340 lines
12 KiB
C++
340 lines
12 KiB
C++
/**
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* @file testBTransformBtwRobotsUnaryFactorEM.cpp
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* @brief Unit test for the TransformBtwRobotsUnaryFactorEM
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* @author Vadim Indelman
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*/
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h>
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#include <gtsam/geometry/Pose2.h>
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#include <gtsam/nonlinear/Values.h>
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#include <gtsam/base/LieVector.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <gtsam/slam/BetweenFactor.h>
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#include <gtsam/nonlinear/NonlinearOptimizer.h>
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#include <gtsam/nonlinear/NonlinearFactorGraph.h>
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#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
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//#include <gtsam/linear/GaussianSequentialSolver.h>
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using namespace std;
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using namespace gtsam;
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// Disabled this test because it is currently failing - remove the lines "#if 0" and "#endif" below
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// to reenable the test.
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//#if 0
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/* ************************************************************************* */
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LieVector predictionError(const Pose2& org1_T_org2, const gtsam::Key& key, const TransformBtwRobotsUnaryFactorEM<gtsam::Pose2>& factor){
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gtsam::Values values;
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values.insert(key, org1_T_org2);
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// LieVector err = factor.whitenedError(values);
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// return err;
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return LieVector::Expmap(factor.whitenedError(values));
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}
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/* ************************************************************************* */
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//LieVector predictionError_standard(const Pose2& p1, const Pose2& p2, const gtsam::Key& keyA, const gtsam::Key& keyB, const BetweenFactor<gtsam::Pose2>& factor){
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// gtsam::Values values;
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// values.insert(keyA, p1);
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// values.insert(keyB, p2);
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// // LieVector err = factor.whitenedError(values);
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// // return err;
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// return LieVector::Expmap(factor.whitenedError(values));
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//}
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/* ************************************************************************* */
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TEST( TransformBtwRobotsUnaryFactorEM, ConstructorAndEquals)
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{
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gtsam::Key key(0);
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gtsam::Key keyA(1);
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gtsam::Key keyB(2);
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gtsam::Pose2 p1(10.0, 15.0, 0.1);
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gtsam::Pose2 p2(15.0, 15.0, 0.3);
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gtsam::Pose2 noise(0.5, 0.4, 0.01);
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gtsam::Pose2 rel_pose_ideal = p1.between(p2);
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gtsam::Pose2 rel_pose_msr = rel_pose_ideal.compose(noise);
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SharedGaussian model_inlier(noiseModel::Diagonal::Sigmas((Vec(3) << 0.5, 0.5, 0.05)));
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SharedGaussian model_outlier(noiseModel::Diagonal::Sigmas((Vec(3) << 5, 5, 1.0)));
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double prior_outlier = 0.5;
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double prior_inlier = 0.5;
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gtsam::Values valA, valB;
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valA.insert(keyA, p1);
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valB.insert(keyB, p2);
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// Constructor
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TransformBtwRobotsUnaryFactorEM<gtsam::Pose2> g(key, rel_pose_msr, keyA, keyB, valA, valB,
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model_inlier, model_outlier,prior_inlier, prior_outlier);
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TransformBtwRobotsUnaryFactorEM<gtsam::Pose2> h(key, rel_pose_msr, keyA, keyB, valA, valB,
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model_inlier, model_outlier,prior_inlier, prior_outlier);
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// Equals
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CHECK(assert_equal(g, h, 1e-5));
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}
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/* ************************************************************************* */
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TEST( TransformBtwRobotsUnaryFactorEM, unwhitenedError)
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{
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gtsam::Key key(0);
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gtsam::Key keyA(1);
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gtsam::Key keyB(2);
