1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
|
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------1------------------------------------------- */
/**
* @file testManifold.cpp
* @date September 18, 2014
* @author Frank Dellaert
* @author Paul Furgale
* @brief unit tests for Manifold type machinery
*/
#include <gtsam/base/Manifold.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/base/VectorSpace.h>
#include <gtsam/base/testLie.h>
#include <gtsam/base/Testable.h>
#undef CHECK
#include <CppUnitLite/TestHarness.h>
using namespace std;
using namespace gtsam;
// The DefaultChart of Camera below is laid out like Snavely's 9-dim vector
typedef PinholeCamera<Cal3Bundler> Camera;
//******************************************************************************
TEST(Manifold, SomeManifoldsGTSAM) {
//BOOST_CONCEPT_ASSERT((IsManifold<int>)); // integer is not a manifold
BOOST_CONCEPT_ASSERT((IsManifold<Camera>));
BOOST_CONCEPT_ASSERT((IsManifold<Cal3_S2>));
BOOST_CONCEPT_ASSERT((IsManifold<Cal3Bundler>));
BOOST_CONCEPT_ASSERT((IsManifold<Camera>));
}
//******************************************************************************
TEST(Manifold, SomeLieGroupsGTSAM) {
BOOST_CONCEPT_ASSERT((IsLieGroup<Rot2>));
BOOST_CONCEPT_ASSERT((IsLieGroup<Pose2>));
BOOST_CONCEPT_ASSERT((IsLieGroup<Rot3>));
BOOST_CONCEPT_ASSERT((IsLieGroup<Pose3>));
}
//******************************************************************************
TEST(Manifold, SomeVectorSpacesGTSAM) {
BOOST_CONCEPT_ASSERT((IsVectorSpace<double>));
BOOST_CONCEPT_ASSERT((IsVectorSpace<float>));
BOOST_CONCEPT_ASSERT((IsVectorSpace<Point2>));
BOOST_CONCEPT_ASSERT((IsVectorSpace<Matrix24>));
}
//******************************************************************************
// dimension
TEST(Manifold, _dimension) {
//using namespace traits;
EXPECT_LONGS_EQUAL(2, traits<Point2>::dimension);
EXPECT_LONGS_EQUAL(8, traits<Matrix24>::dimension);
EXPECT_LONGS_EQUAL(1, traits<double>::dimension);
}
//******************************************************************************
TEST(Manifold, Identity) {
EXPECT_DOUBLES_EQUAL(0.0, traits<double>::Identity(), 0.0);
EXPECT(assert_equal(Matrix(Matrix24::Zero()), Matrix(traits<Matrix24>::Identity())));
EXPECT(assert_equal(Pose3(), traits<Pose3>::Identity()));
EXPECT(assert_equal(Point2(0,0), traits<Point2>::Identity()));
}
//******************************************************************************
// charts
TEST(Manifold, DefaultChart) {
//DefaultChart<Point2> chart1;
EXPECT(traits<Point2>::Local(Point2(0, 0), Point2(1, 0)) == Vector2(1, 0));
EXPECT(traits<Point2>::Retract(Point2(0, 0), Vector2(1, 0)) == Point2(1, 0));
Vector v2(2);
v2 << 1, 0;
//DefaultChart<Vector2> chart2;
EXPECT(assert_equal(v2, traits<Vector2>::Local(Vector2(0, 0), Vector2(1, 0))));
EXPECT(traits<Vector2>::Retract(Vector2(0, 0), v2) == Vector2(1, 0));
{
typedef Matrix2 ManifoldPoint;
ManifoldPoint m;
//DefaultChart<ManifoldPoint> chart;
m << 1, 3,
2, 4;
// m as per default is in column-major storage mode. So this yields a linear representation of (1, 2, 3, 4)!
EXPECT(assert_equal(Vector(Vector4(1, 2, 3, 4)), Vector(traits<ManifoldPoint>::Local(ManifoldPoint::Zero(), m))));
EXPECT(traits<ManifoldPoint>::Retract(m, Vector4(1, 2, 3, 4)) == 2 * m);
}
{
typedef Eigen::Matrix<double, 1, 2> ManifoldPoint;
ManifoldPoint m;
//DefaultChart<ManifoldPoint> chart;
m << 1, 2;
EXPECT(assert_equal(Vector(Vector2(1, 2)), Vector(traits<ManifoldPoint>::Local(ManifoldPoint::Zero(), m))));
EXPECT(traits<ManifoldPoint>::Retract(m, Vector2(1, 2)) == 2 * m);
}
{
typedef Eigen::Matrix<double, 1, 1> ManifoldPoint;
ManifoldPoint m;
//DefaultChart<ManifoldPoint> chart;
m << 1;
EXPECT(assert_equal(Vector(ManifoldPoint::Ones()), Vector(traits<ManifoldPoint>::Local(ManifoldPoint::Zero(), m))));
EXPECT(traits<ManifoldPoint>::Retract(m, ManifoldPoint::Ones()) == 2 * m);
}
//DefaultChart<double> chart3;
Vector v1(1);
v1 << 1;
EXPECT(assert_equal(v1, traits<double>::Local(0, 1)));
EXPECT_DOUBLES_EQUAL(traits<double>::Retract(0, v1), 1, 1e-9);
// Dynamic does not work yet !
Vector z = Z_2x1, v(2);
v << 1, 0;
//DefaultChart<Vector> chart4;
// EXPECT(assert_equal(traits<Vector>::Local(z, v), v));
// EXPECT(assert_equal(traits<Vector>::Retract(z, v), v));
Vector v3(3);
v3 << 1, 1, 1;
Rot3 I = Rot3::Identity();
Rot3 R = I.retract(v3);
//DefaultChart<Rot3> chart5;
EXPECT(assert_equal(v3, traits<Rot3>::Local(I, R)));
EXPECT(assert_equal(traits<Rot3>::Retract(I, v3), R));
// Check zero vector
//DefaultChart<Rot3> chart6;
EXPECT(assert_equal((Vector) Z_3x1, traits<Rot3>::Local(R, R)));
}
//******************************************************************************
int main() {
TestResult tr;
return TestRegistry::runAllTests(tr);
}
//******************************************************************************
|
