172 lines
7.1 KiB
C++
172 lines
7.1 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 testOrientedPlane3.cpp
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* @date Dec 19, 2012
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* @author Alex Trevor
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* @brief Tests the OrientedPlane3Factor class
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*/
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#include <gtsam/geometry/Sphere2.h>
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#include <gtsam/geometry/OrientedPlane3.h>
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#include <gtsam/slam/OrientedPlane3Factor.h>
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#include <gtsam/nonlinear/Symbol.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/inference/FactorGraph.h>
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#include <gtsam/linear/NoiseModel.h>
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#include <gtsam/slam/PriorFactor.h>
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#include <gtsam/slam/BetweenFactor.h>
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#include <gtsam/nonlinear/NonlinearFactorGraph.h>
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#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
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#include <gtsam/nonlinear/Marginals.h>
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#include <gtsam/nonlinear/ISAM2.h>
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#include <gtsam/base/Testable.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <CppUnitLite/TestHarness.h>
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#include <boost/bind.hpp>
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#include <boost/foreach.hpp>
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#include <boost/assign/std/vector.hpp>
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using namespace boost::assign;
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using namespace gtsam;
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using namespace std;
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GTSAM_CONCEPT_TESTABLE_INST(OrientedPlane3)
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GTSAM_CONCEPT_MANIFOLD_INST(OrientedPlane3)
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TEST (OrientedPlane3, lm_translation_error)
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{
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// Tests one pose, two measurements of the landmark that differ in range only.
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// Normal along -x, 3m away
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gtsam::Symbol lm_sym ('p', 0);
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gtsam::OrientedPlane3 test_lm0 (-1.0, 0.0, 0.0, 3.0);
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gtsam::ISAM2 isam2;
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gtsam::Values new_values;
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gtsam::NonlinearFactorGraph new_graph;
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// Init pose and prior. Pose Prior is needed since a single plane measurement does not fully constrain the pose
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gtsam::Symbol init_sym ('x', 0);
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gtsam::Pose3 init_pose (gtsam::Rot3::ypr (0.0, 0.0, 0.0),
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gtsam::Point3 (0.0, 0.0, 0.0));
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gtsam::PriorFactor<gtsam::Pose3> pose_prior (init_sym, init_pose, gtsam::noiseModel::Diagonal::Sigmas (gtsam::Vector_ (6, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001)));
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new_values.insert (init_sym, init_pose);
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new_graph.add (pose_prior);
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// Add two landmark measurements, differing in range
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new_values.insert (lm_sym, test_lm0);
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gtsam::OrientedPlane3Factor test_meas0 (gtsam::Vector_ (4, -1.0, 0.0, 0.0, 3.0), gtsam::noiseModel::Diagonal::Sigmas (gtsam::Vector_ (3, 0.1, 0.1, 0.1)), init_sym, lm_sym);
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new_graph.add (test_meas0);
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gtsam::OrientedPlane3Factor test_meas1 (gtsam::Vector_ (4, -1.0, 0.0, 0.0, 1.0), gtsam::noiseModel::Diagonal::Sigmas (gtsam::Vector_ (3, 0.1, 0.1, 0.1)), init_sym, lm_sym);
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new_graph.add (test_meas1);
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// Optimize
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gtsam::ISAM2Result result = isam2.update (new_graph, new_values);
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gtsam::Values result_values = isam2.calculateEstimate ();
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gtsam::OrientedPlane3 optimized_plane_landmark = result_values.at<gtsam::OrientedPlane3>(lm_sym);
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// Given two noisy measurements of equal weight, expect result between the two
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gtsam::OrientedPlane3 expected_plane_landmark (-1.0, 0.0, 0.0, 2.0);
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EXPECT (assert_equal (optimized_plane_landmark, expected_plane_landmark));
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}
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TEST (OrientedPlane3, lm_rotation_error)
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{
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// Tests one pose, two measurements of the landmark that differ in angle only.