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gtsam::Pose2 orgA_T_1(10.0, 15.0, 0.1);
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gtsam::Pose2 orgB_T_2(15.0, 15.0, 0.3);
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gtsam::Pose2 orgA_T_orgB(100.0, 45.0, 1.8);
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gtsam::Pose2 orgA_T_2 = orgA_T_orgB.compose(orgB_T_2);
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gtsam::Pose2 rel_pose_ideal = orgA_T_1.between(orgA_T_2);
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gtsam::Pose2 rel_pose_msr = rel_pose_ideal;
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SharedGaussian model_inlier(noiseModel::Diagonal::Sigmas((Vec(3) << 0.5, 0.5, 0.05)));
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SharedGaussian model_outlier(noiseModel::Diagonal::Sigmas((Vec(3) << 5, 5, 1.0)));
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double prior_outlier = 0.01;
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double prior_inlier = 0.99;
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gtsam::Values valA, valB;
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valA.insert(keyA, orgA_T_1);
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valB.insert(keyB, orgB_T_2);
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// Constructor
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TransformBtwRobotsUnaryFactorEM<gtsam::Pose2> g(key, rel_pose_msr, keyA, keyB, valA, valB,
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model_inlier, model_outlier,prior_inlier, prior_outlier);
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gtsam::Values values;
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values.insert(key, orgA_T_orgB);
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Vector err = g.unwhitenedError(values);
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// Equals
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CHECK(assert_equal(err, zero(3), 1e-5));
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}
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/* ************************************************************************* */
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TEST( TransformBtwRobotsUnaryFactorEM, unwhitenedError2)
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{
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gtsam::Key key(0);
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gtsam::Key keyA(1);
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gtsam::Key keyB(2);
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gtsam::Pose2 orgA_T_currA(0.0, 0.0, 0.0);
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gtsam::Pose2 orgB_T_currB(-10.0, 15.0, 0.1);
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gtsam::Pose2 orgA_T_orgB(0.0, 0.0, 0.0);
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gtsam::Pose2 orgA_T_currB = orgA_T_orgB.compose(orgB_T_currB);
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gtsam::Pose2 rel_pose_ideal = orgA_T_currA.between(orgA_T_currB);
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gtsam::Pose2 rel_pose_msr = rel_pose_ideal;
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SharedGaussian model_inlier(noiseModel::Diagonal::Sigmas((Vec(3) << 0.5, 0.5, 0.05)));
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SharedGaussian model_outlier(noiseModel::Diagonal::Sigmas((Vec(3) << 5, 5, 1.0)));
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double prior_outlier = 0.01;
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double prior_inlier = 0.99;
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gtsam::Values valA, valB;
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valA.insert(keyA, orgA_T_currA);
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valB.insert(keyB, orgB_T_currB);
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// Constructor
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TransformBtwRobotsUnaryFactorEM<gtsam::Pose2> g(key, rel_pose_msr, keyA, keyB, valA, valB,
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model_inlier, model_outlier,prior_inlier, prior_outlier);
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gtsam::Values values;
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values.insert(key, orgA_T_orgB);
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Vector err = g.unwhitenedError(values);
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// Equals
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CHECK(assert_equal(err, zero(3), 1e-5));
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}
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/* ************************************************************************* */
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TEST( TransformBtwRobotsUnaryFactorEM, Optimize)
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{
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gtsam::Key key(0);
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gtsam::Key keyA(1);
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gtsam::Key keyB(2);
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gtsam::Pose2 orgA_T_currA(0.0, 0.0, 0.0);
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gtsam::Pose2 orgB_T_currB(1.0, 2.0, 0.05);
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gtsam::Pose2 orgA_T_orgB_tr(10.0, -15.0, 0.0);
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gtsam::Pose2 orgA_T_currB_tr = orgA_T_orgB_tr.compose(orgB_T_currB);
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gtsam::Pose2 currA_T_currB_tr = orgA_T_currA.between(orgA_T_currB_tr);
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// some error in measurements
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// gtsam::Pose2 currA_Tmsr_currB1 = currA_T_currB_tr.compose(gtsam::Pose2(0.1, 0.02, 0.01));
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// gtsam::Pose2 currA_Tmsr_currB2 = currA_T_currB_tr.compose(gtsam::Pose2(-0.1, 0.02, 0.01));
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// gtsam::Pose2 currA_Tmsr_currB3 = currA_T_currB_tr.compose(gtsam::Pose2(0.1, -0.02, 0.01));
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// gtsam::Pose2 currA_Tmsr_currB4 = currA_T_currB_tr.compose(gtsam::Pose2(0.1, 0.02, -0.01));
