Unit tests for Shonan Averaging algorithm. More...

#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/sfm/ShonanAveraging.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/FrobeniusFactor.h>
#include <algorithm>
#include <iostream>
#include <map>
#include <random>

Include dependency graph for testShonanAveraging.cpp:

Go to the source code of this file.

Namespaces
	klaus

Typedefs
template<size_t d>
using	Pose = typename std::conditional< d==2, Pose2, Pose3 >::type

template<size_t d>
using	Rot = typename std::conditional< d==2, Rot2, Rot3 >::type

Functions
ShonanAveraging3	fromExampleName (const std::string &name, ShonanAveraging3::Parameters parameters=ShonanAveraging3::Parameters())

static std::mt19937	kRandomNumberGenerator (42)

int	main ()

	TEST (ShonanAveraging3, checkConstructor)

	TEST (ShonanAveraging3, buildGraphAt)

	TEST (ShonanAveraging3, checkOptimality)

	TEST (ShonanAveraging3, checkSubgraph)

	TEST (ShonanAveraging3, tryOptimizingAt3)

	TEST (ShonanAveraging3, tryOptimizingAt4)

	TEST (ShonanAveraging3, TangentVectorValues)

	TEST (ShonanAveraging3, LiftTo)

	TEST (ShonanAveraging3, CheckWithEigen)

	TEST (ShonanAveraging3, initializeWithDescent)

	TEST (ShonanAveraging3, run)

	TEST (ShonanAveraging3, runKlaus)

	TEST (ShonanAveraging3, runKlausKarcher)

	TEST (ShonanAveraging2, noisyToyGraph)

	TEST (ShonanAveraging2, noisyToyGraphWithHuber)

	TEST (ShonanAveraging3, PriorWeights)

Variables
static const ShonanAveraging3	kShonan = fromExampleName("toyExample.g2o")

const Rot3	klaus::wR0 (0.9992281076190063, -0.02676080288219576, -0.024497002638379624, -0.015064701622500615)

const Rot3	klaus::wR1 (0.998239108728862, -0.049543805396343954, -0.03232420352077356, -0.004386230477751116)

const Rot3	klaus::wR2 (0.9925378735259738, -0.07993768981394891, 0.0825062894866454, -0.04088089479075661)

Detailed Description

Unit tests for Shonan Averaging algorithm.

Timing script for Shonan Averaging algorithm.

Date: March 2019

Author: Frank Dellaert

Date: September 2019

Author: Jing Wu; Frank Dellaert

Definition in file testShonanAveraging.cpp.

Typedef Documentation

◆ Pose

template<size_t d>

using Pose = typename std::conditional<d == 2, Pose2, Pose3>::type

Definition at line 37 of file testShonanAveraging.cpp.

◆ Rot

template<size_t d>

using Rot = typename std::conditional<d == 2, Rot2, Rot3>::type

Definition at line 34 of file testShonanAveraging.cpp.

Function Documentation

◆ fromExampleName()

ShonanAveraging3 fromExampleName	(	const std::string &	name,
		ShonanAveraging3::Parameters	parameters = `ShonanAveraging3::Parameters()`
	)

Definition at line 39 of file testShonanAveraging.cpp.

◆ kRandomNumberGenerator()

static std::mt19937 kRandomNumberGenerator ( 42 )

static

◆ main()

int main ( void )

Definition at line 419 of file testShonanAveraging.cpp.

◆ TEST() [1/16]

TEST	(	ShonanAveraging3	,
		checkConstructor
	)

Definition at line 51 of file testShonanAveraging.cpp.

◆ TEST() [2/16]

TEST	(	ShonanAveraging3	,
		buildGraphAt
	)

Definition at line 74 of file testShonanAveraging.cpp.

◆ TEST() [3/16]

TEST	(	ShonanAveraging3	,
		checkOptimality
	)

Definition at line 80 of file testShonanAveraging.cpp.

◆ TEST() [4/16]

TEST	(	ShonanAveraging3	,
		checkSubgraph
	)

Definition at line 96 of file testShonanAveraging.cpp.

◆ TEST() [5/16]

TEST	(	ShonanAveraging3	,
		tryOptimizingAt3
	)

Definition at line 117 of file testShonanAveraging.cpp.

◆ TEST() [6/16]

TEST	(	ShonanAveraging3	,
		tryOptimizingAt4
	)

Definition at line 132 of file testShonanAveraging.cpp.

◆ TEST() [7/16]

TEST	(	ShonanAveraging3	,
		TangentVectorValues
	)

Definition at line 146 of file testShonanAveraging.cpp.

◆ TEST() [8/16]

TEST	(	ShonanAveraging3	,
		LiftTo
	)

Definition at line 160 of file testShonanAveraging.cpp.

◆ TEST() [9/16]

TEST	(	ShonanAveraging3	,
		CheckWithEigen
	)

Definition at line 168 of file testShonanAveraging.cpp.

◆ TEST() [10/16]

TEST	(	ShonanAveraging3	,
		initializeWithDescent
	)

Definition at line 219 of file testShonanAveraging.cpp.

◆ TEST() [11/16]

TEST	(	ShonanAveraging3	,
		run
	)

Definition at line 231 of file testShonanAveraging.cpp.

◆ TEST() [12/16]

TEST	(	ShonanAveraging3	,
		runKlaus
	)

Definition at line 250 of file testShonanAveraging.cpp.

◆ TEST() [13/16]

TEST	(	ShonanAveraging3	,
		runKlausKarcher
	)

Definition at line 308 of file testShonanAveraging.cpp.

◆ TEST() [14/16]

TEST	(	ShonanAveraging2	,
		noisyToyGraph
	)

Definition at line 332 of file testShonanAveraging.cpp.

◆ TEST() [15/16]

TEST	(	ShonanAveraging2	,
		noisyToyGraphWithHuber
	)

Definition at line 352 of file testShonanAveraging.cpp.

◆ TEST() [16/16]

TEST	(	ShonanAveraging3	,
		PriorWeights
	)

Definition at line 389 of file testShonanAveraging.cpp.

Variable Documentation

◆ kShonan

const ShonanAveraging3 kShonan = fromExampleName("toyExample.g2o")