133 lines
4.1 KiB
C++
133 lines
4.1 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testTOAFactor.cpp
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* @brief Unit tests for "Time of Arrival" factor
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* @author Frank Dellaert
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* @author Jay Chakravarty
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* @date December 2014
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*/
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#include <gtsam_unstable/geometry/Event.h>
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#include <gtsam/nonlinear/ExpressionFactorGraph.h>
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#include <gtsam/nonlinear/expressions.h>
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#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <CppUnitLite/TestHarness.h>
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#include <boost/format.hpp>
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#include <boost/bind.hpp>
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using namespace std;
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using namespace gtsam;
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// typedefs
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typedef Expression<Point3> Point3_;
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typedef Expression<Event> Event_;
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// units
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static const double ms = 1e-3;
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static const double cm = 1e-2;
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// Create a noise model for the TOA error
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static SharedNoiseModel model(noiseModel::Isotropic::Sigma(1, 0.5 * ms));
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static const double timeOfEvent = 25;
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static const Event exampleEvent(timeOfEvent, 1, 0, 0);
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static const Point3 microphoneAt0(0,0,0);
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//*****************************************************************************
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TEST( TOAFactor, NewWay ) {
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Key key = 12;
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Event_ eventExpression(key);
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Point3_ microphoneConstant(microphoneAt0); // constant expression
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double measurement = 7;
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Double_ expression(&Event::toa, eventExpression, microphoneConstant);
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ExpressionFactor<double> factor(model, measurement, expression);
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}
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//*****************************************************************************
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TEST( TOAFactor, WholeEnchilada ) {
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static const bool verbose = false;
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// Create microphones
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const double height = 0.5;
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vector<Point3> microphones;
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microphones.push_back(Point3(0, 0, height));
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microphones.push_back(Point3(403 * cm, 0, height));
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microphones.push_back(Point3(403 * cm, 403 * cm, height));
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microphones.push_back(Point3(0, 403 * cm, 2 * height));
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EXPECT_LONGS_EQUAL(4, microphones.size());
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// microphones.push_back(Point3(200 * cm, 200 * cm, height));
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// Create a ground truth point
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const double timeOfEvent = 0;
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Event groundTruthEvent(timeOfEvent, 245 * cm, 201.5 * cm, (212 - 45) * cm);
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// Simulate simulatedTOA
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size_t K = microphones.size();
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vector<double> simulatedTOA(K);
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for (size_t i = 0; i < K; i++) {
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simulatedTOA[i] = groundTruthEvent.toa(microphones[i]);
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if (verbose) {
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cout << "mic" << i << " = " << microphones[i] << endl;
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cout << "z" << i << " = " << simulatedTOA[i] / ms << endl;
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}
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}
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// Now, estimate using non-linear optimization
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ExpressionFactorGraph graph;
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Key key = 12;
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Event_ eventExpression(key);
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for (size_t i = 0; i < K; i++) {
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Point3_ microphone_i(microphones[i]); // constant expression
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Double_ predictTOA(&Event::toa, eventExpression, microphone_i);
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graph.addExpressionFactor(predictTOA, simulatedTOA[i], model);
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}
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/// Print the graph
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if (verbose)
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GTSAM_PRINT(graph);
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// Create initial estimate
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Values initialEstimate;
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//Event estimatedEvent(timeOfEvent -10, 200 * cm, 150 * cm, 350 * cm);
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Vector4 delta;
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delta << 0.1, 0.1, -0.1, 0.1;
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Event estimatedEvent = groundTruthEvent.retract(delta);
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initialEstimate.insert(key, estimatedEvent);
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// Print
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if (verbose)
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initialEstimate.print("Initial Estimate:\n");
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// Optimize using Levenberg-Marquardt optimization.
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LevenbergMarquardtParams params;
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params.setAbsoluteErrorTol(1e-10);
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if (verbose)
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params.setVerbosity("ERROR");
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LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, params);
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Values result = optimizer.optimize();
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if (verbose)
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result.print("Final Result:\n");
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EXPECT(assert_equal(groundTruthEvent, result.at<Event>(key), 1e-6));
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}
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//*****************************************************************************
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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//*****************************************************************************
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