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// ideal measurements
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gtsam::Pose2 currA_Tmsr_currB1 = currA_T_currB_tr.compose(gtsam::Pose2(0.0, 0.0, 0.0));
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gtsam::Pose2 currA_Tmsr_currB2 = currA_Tmsr_currB1;
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gtsam::Pose2 currA_Tmsr_currB3 = currA_Tmsr_currB1;
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gtsam::Pose2 currA_Tmsr_currB4 = currA_Tmsr_currB1;
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SharedGaussian model_inlier(noiseModel::Diagonal::Sigmas((Vec(3) << 0.5, 0.5, 0.05)));
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SharedGaussian model_outlier(noiseModel::Diagonal::Sigmas((Vec(3) << 5, 5, 1.0)));
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double prior_outlier = 0.01;
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double prior_inlier = 0.99;
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gtsam::Values valA, valB;
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valA.insert(keyA, orgA_T_currA);
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valB.insert(keyB, orgB_T_currB);
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// Constructor
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TransformBtwRobotsUnaryFactorEM<gtsam::Pose2> g1(key, currA_Tmsr_currB1, keyA, keyB, valA, valB,
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model_inlier, model_outlier,prior_inlier, prior_outlier);
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TransformBtwRobotsUnaryFactorEM<gtsam::Pose2> g2(key, currA_Tmsr_currB2, keyA, keyB, valA, valB,
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model_inlier, model_outlier,prior_inlier, prior_outlier);
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TransformBtwRobotsUnaryFactorEM<gtsam::Pose2> g3(key, currA_Tmsr_currB3, keyA, keyB, valA, valB,
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model_inlier, model_outlier,prior_inlier, prior_outlier);
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TransformBtwRobotsUnaryFactorEM<gtsam::Pose2> g4(key, currA_Tmsr_currB4, keyA, keyB, valA, valB,
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model_inlier, model_outlier,prior_inlier, prior_outlier);
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gtsam::Values values;
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values.insert(key, gtsam::Pose2());
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gtsam::NonlinearFactorGraph graph;
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graph.push_back(g1);
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graph.push_back(g2);
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graph.push_back(g3);
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graph.push_back(g4);
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gtsam::GaussNewtonParams params;
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gtsam::GaussNewtonOptimizer optimizer(graph, values, params);
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gtsam::Values result = optimizer.optimize();
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gtsam::Pose2 orgA_T_orgB_opt = result.at<gtsam::Pose2>(key);
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CHECK(assert_equal(orgA_T_orgB_opt, orgA_T_orgB_tr, 1e-5));
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}
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/* ************************************************************************* */
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TEST( TransformBtwRobotsUnaryFactorEM, Jacobian)
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{
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gtsam::Key key(0);
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gtsam::Key keyA(1);
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gtsam::Key keyB(2);
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gtsam::Pose2 orgA_T_1(10.0, 15.0, 0.1);
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gtsam::Pose2 orgB_T_2(15.0, 15.0, 0.3);
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gtsam::Pose2 orgA_T_orgB(100.0, 45.0, 1.8);
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gtsam::Pose2 orgA_T_2 = orgA_T_orgB.compose(orgB_T_2);
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gtsam::Pose2 noise(0.5, 0.4, 0.01);
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gtsam::Pose2 rel_pose_ideal = orgA_T_1.between(orgA_T_2);
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gtsam::Pose2 rel_pose_msr = rel_pose_ideal.compose(noise);
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SharedGaussian model_inlier(noiseModel::Diagonal::Sigmas((Vec(3) << 0.5, 0.5, 0.05)));
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SharedGaussian model_outlier(noiseModel::Diagonal::Sigmas((Vec(3) << 5, 5, 1.0)));
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double prior_outlier = 0.5;
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double prior_inlier = 0.5;
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gtsam::Values valA, valB;
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valA.insert(keyA, orgA_T_1);
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valB.insert(keyB, orgB_T_2);
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// Constructor
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TransformBtwRobotsUnaryFactorEM<gtsam::Pose2> g(key, rel_pose_msr, keyA, keyB, valA, valB,
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model_inlier, model_outlier,prior_inlier, prior_outlier);
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gtsam::Values values;
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values.insert(key, orgA_T_orgB);
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std::vector<gtsam::Matrix> H_actual(1);
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Vector actual_err_wh = g.whitenedError(values, H_actual);
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Matrix H1_actual = H_actual[0];
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double stepsize = 1.0e-9;
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Matrix H1_expected = gtsam::numericalDerivative11<LieVector, Pose2>(boost::bind(&predictionError, _1, key, g), orgA_T_orgB, stepsize);
