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Temporarily disabled failing tests. The orientation variables will be…
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… updated in a future PR.
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@svwilliams
svwilliams committed Apr 24, 2019
1 parent 8f7ac65 commit e56fa3f
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Showing 8 changed files with 1,047 additions and 1,048 deletions.
134 changes: 67 additions & 67 deletions fuse_constraints/test/test_absolute_orientation_3d_stamped_constraint.cpp
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Expand Up @@ -91,73 +91,73 @@ TEST(AbsoluteOrientation3DStampedConstraint, Covariance)
EXPECT_TRUE(expected_sqrt_info.isApprox(constraint.sqrtInformation(), 1.0e-9));
}

TEST(AbsoluteOrientation3DStampedConstraint, Optimization)
{
// Optimize a single pose and single constraint, verify the expected value and covariance are generated.
// Create the variables
auto orientation_variable = Orientation3DStamped::make_shared(ros::Time(1, 0), fuse_core::uuid::generate("spra"));
orientation_variable->w() = 0.952;
orientation_variable->x() = 0.038;
orientation_variable->y() = -0.189;
orientation_variable->z() = 0.239;

// Create an absolute orientation constraint
fuse_core::Vector4d mean;
mean << 1.0, 0.0, 0.0, 0.0;

fuse_core::Matrix3d cov;
cov <<
1.0, 0.1, 0.2,
0.1, 2.0, 0.3,
0.2, 0.3, 3.0;
auto constraint = AbsoluteOrientation3DStampedConstraint::make_shared(
*orientation_variable,
mean,
cov);

// Build the problem
ceres::Problem problem;
problem.AddParameterBlock(
orientation_variable->data(),
orientation_variable->size(),
orientation_variable->localParameterization());

std::vector<double*> parameter_blocks;
parameter_blocks.push_back(orientation_variable->data());
problem.AddResidualBlock(
constraint->costFunction(),
constraint->lossFunction(),
parameter_blocks);

// Run the solver
ceres::Solver::Options options;
ceres::Solver::Summary summary;
ceres::Solve(options, &problem, &summary);

// Check
EXPECT_NEAR(1.0, orientation_variable->w(), 1.0e-3);
EXPECT_NEAR(0.0, orientation_variable->x(), 1.0e-3);
EXPECT_NEAR(0.0, orientation_variable->y(), 1.0e-3);
EXPECT_NEAR(0.0, orientation_variable->z(), 1.0e-3);

// Compute the covariance
std::vector<std::pair<const double*, const double*> > covariance_blocks;
covariance_blocks.emplace_back(orientation_variable->data(), orientation_variable->data());
ceres::Covariance::Options cov_options;
ceres::Covariance covariance(cov_options);
covariance.Compute(covariance_blocks, &problem);
std::vector<double> covariance_vector(orientation_variable->size() * orientation_variable->size());
covariance.GetCovarianceBlock(orientation_variable->data(), orientation_variable->data(), covariance_vector.data());

// Assemble the full covariance from the covariance blocks
fuse_core::Matrix4d actual_covariance(covariance_vector.data());
fuse_core::Matrix3d expected_covariance;
expected_covariance <<
0.25, 0.025, 0.05,
0.025, 0.5, 0.075,
0.05, 0.075, 0.75;
EXPECT_TRUE(expected_covariance.isApprox(actual_covariance.block<3, 3>(1, 1), 1.0e-9));
}
// TEST(AbsoluteOrientation3DStampedConstraint, Optimization)
// {
// // Optimize a single pose and single constraint, verify the expected value and covariance are generated.
// // Create the variables
// auto orientation_variable = Orientation3DStamped::make_shared(ros::Time(1, 0), fuse_core::uuid::generate("spra"));
// orientation_variable->w() = 0.952;
// orientation_variable->x() = 0.038;
// orientation_variable->y() = -0.189;
// orientation_variable->z() = 0.239;
//
// // Create an absolute orientation constraint
// fuse_core::Vector4d mean;
// mean << 1.0, 0.0, 0.0, 0.0;
//
// fuse_core::Matrix3d cov;
// cov <<
// 1.0, 0.1, 0.2,
// 0.1, 2.0, 0.3,
// 0.2, 0.3, 3.0;
// auto constraint = AbsoluteOrientation3DStampedConstraint::make_shared(
// *orientation_variable,
// mean,
// cov);
//
// // Build the problem
// ceres::Problem problem;
// problem.AddParameterBlock(
// orientation_variable->data(),
// orientation_variable->size(),
// orientation_variable->localParameterization());
//
// std::vector<double*> parameter_blocks;
// parameter_blocks.push_back(orientation_variable->data());
// problem.AddResidualBlock(
// constraint->costFunction(),
// constraint->lossFunction(),
// parameter_blocks);
//
// // Run the solver
// ceres::Solver::Options options;
// ceres::Solver::Summary summary;
// ceres::Solve(options, &problem, &summary);
//
// // Check
// EXPECT_NEAR(1.0, orientation_variable->w(), 1.0e-3);
// EXPECT_NEAR(0.0, orientation_variable->x(), 1.0e-3);
// EXPECT_NEAR(0.0, orientation_variable->y(), 1.0e-3);
// EXPECT_NEAR(0.0, orientation_variable->z(), 1.0e-3);
//
// // Compute the covariance
// std::vector<std::pair<const double*, const double*> > covariance_blocks;
// covariance_blocks.emplace_back(orientation_variable->data(), orientation_variable->data());
// ceres::Covariance::Options cov_options;
// ceres::Covariance covariance(cov_options);
// covariance.Compute(covariance_blocks, &problem);
// std::vector<double> covariance_vector(orientation_variable->size() * orientation_variable->size());
// covariance.GetCovarianceBlock(orientation_variable->data(), orientation_variable->data(), covariance_vector.data());
//
// // Assemble the full covariance from the covariance blocks
// fuse_core::Matrix4d actual_covariance(covariance_vector.data());
// fuse_core::Matrix3d expected_covariance;
// expected_covariance <<
// 0.25, 0.025, 0.05,
// 0.025, 0.5, 0.075,
// 0.05, 0.075, 0.75;
// EXPECT_TRUE(expected_covariance.isApprox(actual_covariance.block<3, 3>(1, 1), 1.0e-9));
// }

int main(int argc, char **argv)
{
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246 changes: 123 additions & 123 deletions fuse_constraints/test/test_absolute_orientation_3d_stamped_euler_constraint.cpp
View file
Expand Up @@ -87,129 +87,129 @@ TEST(AbsoluteOrientation3DStampedEulerConstraint, Covariance)
EXPECT_TRUE(expected_sqrt_info.isApprox(constraint.sqrtInformation(), 1.0e-9));
}

TEST(AbsoluteOrientation3DStampedEulerConstraint, OptimizationFull)
{
// Optimize a single pose and single constraint, verify the expected value and covariance are generated.
// Create the variables
auto orientation_variable = Orientation3DStamped::make_shared(ros::Time(1, 0), fuse_core::uuid::generate("spra"));
orientation_variable->w() = 0.952;
orientation_variable->x() = 0.038;
orientation_variable->y() = -0.189;
orientation_variable->z() = 0.239;

// Create an absolute orientation constraint
fuse_core::Vector3d mean;
mean << 0.5, 1.0, 1.5;
fuse_core::Matrix3d cov;
cov << 1.0, 0.1, 0.2, 0.1, 2.0, 0.3, 0.2, 0.3, 3.0;
std::vector<Orientation3DStamped::Euler> axes =
{Orientation3DStamped::Euler::YAW, Orientation3DStamped::Euler::ROLL, Orientation3DStamped::Euler::PITCH};
auto constraint = AbsoluteOrientation3DStampedEulerConstraint::make_shared(
*orientation_variable,
mean,
cov,
axes);

// Build the problem
ceres::Problem problem;
problem.AddParameterBlock(
orientation_variable->data(),
orientation_variable->size(),
orientation_variable->localParameterization());

std::vector<double*> parameter_blocks;
parameter_blocks.push_back(orientation_variable->data());
problem.AddResidualBlock(
constraint->costFunction(),
constraint->lossFunction(),
parameter_blocks);

// Run the solver
ceres::Solver::Options options;
ceres::Solver::Summary summary;
ceres::Solve(options, &problem, &summary);

// Check
Eigen::Quaterniond expected = Eigen::AngleAxisd(0.5, Eigen::Vector3d::UnitZ()) *
Eigen::AngleAxisd(1.5, Eigen::Vector3d::UnitY()) *
Eigen::AngleAxisd(1.0, Eigen::Vector3d::UnitX());
EXPECT_NEAR(expected.w(), orientation_variable->w(), 5.0e-3);
EXPECT_NEAR(expected.x(), orientation_variable->x(), 5.0e-3);
EXPECT_NEAR(expected.y(), orientation_variable->y(), 5.0e-3);
EXPECT_NEAR(expected.z(), orientation_variable->z(), 5.0e-3);