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// Normal along -x, 3m away
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gtsam::Symbol lm_sym ('p', 0);
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gtsam::OrientedPlane3 test_lm0 (-1.0, 0.0, 0.0, 3.0);
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gtsam::ISAM2 isam2;
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gtsam::Values new_values;
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gtsam::NonlinearFactorGraph new_graph;
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// Init pose and prior. Pose Prior is needed since a single plane measurement does not fully constrain the pose
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gtsam::Symbol init_sym ('x', 0);
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gtsam::Pose3 init_pose (gtsam::Rot3::ypr (0.0, 0.0, 0.0),
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gtsam::Point3 (0.0, 0.0, 0.0));
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gtsam::PriorFactor<gtsam::Pose3> pose_prior (init_sym, init_pose, gtsam::noiseModel::Diagonal::Sigmas (gtsam::Vector_ (6, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001)));
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new_values.insert (init_sym, init_pose);
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new_graph.add (pose_prior);
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// Add two landmark measurements, differing in angle
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new_values.insert (lm_sym, test_lm0);
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gtsam::OrientedPlane3Factor test_meas0 (gtsam::Vector_ (4, -1.0, 0.0, 0.0, 3.0), gtsam::noiseModel::Diagonal::Sigmas (gtsam::Vector_ (3, 0.1, 0.1, 0.1)), init_sym, lm_sym);
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new_graph.add (test_meas0);
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gtsam::OrientedPlane3Factor test_meas1 (gtsam::Vector_ (4, 0.0, -1.0, 0.0, 3.0), gtsam::noiseModel::Diagonal::Sigmas (gtsam::Vector_ (3, 0.1, 0.1, 0.1)), init_sym, lm_sym);
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new_graph.add (test_meas1);
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// Optimize
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gtsam::ISAM2Result result = isam2.update (new_graph, new_values);
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gtsam::Values result_values = isam2.calculateEstimate ();
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gtsam::OrientedPlane3 optimized_plane_landmark = result_values.at<gtsam::OrientedPlane3>(lm_sym);
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// Given two noisy measurements of equal weight, expect result between the two
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gtsam::OrientedPlane3 expected_plane_landmark (-sqrt (2.0)/2.0, -sqrt (2.0)/2.0, 0.0, 3.0);
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// EXPECT (assert_equal (optimized_plane_landmark, expected_plane_landmark));
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}
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// *************************************************************************
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TEST( OrientedPlane3DirectionPriorFactor, Constructor ) {
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// Example: pitch and roll of aircraft in an ENU Cartesian frame.
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// If pitch and roll are zero for an aerospace frame,
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// that means Z is pointing down, i.e., direction of Z = (0,0,-1)
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Vector planeOrientation = Vector_(4,0.0, 0.0, -1.0, 10.0); // all vertical planes directly facing the origin
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// Factor
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gtsam::Symbol lm_sym ('l', 0);
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SharedGaussian model = gtsam::noiseModel::Diagonal::Sigmas (gtsam::Vector_ (3, 0.1, 0.1, 10.0));
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OrientedPlane3DirectionPrior factor(lm_sym, planeOrientation, model);
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// Create a linearization point at the zero-error point
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Vector theta1 = Vector_(4,0.0, 0.02, -1.2, 10.0);
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Vector theta2 = Vector_(4,0.0, 0.1, - 0.8, 10.0);
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Vector theta3 = Vector_(4,0.0, 0.2, -0.9, 10.0);
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OrientedPlane3 T1(theta1);
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OrientedPlane3 T2(theta2);
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OrientedPlane3 T3(theta3);
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// Calculate numerical derivatives
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Matrix expectedH1 = numericalDerivative11<OrientedPlane3>(
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boost::bind(&OrientedPlane3DirectionPrior::evaluateError, &factor, _1, boost::none), T1);
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Matrix expectedH2 = numericalDerivative11<OrientedPlane3>(
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boost::bind(&OrientedPlane3DirectionPrior::evaluateError, &factor, _1, boost::none), T2);
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Matrix expectedH3 = numericalDerivative11<OrientedPlane3>(
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boost::bind(&OrientedPlane3DirectionPrior::evaluateError, &factor, _1, boost::none), T3);
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// Use the factor to calculate the derivative
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Matrix actualH1, actualH2, actualH3;
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factor.evaluateError(T1, actualH1);
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factor.evaluateError(T2, actualH2);
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factor.evaluateError(T3, actualH3);
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// Verify we get the expected error
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EXPECT(assert_equal(expectedH1, actualH1, 1e-8));
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EXPECT(assert_equal(expectedH2, actualH2, 1e-8));
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EXPECT(assert_equal(expectedH3, actualH3, 1e-8));
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}
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/* ************************************************************************* */
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int main() {
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srand(time(NULL));
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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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