From 155a05b8aee83c0e0401d070915fdcf7ea76ef00 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 7 Aug 2019 22:07:01 +0200
Subject: [PATCH] Add test with solver
---
src/processor/processor_odom_icp.cpp | 9 ++--
test/gtest_processor_odom_icp.cpp | 73 ++++++++++++++++++++--------
2 files changed, 60 insertions(+), 22 deletions(-)
diff --git a/src/processor/processor_odom_icp.cpp b/src/processor/processor_odom_icp.cpp
index daedfde9c..f581f0901 100644
--- a/src/processor/processor_odom_icp.cpp
+++ b/src/processor/processor_odom_icp.cpp
@@ -50,7 +50,7 @@ unsigned int ProcessorOdomICP::processKnown()
{
// Match the incoming with the origin, passing the transform from origin to last as initialization
- if (processing_step_ != FIRST_TIME_WITH_PACK && processing_step_ != FIRST_TIME_WITHOUT_PACK) // It's not FIRST_TIME
+ if (origin_ptr_) // Make sure it's not the FIRST_TIME
{
CaptureLaser2DPtr origin_ptr = std::static_pointer_cast<CaptureLaser2D>(origin_ptr_);
CaptureLaser2DPtr incoming_ptr = std::static_pointer_cast<CaptureLaser2D>(incoming_ptr_);
@@ -200,8 +200,11 @@ void ProcessorOdomICP::resetDerived()
void ProcessorOdomICP::establishFactors()
{
- auto ftr_ptr = emplaceFeature(last_ptr_);
- emplaceFactor(ftr_ptr);
+ if (last_ptr_ != origin_ptr_)
+ {
+ auto ftr_ptr = emplaceFeature(last_ptr_);
+ emplaceFactor(ftr_ptr);
+ }
}
FeatureBasePtr ProcessorOdomICP::emplaceFeature(CaptureBasePtr _capture_laser)
diff --git a/test/gtest_processor_odom_icp.cpp b/test/gtest_processor_odom_icp.cpp
index b1ab85497..b625227c0 100644
--- a/test/gtest_processor_odom_icp.cpp
+++ b/test/gtest_processor_odom_icp.cpp
@@ -5,9 +5,13 @@
* \author: jsola
*/
-#include "laser/processor/processor_odom_icp.h"
+
#include "laser/internal/config.h"
-#include "core/utils/utils_gtest.h"
+
+#include <core/ceres_wrapper/ceres_manager.h>
+#include <core/utils/utils_gtest.h>
+
+#include "laser/processor/processor_odom_icp.h" // THIS AT THE END OTHERWISE IT FAILS COMPILING
using namespace wolf;
using namespace Eigen;
@@ -19,9 +23,9 @@ class ProcessorOdomICPPublic : public ProcessorOdomICP
public:
ProcessorOdomICPPublic(const ProcessorParamsOdomICPPtr& _params) :
ProcessorOdomICP(_params)
- {
+ {
- }
+ }
virtual ~ProcessorOdomICPPublic(){}
// we can add public methods here to access protected stuff in ProcessorOdomICP
@@ -33,9 +37,12 @@ class ProcessorOdomICP_Test : public testing::Test
{
public:
ProblemPtr problem;
+ CeresManagerPtr solver;
SensorLaser2DPtr lidar;
ProcessorOdomICPPublicPtr processor;
+ std::vector<float> ranges;
+
TimeStamp t0;
Vector3s x0;
Matrix3s P0;
@@ -43,15 +50,17 @@ class ProcessorOdomICP_Test : public testing::Test
virtual void SetUp()
{
- problem = Problem::create("PO", 2);
+ problem = Problem::create("PO", 2);
+ solver = std::make_shared<CeresManager>(problem);
- auto sen = problem->installSensor("LASER 2D", "lidar", Eigen::Vector3s(0,0,0), laser_root_dir + "/test/yaml/sensor_laser_2D.yaml");
- lidar = std::static_pointer_cast<SensorLaser2D>(sen);
+ auto sen = problem->installSensor("LASER 2D", "lidar", Eigen::Vector3s(0,0,0), laser_root_dir + "/test/yaml/sensor_laser_2D.yaml");
+ lidar = std::static_pointer_cast<SensorLaser2D>(sen);
- auto prc = problem->installProcessor("ODOM ICP", "prc icp", "lidar", laser_root_dir + "/test/yaml/processor_odom_ICP.yaml");
- processor = std::static_pointer_cast<ProcessorOdomICPPublic>(prc);
+ auto prc = problem->installProcessor("ODOM ICP", "prc icp", "lidar", laser_root_dir + "/test/yaml/processor_odom_ICP.yaml");
+ processor = std::static_pointer_cast<ProcessorOdomICPPublic>(prc);
+
+ ranges = std::vector<float>({49.97591781616211, 49.996429443359375, 49.999759674072266, 50.0, 50.0, 50.0, 49.998634338378906, 50.0, 50.0, 49.99236297607422, 49.99384307861328, 50.0, 49.9869270324707, 50.0, 49.99005889892578, 49.99773406982422, 50.0, 49.98741912841797, 50.0, 49.99842071533203, 50.0, 49.99243927001953, 49.997291564941406, 50.0, 50.0, 49.98580551147461, 49.991844177246094, 49.98896026611328, 50.0, 50.0, 49.9897346496582, 49.998111724853516, 49.99882125854492, 50.0, 50.0, 50.0, 50.0, 49.999698638916016, 50.0, 50.0, 50.0, 50.0, 49.991397857666016, 49.99360275268555, 49.999027252197266, 49.99750900268555, 49.99100112915039, 49.998714447021484, 49.98794174194336, 50.0, 50.0, 50.0, 50.0, 50.0, 49.98186492919922, 50.0, 50.0, 50.0, 49.99155807495117, 49.997196197509766, 49.98872375488281, 49.99138259887695, 50.0, 49.99021530151367, 49.99164581298828, 50.0, 49.991390228271484, 50.0, 50.0, 50.0, 49.997249603271484, 50.0, 49.991851806640625, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 49.97983169555664, 49.98630142211914, 50.0, 20.6888370513916, 49.9797477722168, 49.98846435546875, 49.99418640136719, 50.0, 50.0, 50.0, 49.99342346191406, 50.0, 49.9906005859375, 50.0, 49.99853515625, 49.989444732666016, 38.552852630615234, 38.28703689575195, 38.04865264892578, 37.78112030029297, 37.54747772216797, 37.28171157836914, 37.206565856933594, 36.835411071777344, 36.61864471435547, 36.39655685424805, 36.1579475402832, 35.95964431762695, 35.75605773925781, 35.552188873291016, 35.75926208496094, 36.27781677246094, 35.16993713378906, 34.99699401855469, 34.82910919189453, 34.6483039855957, 34.48637390136719, 34.32539749145508, 34.16202163696289, 34.232051849365234, 33.86043167114258, 33.71691131591797, 33.566650390625, 33.42384338378906, 33.2882080078125, 33.16693115234375, 33.041419982910156, 32.906009674072266, 33.008323669433594, 33.706356048583984, 34.43825149536133, 35.25088119506836, 36.05652618408203, 36.930118560791016, 37.83384704589844, 33.12321472167969, 33.02351760864258, 32.9192008972168, 32.82925796508789, 32.74382781982422, 32.64959716796875, 32.580204010009766, 32.49120330810547, 33.05714797973633, 32.343536376953125, 32.26381301879883, 32.21063232421875, 32.12488555908203, 32.06965255737305, 32.0222282409668, 31.954957962036133, 31.903532028198242, 31.83578872680664, 32.51456832885742, 34.189456939697266, 31.12668228149414, 31.076339721679688, 31.047151565551758, 30.967018127441406, 30.956220626831055, 30.924589157104492, 30.893285751342773, 30.869199752807617, 30.843050003051758, 32.791847229003906, 30.809431076049805, 30.79128074645996, 30.779237747192383, 30.776460647583008, 30.74305534362793, 30.74994468688965, 30.7137393951416, 30.734609603881836, 30.719928741455078, 30.71673011779785, 49.99970626831055, 50.0, 49.987911224365234, 33.68583679199219, 31.76846694946289, 31.8026123046875, 31.802202224731445, 31.818490982055664, 31.85223960876465, 31.86141014099121, 31.906801223754883, 31.93423843383789, 31.964210510253906, 33.567230224609375, 32.055015563964844, 32.07001876831055, 32.13076400756836, 32.16000747680664, 