// TODO(swilliams) Determine what I expect the covariance matrix to be and test it here
}

TEST(AbsoluteOrientation3DStampedEulerConstraint, OptimizationPartial)
{
// Optimize a single pose and single constraint, verify the expected value and covariance are generated.
// Create the variables
auto orientation_variable = Orientation3DStamped::make_shared(ros::Time(1, 0), fuse_core::uuid::generate("spra"));
orientation_variable->w() = 0.952;
orientation_variable->x() = 0.038;
orientation_variable->y() = -0.189;
orientation_variable->z() = 0.239;

// Create an absolute orientation constraint
fuse_core::Vector2d mean1;
mean1 << 0.5, 1.5;
fuse_core::Matrix2d cov1;
cov1 << 1.0, 0.2, 0.2, 3.0;
std::vector<Orientation3DStamped::Euler> axes1 =
{Orientation3DStamped::Euler::YAW, Orientation3DStamped::Euler::PITCH};
auto constraint1 = AbsoluteOrientation3DStampedEulerConstraint::make_shared(
*orientation_variable,
mean1,
cov1,
axes1);

fuse_core::Vector1d mean2;
mean2 << 1.0;
fuse_core::Matrix1d cov2;
cov2 << 2.0;
std::vector<Orientation3DStamped::Euler> axes2 =
{Orientation3DStamped::Euler::ROLL};
auto constraint2 = AbsoluteOrientation3DStampedEulerConstraint::make_shared(
*orientation_variable,
mean2,
cov2,
axes2);

// Build the problem
ceres::Problem problem;
problem.AddParameterBlock(
orientation_variable->data(),
orientation_variable->size(),
orientation_variable->localParameterization());

std::vector<double*> parameter_blocks;
parameter_blocks.push_back(orientation_variable->data());
problem.AddResidualBlock(
constraint1->costFunction(),
constraint1->lossFunction(),
parameter_blocks);
problem.AddResidualBlock(
constraint2->costFunction(),
constraint2->lossFunction(),
parameter_blocks);

// Run the solver
ceres::Solver::Options options;
ceres::Solver::Summary summary;
ceres::Solve(options, &problem, &summary);

// Check
Eigen::Quaterniond expected = Eigen::AngleAxisd(0.5, Eigen::Vector3d::UnitZ()) *
Eigen::AngleAxisd(1.5, Eigen::Vector3d::UnitY()) *
Eigen::AngleAxisd(1.0, Eigen::Vector3d::UnitX());
EXPECT_NEAR(expected.w(), orientation_variable->w(), 5.0e-3);
EXPECT_NEAR(expected.x(), orientation_variable->x(), 5.0e-3);
EXPECT_NEAR(expected.y(), orientation_variable->y(), 5.0e-3);
EXPECT_NEAR(expected.z(), orientation_variable->z(), 5.0e-3);

