245 lines
7.4 KiB
C++
245 lines
7.4 KiB
C++
/**
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* @file testNonlinearOptimizer.cpp
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* @brief Unit tests for NonlinearOptimizer class
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* @author Frank Dellaert
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*/
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#include <iostream>
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using namespace std;
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#include <boost/assign/std/list.hpp> // for operator +=
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using namespace boost::assign;
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#include <CppUnitLite/TestHarness.h>
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#include <boost/shared_ptr.hpp>
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using namespace boost;
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#define GTSAM_MAGIC_KEY
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#include "Matrix.h"
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#include "Ordering.h"
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#include "smallExample.h"
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#include "pose2SLAM.h"
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#include "GaussianFactorGraph.h"
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#include "NoiseModel.h"
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// template definitions
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#include "NonlinearFactorGraph-inl.h"
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#include "NonlinearOptimizer-inl.h"
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#include "SubgraphSolver-inl.h"
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using namespace gtsam;
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const double tol = 1e-5;
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typedef NonlinearOptimizer<example::Graph,example::Config> Optimizer;
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/* ************************************************************************* */
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TEST( NonlinearOptimizer, delta )
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{
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shared_ptr<example::Graph> fg(new example::Graph(
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example::createNonlinearFactorGraph()));
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Optimizer::shared_config initial = example::sharedNoisyConfig();
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// Expected configuration is the difference between the noisy config
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// and the ground-truth config. One step only because it's linear !
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VectorConfig expected;
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Vector dl1(2);
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dl1(0) = -0.1;
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dl1(1) = 0.1;
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expected.insert("l1", dl1);
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Vector dx1(2);
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dx1(0) = -0.1;
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dx1(1) = -0.1;
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expected.insert("x1", dx1);
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Vector dx2(2);
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dx2(0) = 0.1;
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dx2(1) = -0.2;
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expected.insert("x2", dx2);
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Optimizer::shared_solver solver;
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// Check one ordering
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shared_ptr<Ordering> ord1(new Ordering());
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*ord1 += "x2","l1","x1";
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solver = Optimizer::shared_solver(new Optimizer::solver(ord1));
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Optimizer optimizer1(fg, initial, solver);
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VectorConfig actual1 = optimizer1.linearizeAndOptimizeForDelta();
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CHECK(assert_equal(actual1,expected));
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// Check another
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shared_ptr<Ordering> ord2(new Ordering());
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*ord2 += "x1","x2","l1";
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solver = Optimizer::shared_solver(new Optimizer::solver(ord2));
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Optimizer optimizer2(fg, initial, solver);
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VectorConfig actual2 = optimizer2.linearizeAndOptimizeForDelta();
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CHECK(assert_equal(actual2,expected));
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// And yet another...
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shared_ptr<Ordering> ord3(new Ordering());
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*ord3 += "l1","x1","x2";
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solver = Optimizer::shared_solver(new Optimizer::solver(ord3));
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Optimizer optimizer3(fg, initial, solver);
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VectorConfig actual3 = optimizer3.linearizeAndOptimizeForDelta();
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CHECK(assert_equal(actual3,expected));
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// More...
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shared_ptr<Ordering> ord4(new Ordering());
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*ord4 += "x1","x2", "l1";
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solver = Optimizer::shared_solver(new Optimizer::solver(ord4));
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Optimizer optimizer4(fg, initial, solver);
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VectorConfig actual4 = optimizer4.linearizeAndOptimizeForDelta();
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CHECK(assert_equal(actual4,expected));
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}
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/* ************************************************************************* */
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TEST( NonlinearOptimizer, iterateLM )
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{
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// really non-linear factor graph
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shared_ptr<example::Graph> fg(new example::Graph(
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example::createReallyNonlinearFactorGraph()));
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// config far from minimum
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Point2 x0(3,0);
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boost::shared_ptr<example::Config> config(new example::Config);
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config->insert(simulated2D::PoseKey(1), x0);
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// ordering
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shared_ptr<Ordering> ord(new Ordering());
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ord->push_back("x1");
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// create initial optimization state, with lambda=0
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Optimizer::shared_solver solver(new Optimizer::solver(ord));
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Optimizer optimizer(fg, config, solver, 0.);
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// normal iterate
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Optimizer iterated1 = optimizer.iterate();
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// LM iterate with lambda 0 should be the same
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Optimizer iterated2 = optimizer.iterateLM();
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// Try successive iterates. TODO: ugly pointers, better way ?
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Optimizer *pointer = new Optimizer(iterated2);
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for (int i=0;i<10;i++) {
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Optimizer* newOptimizer = new Optimizer(pointer->iterateLM());
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delete pointer;
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pointer = newOptimizer;
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}
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delete(pointer);
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CHECK(assert_equal(*iterated1.config(), *iterated2.config(), 1e-9));
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}
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/* ************************************************************************* */
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TEST( NonlinearOptimizer, optimize )
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{
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shared_ptr<example::Graph> fg(new example::Graph(
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example::createReallyNonlinearFactorGraph()));
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// test error at minimum
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Point2 xstar(0,0);
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example::Config cstar;
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cstar.insert(simulated2D::PoseKey(1), xstar);
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DOUBLES_EQUAL(0.0,fg->error(cstar),0.0);
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// test error at initial = [(1-cos(3))^2 + (sin(3))^2]*50 =
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Point2 x0(3,3);
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boost::shared_ptr<example::Config> c0(new example::Config);
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c0->insert(simulated2D::PoseKey(1), x0);
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DOUBLES_EQUAL(199.0,fg->error(*c0),1e-3);
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// optimize parameters
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shared_ptr<Ordering> ord(new Ordering());
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ord->push_back("x1");
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double relativeThreshold = 1e-5;
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double absoluteThreshold = 1e-5;
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// initial optimization state is the same in both cases tested
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Optimizer::shared_solver solver(new Optimizer::solver(ord));
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Optimizer optimizer(fg, c0, solver);
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// Gauss-Newton
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Optimizer actual1 = optimizer.gaussNewton(relativeThreshold,
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absoluteThreshold);
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DOUBLES_EQUAL(0,fg->error(*(actual1.config())),tol);
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// Levenberg-Marquardt
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Optimizer actual2 = optimizer.levenbergMarquardt(relativeThreshold,
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absoluteThreshold, Optimizer::SILENT);
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DOUBLES_EQUAL(0,fg->error(*(actual2.config())),tol);
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}
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/* ************************************************************************* */
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TEST( NonlinearOptimizer, Factorization )
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{
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typedef NonlinearOptimizer<Pose2Graph, Pose2Config, GaussianFactorGraph, Factorization<Pose2Graph, Pose2Config> > Optimizer;
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boost::shared_ptr<Pose2Config> config(new Pose2Config);
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config->insert(1, Pose2(0.,0.,0.));
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config->insert(2, Pose2(1.5,0.,0.));
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boost::shared_ptr<Pose2Graph> graph(new Pose2Graph);
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graph->addPrior(1, Pose2(0.,0.,0.), Isotropic::Sigma(3, 1e-10));
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graph->addConstraint(1,2, Pose2(1.,0.,0.), Isotropic::Sigma(3, 1));
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boost::shared_ptr<Ordering> ordering(new Ordering);
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ordering->push_back(Pose2Config::Key(1));
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ordering->push_back(Pose2Config::Key(2));
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Optimizer::shared_solver solver(new Factorization<Pose2Graph, Pose2Config>(ordering));
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Optimizer optimizer(graph, config, solver);
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Optimizer optimized = optimizer.iterateLM();
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Pose2Config expected;
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expected.insert(1, Pose2(0.,0.,0.));
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expected.insert(2, Pose2(1.,0.,0.));
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CHECK(assert_equal(expected, *optimized.config(), 1e-5));
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}
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/* ************************************************************************* */
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TEST( NonlinearOptimizer, SubgraphSolver )
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{
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using namespace pose2SLAM;
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typedef SubgraphSolver<Graph, Config> Solver;
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typedef NonlinearOptimizer<Graph, Config, SubgraphPreconditioner, Solver> Optimizer;
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// Create a graph
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boost::shared_ptr<Graph> graph(new Graph);
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graph->addPrior(1, Pose2(0., 0., 0.), Isotropic::Sigma(3, 1e-10));
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graph->addConstraint(1, 2, Pose2(1., 0., 0.), Isotropic::Sigma(3, 1));
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// Create an initial config
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boost::shared_ptr<Config> config(new Config);
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config->insert(1, Pose2(0., 0., 0.));
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config->insert(2, Pose2(1.5, 0., 0.));
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// Create solver and optimizer
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Optimizer::shared_solver solver
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(new SubgraphSolver<Graph, Config> (*graph, *config));
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Optimizer optimizer(graph, config, solver);
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// Optimize !!!!
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double relativeThreshold = 1e-5;
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double absoluteThreshold = 1e-5;
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Optimizer optimized = optimizer.gaussNewton(relativeThreshold,
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absoluteThreshold, Optimizer::SILENT);
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// Check solution
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Config expected;
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expected.insert(1, Pose2(0., 0., 0.));
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expected.insert(2, Pose2(1., 0., 0.));
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CHECK(assert_equal(expected, *optimized.config(), 1e-5));
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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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