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// CHECK( assert_equal(H1_expected, H1_actual, 1e-5));
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}
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/////* ************************************************************************** */
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//TEST (TransformBtwRobotsUnaryFactorEM, jacobian ) {
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//
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// gtsam::Key keyA(1);
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// gtsam::Key keyB(2);
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//
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// // Inlier test
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// gtsam::Pose2 p1(10.0, 15.0, 0.1);
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// gtsam::Pose2 p2(15.0, 15.0, 0.3);
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// gtsam::Pose2 noise(0.5, 0.4, 0.01);
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// gtsam::Pose2 rel_pose_ideal = p1.between(p2);
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// gtsam::Pose2 rel_pose_msr = rel_pose_ideal.compose(noise);
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//
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// SharedGaussian model_inlier(noiseModel::Diagonal::Sigmas(gtsam::(Vec(3) << 0.5, 0.5, 0.05)));
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// SharedGaussian model_outlier(noiseModel::Diagonal::Sigmas(gtsam::(Vec(3) << 50.0, 50.0, 10.0)));
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//
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// gtsam::Values values;
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// values.insert(keyA, p1);
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// values.insert(keyB, p2);
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//
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// double prior_outlier = 0.0;
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// double prior_inlier = 1.0;
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//
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// TransformBtwRobotsUnaryFactorEM<gtsam::Pose2> f(keyA, keyB, rel_pose_msr, model_inlier, model_outlier,
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// prior_inlier, prior_outlier);
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//
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// std::vector<gtsam::Matrix> H_actual(2);
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// Vector actual_err_wh = f.whitenedError(values, H_actual);
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//
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// Matrix H1_actual = H_actual[0];
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// Matrix H2_actual = H_actual[1];
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//
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// // compare to standard between factor
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// BetweenFactor<gtsam::Pose2> h(keyA, keyB, rel_pose_msr, model_inlier );
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// Vector actual_err_wh_stnd = h.whitenedError(values);
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// Vector actual_err_wh_inlier = (Vec(3) << actual_err_wh[0], actual_err_wh[1], actual_err_wh[2]);
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// CHECK( assert_equal(actual_err_wh_stnd, actual_err_wh_inlier, 1e-8));
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// std::vector<gtsam::Matrix> H_actual_stnd_unwh(2);
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// (void)h.unwhitenedError(values, H_actual_stnd_unwh);
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// Matrix H1_actual_stnd_unwh = H_actual_stnd_unwh[0];
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// Matrix H2_actual_stnd_unwh = H_actual_stnd_unwh[1];
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// Matrix H1_actual_stnd = model_inlier->Whiten(H1_actual_stnd_unwh);
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// Matrix H2_actual_stnd = model_inlier->Whiten(H2_actual_stnd_unwh);
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//// CHECK( assert_equal(H1_actual_stnd, H1_actual, 1e-8));
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//// CHECK( assert_equal(H2_actual_stnd, H2_actual, 1e-8));
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//
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// double stepsize = 1.0e-9;
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// Matrix H1_expected = gtsam::numericalDerivative11<LieVector, Pose2>(boost::bind(&predictionError, _1, p2, keyA, keyB, f), p1, stepsize);
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// Matrix H2_expected = gtsam::numericalDerivative11<LieVector, Pose2>(boost::bind(&predictionError, p1, _1, keyA, keyB, f), p2, stepsize);
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//
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//
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// // try to check numerical derivatives of a standard between factor
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// Matrix H1_expected_stnd = gtsam::numericalDerivative11<LieVector, Pose2>(boost::bind(&predictionError_standard, _1, p2, keyA, keyB, h), p1, stepsize);
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// CHECK( assert_equal(H1_expected_stnd, H1_actual_stnd, 1e-5));
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//
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//
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// CHECK( assert_equal(H1_expected, H1_actual, 1e-8));
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// CHECK( assert_equal(H2_expected, H2_actual, 1e-8));
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//
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//}
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//#endif
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
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/* ************************************************************************* */
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