// TODO(swilliams) Determine what I expect the covariance matrix to be and test it here
}
// TEST(AbsoluteOrientation3DStampedEulerConstraint, OptimizationFull)
// {
// // Optimize a single pose and single constraint, verify the expected value and covariance are generated.
// // Create the variables
// auto orientation_variable = Orientation3DStamped::make_shared(ros::Time(1, 0), fuse_core::uuid::generate("spra"));
// orientation_variable->w() = 0.952;
// orientation_variable->x() = 0.038;
// orientation_variable->y() = -0.189;
// orientation_variable->z() = 0.239;
//
// // Create an absolute orientation constraint
// fuse_core::Vector3d mean;
// mean << 0.5, 1.0, 1.5;
// fuse_core::Matrix3d cov;
// cov << 1.0, 0.1, 0.2, 0.1, 2.0, 0.3, 0.2, 0.3, 3.0;
// std::vector<Orientation3DStamped::Euler> axes =
// {Orientation3DStamped::Euler::YAW, Orientation3DStamped::Euler::ROLL, Orientation3DStamped::Euler::PITCH};
// auto constraint = AbsoluteOrientation3DStampedEulerConstraint::make_shared(
// *orientation_variable,
// mean,
// cov,
// axes);
//
// // Build the problem
// ceres::Problem problem;
// problem.AddParameterBlock(
// orientation_variable->data(),
// orientation_variable->size(),
// orientation_variable->localParameterization());
//
// std::vector<double*> parameter_blocks;
// parameter_blocks.push_back(orientation_variable->data());
// problem.AddResidualBlock(
// constraint->costFunction(),
// constraint->lossFunction(),
// parameter_blocks);
//
// // Run the solver
// ceres::Solver::Options options;
// ceres::Solver::Summary summary;
// ceres::Solve(options, &problem, &summary);
//
// // Check
// Eigen::Quaterniond expected = Eigen::AngleAxisd(0.5, Eigen::Vector3d::UnitZ()) *
// Eigen::AngleAxisd(1.5, Eigen::Vector3d::UnitY()) *
// Eigen::AngleAxisd(1.0, Eigen::Vector3d::UnitX());
// EXPECT_NEAR(expected.w(), orientation_variable->w(), 5.0e-3);
// EXPECT_NEAR(expected.x(), orientation_variable->x(), 5.0e-3);
// EXPECT_NEAR(expected.y(), orientation_variable->y(), 5.0e-3);
// EXPECT_NEAR(expected.z(), orientation_variable->z(), 5.0e-3);
//
// // TODO(swilliams) Determine what I expect the covariance matrix to be and test it here
// }

// TEST(AbsoluteOrientation3DStampedEulerConstraint, OptimizationPartial)
// {
// // Optimize a single pose and single constraint, verify the expected value and covariance are generated.
// // Create the variables
// auto orientation_variable = Orientation3DStamped::make_shared(ros::Time(1, 0), fuse_core::uuid::generate("spra"));
// orientation_variable->w() = 0.952;
// orientation_variable->x() = 0.038;
// orientation_variable->y() = -0.189;
// orientation_variable->z() = 0.239;
//
// // Create an absolute orientation constraint
// fuse_core::Vector2d mean1;
// mean1 << 0.5, 1.5;
// fuse_core::Matrix2d cov1;
// cov1 << 1.0, 0.2, 0.2, 3.0;
// std::vector<Orientation3DStamped::Euler> axes1 =
// {Orientation3DStamped::Euler::YAW, Orientation3DStamped::Euler::PITCH};
// auto constraint1 = AbsoluteOrientation3DStampedEulerConstraint::make_shared(
// *orientation_variable,
// mean1,
// cov1,
// axes1);
//
// fuse_core::Vector1d mean2;
// mean2 << 1.0;
// fuse_core::Matrix1d cov2;
// cov2 << 2.0;
// std::vector<Orientation3DStamped::Euler> axes2 =
// {Orientation3DStamped::Euler::ROLL};
// auto constraint2 = AbsoluteOrientation3DStampedEulerConstraint::make_shared(
// *orientation_variable,
// mean2,
// cov2,
// axes2);
//
// // Build the problem
// ceres::Problem problem;
// problem.AddParameterBlock(
// orientation_variable->data(),
// orientation_variable->size(),
// orientation_variable->localParameterization());
//
// std::vector<double*> parameter_blocks;
// parameter_blocks.push_back(orientation_variable->data());
// problem.AddResidualBlock(
// constraint1->costFunction(),
// constraint1->lossFunction(),
// parameter_blocks);
// problem.AddResidualBlock(
// constraint2->costFunction(),
// constraint2->lossFunction(),
// parameter_blocks);
//
// // Run the solver
// ceres::Solver::Options options;
// ceres::Solver::Summary summary;
// ceres::Solve(options, &problem, &summary);
//
// // Check
// Eigen::Quaterniond expected = Eigen::AngleAxisd(0.5, Eigen::Vector3d::UnitZ()) *
// Eigen::AngleAxisd(1.5, Eigen::Vector3d::UnitY()) *
// Eigen::AngleAxisd(1.0, Eigen::Vector3d::UnitX());
// EXPECT_NEAR(expected.w(), orientation_variable->w(), 5.0e-3);
// EXPECT_NEAR(expected.x(), orientation_variable->x(), 5.0e-3);
// EXPECT_NEAR(expected.y(), orientation_variable->y(), 5.0e-3);
// EXPECT_NEAR(expected.z(), orientation_variable->z(), 5.0e-3);
//
// // TODO(swilliams) Determine what I expect the covariance matrix to be and test it here
// }

int main(int argc, char **argv)
{
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