Handling edges with pure rotation in translation averaging #619
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dellaert
reviewed
Nov 30, 2020
tests/testTranslationRecovery.cpp
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| EXPECT(assert_equal(expected, result.at<Point3>(2), 1e-4)); | ||
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| // TODO(frank): how to get stats back? | ||
| // EXPECT_DOUBLES_EQUAL(0.0199833, actualError, 1e-5); | ||
| } | ||
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| TEST(TranslationRecovery, TwoPointTest) { |
tests/testTranslationRecovery.cpp
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| EXPECT(assert_equal(Point3(2, 0, 0), result.at<Point3>(1))); | ||
| } | ||
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| TEST(TranslationRecovery, ThreePointTest) { |
tests/testTranslationRecovery.cpp
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| EXPECT_LONGS_EQUAL(1, graph.size()); | ||
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| // Run translation recovery | ||
| const auto result = algorithm.run(/*scale=*/2.0); |
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maybe use a different scale from the true scale to check that functionality?
tests/testTranslationRecovery.cpp
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| const auto graph = algorithm.buildGraph(); | ||
| EXPECT_LONGS_EQUAL(3, graph.size()); | ||
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| const auto result = algorithm.run(/*scale=*/2.0); |
tests/testTranslationRecovery.cpp
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| EXPECT(assert_equal(Point3(1, -1, 0), result.at<Point3>(3))); | ||
| } | ||
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| TEST(TranslationRecovery, TwoPointsAndZeroTranslation) { |
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ThreePosesIncludingZeroTranslation
tests/testTranslationRecovery.cpp
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| EXPECT(assert_equal(Point3(2, 0, 0), result.at<Point3>(2))); | ||
| } | ||
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| TEST(TranslationRecovery, ThreePointsAndZeroTranslation) { |
dellaert
approved these changes
Dec 1, 2020
| @@ -16,14 +16,16 @@ | |||
| * @brief Recovering translations in an epipolar graph when rotations are given. | |||
| */ | |||
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| #include <map> | |||
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Include only what you really need in the header, include others in .cpp only
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std::map is used in line 59 below, for sameTranslationNodes_.
| @@ -54,21 +56,22 @@ class TranslationRecovery { | |||
| private: | |||
| TranslationEdges relativeTranslations_; | |||
| LevenbergMarquardtParams params_; | |||
| std::map<Key, std::set<Key>> sameTranslationNodes_; | |||
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document all of these with at least a ///< one-liner after declaration
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Thank you Frank, I've added some documentation for the member variables. |
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OK, feel free to merge and delete branch after checks have passed :-) |
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Changing the translation averaging implementation to handle edges in the input graph that are a pure rotation. These edges have a "zero" Unit3 translation direction.
Major changes in the PR: