2_uv1 = cam2.project(landmark1);
|
||||
Point2 cam3_uv1 = cam3.project(landmark1);
|
||||
measurements_cam1.push_back(cam1_uv1);
|
||||
measurements_cam1.push_back(cam2_uv1);
|
||||
measurements_cam1.push_back(cam3_uv1);
|
||||
|
||||
Point2 cam1_uv2 = cam1.project(landmark2);
|
||||
Point2 cam2_uv2 = cam2.project(landmark2);
|
||||
Point2 cam3_uv2 = cam3.project(landmark2);
|
||||
measurements_cam2.push_back(cam1_uv2);
|
||||
measurements_cam2.push_back(cam2_uv2);
|
||||
measurements_cam2.push_back(cam3_uv2);
|
||||
|
||||
Point2 cam1_uv3 = cam1.project(landmark3);
|
||||
Point2 cam2_uv3 = cam2.project(landmark3);
|
||||
Point2 cam3_uv3 = cam3.project(landmark3);
|
||||
measurements_cam3.push_back(cam1_uv3);
|
||||
measurements_cam3.push_back(cam2_uv3);
|
||||
measurements_cam3.push_back(cam3_uv3);
|
||||
// Project three landmarks into three cameras
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
|
||||
|
||||
vector<Key> views;
|
||||
views.push_back(x1);
|
||||
|
|
@ -1289,11 +1208,6 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) {
|
|||
Rot3(0, -0.0314107591, 0.99950656, -0.99950656, -0.0313952598,
|
||||
-0.000986635786, 0.0314107591, -0.999013364, -0.0313952598),
|
||||
Point3(0.1, -0.1, 1.9)), values.at<Camera>(x3).pose()));
|
||||
LevenbergMarquardtParams params;
|
||||
if (isDebugTest)
|
||||
params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA;
|
||||
if (isDebugTest)
|
||||
params.verbosity = NonlinearOptimizerParams::ERROR;
|
||||
|
||||
Values result;
|
||||
gttic_(SmartProjectionPoseFactor);
|
||||
|
|
@ -1303,8 +1217,6 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) {
|
|||
tictoc_finishedIteration_();
|
||||
|
||||
EXPECT(assert_equal(cam3, result.at<Camera>(x3), 1e-6));
|
||||
if (isDebugTest)
|
||||
tictoc_print_();
|
||||
}
|
||||
|
||||
/* *************************************************************************/
|
||||
|
|
@ -1320,8 +1232,7 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) {
|
|||
// Two different cameras
|
||||
Pose3 pose2 = level_pose
|
||||
* Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
|
||||
Pose3 pose3 = pose2
|
||||
* Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
|
||||
Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
|
||||
Camera cam2(pose2, sharedBundlerK);
|
||||
Camera cam3(pose3, sharedBundlerK);
|
||||
|
||||
|
|
@ -1330,27 +1241,10 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) {
|
|||
|
||||
vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
|
||||
|
||||
// Project three landmarks into three cameras and triangulate
|
||||
Point2 cam1_uv1 = cam1.project(landmark1);
|
||||
Point2 cam2_uv1 = cam2.project(landmark1);
|
||||
Point2 cam3_uv1 = cam3.project(landmark1);
|
||||
measurements_cam1.push_back(cam1_uv1);
|
||||
measurements_cam1.push_back(cam2_uv1);
|
||||
measurements_cam1.push_back(cam3_uv1);
|
||||
|
||||
Point2 cam1_uv2 = cam1.project(landmark2);
|
||||
Point2 cam2_uv2 = cam2.project(landmark2);
|
||||
Point2 cam3_uv2 = cam3.project(landmark2);
|
||||
measurements_cam2.push_back(cam1_uv2);
|
||||
measurements_cam2.push_back(cam2_uv2);
|
||||
measurements_cam2.push_back(cam3_uv2);
|
||||
|
||||
Point2 cam1_uv3 = cam1.project(landmark3);
|
||||
Point2 cam2_uv3 = cam2.project(landmark3);
|
||||
Point2 cam3_uv3 = cam3.project(landmark3);
|
||||
measurements_cam3.push_back(cam1_uv3);
|
||||
measurements_cam3.push_back(cam2_uv3);
|
||||
measurements_cam3.push_back(cam3_uv3);
|
||||
// Project three landmarks into three cameras
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
|
||||
|
||||
double rankTol = 10;
|
||||
|
||||
|
|
@ -1398,12 +1292,6 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) {
|
|||
Point3(0.0897734171, -0.110201006, 0.901022872)),
|
||||
values.at<Camera>(x3).pose()));
|
||||
|
||||
LevenbergMarquardtParams params;
|
||||
if (isDebugTest)
|
||||
params.verbosityLM = LevenbergMarquardtParams::TRYDELTA;
|
||||
if (isDebugTest)
|
||||
params.verbosity = NonlinearOptimizerParams::ERROR;
|
||||
|
||||
Values result;
|
||||
gttic_(SmartProjectionPoseFactor);
|
||||
LevenbergMarquardtOptimizer optimizer(graph, values, params);
|
||||
|
|
@ -1411,9 +1299,6 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) {
|
|||
gttoc_(SmartProjectionPoseFactor);
|
||||
tictoc_finishedIteration_();
|
||||
|
||||
cout
|
||||
<< "TEST COMMENTED: rotation only version of smart factors has been deprecated "
|
||||
<< endl;
|
||||
EXPECT(
|
||||
assert_equal(
|
||||
Pose3(
|
||||
|
|
@ -1422,8 +1307,6 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) {
|
|||
-0.130455917),
|
||||
Point3(0.0897734171, -0.110201006, 0.901022872)),
|
||||
values.at<Camera>(x3).pose()));
|
||||
if (isDebugTest)
|
||||
tictoc_print_();
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
|
|||
Loading…
Reference in New Issue