32.22781753540039, 32.26890563964844, 32.323944091796875, 32.36326217651367, 32.430908203125, 49.980655670166016, 34.32135772705078, 33.09465789794922, 32.27247619628906, 32.33710479736328, 32.41763687133789, 32.498661041259766, 32.57213592529297, 32.67158126831055, 32.74591827392578, 32.814476013183594, 32.93477249145508, 33.04751968383789, 33.136863708496094, 33.23999786376953, 33.34675979614258, 33.42970657348633, 33.53573226928711, 33.66716003417969, 33.78378677368164, 33.905670166015625, 34.02836608886719, 34.151817321777344, 34.2794189453125, 34.41516876220703, 34.551273345947266, 34.702728271484375, 34.84151840209961, 34.986881256103516, 35.162757873535156, 35.332794189453125, 35.47941970825195, 35.65633010864258, 35.82624435424805, 36.00060272216797, 36.17729187011719, 36.36515808105469, 36.55763626098633, 36.744773864746094, 38.46407699584961, 37.869808197021484, 37.767921447753906, 37.958900451660156, 38.20857620239258, 38.38622283935547, 38.68323516845703, 38.871334075927734, 39.151519775390625, 39.377750396728516, 39.68268966674805, 39.89873123168945, 40.197330474853516, 40.47549819946289, 40.73743438720703, 41.04566955566406, 42.33650207519531, 41.92591094970703, 41.43912124633789, 41.045528411865234, 41.32114028930664, 41.581878662109375, 41.944580078125, 42.318912506103516, 42.6725959777832, 43.07264709472656, 43.443477630615234, 43.83216094970703, 44.19996643066406, 44.63225555419922, 45.06049346923828, 45.468536376953125, 45.89896774291992, 46.330604553222656, 46.778343200683594, 47.31666946411133, 47.789310455322266, 48.26376724243164, 48.826602935791016, 49.33188247680664, 49.990909576416016, 50.0, 50.0, 50.0, 50.0, 49.995697021484375, 49.99568176269531, 49.98163986206055, 50.0, 50.0, 49.9764289855957, 50.0, 50.0, 49.98639678955078, 49.99431228637695, 50.0, 50.0, 50.0, 50.0, 49.9874267578125, 50.0, 49.98714828491211, 50.0, 49.99470901489258, 49.99113464355469, 50.0, 50.0, 50.0, 49.985504150390625, 49.99067306518555, 50.0, 49.997161865234375, 50.0, 50.0, 50.0, 49.995513916015625, 49.993038177490234, 50.0, 49.99763107299805, 50.0, 49.98752975463867, 50.0, 49.988037109375, 50.0, 50.0, 50.0, 49.9975700378418, 50.0, 49.998756408691406, 49.97819519042969, 49.99104690551758, 49.99087905883789, 49.94268798828125, 49.85968017578125, 49.786617279052734, 49.70594787597656, 49.62562561035156, 49.56686782836914, 49.50475311279297, 49.416934967041016, 49.35699462890625, 49.308589935302734, 49.990482330322266, 50.0, 49.998836517333984, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 49.980472564697266, 49.99903869628906, 50.0, 50.0, 49.989845275878906, 49.98395919799805, 50.0, 49.99302673339844, 49.99530792236328, 49.99745559692383, 50.0, 49.99560546875, 21.569303512573242});
- WOLF_TRACE("\n\n========== Prior ==========")
t0 = 0.0;
x0 = Vector3s(0,0,0);
P0 . setIdentity();
@@ -106,24 +115,21 @@ TEST(ProcessorOdomIcp, creator_yaml)
TEST_F(ProcessorOdomICP_Test, full)
{
- std::vector<float> ranges({49.97591781616211, 49.996429443359375, 49.999759674072266, 50.0, 50.0, 50.0, 49.998634338378906, 50.0, 50.0, 49.99236297607422, 49.99384307861328, 50.0, 49.9869270324707, 50.0, 49.99005889892578, 49.99773406982422, 50.0, 49.98741912841797, 50.0, 49.99842071533203, 50.0, 49.99243927001953, 49.997291564941406, 50.0, 50.0, 49.98580551147461, 49.991844177246094, 49.98896026611328, 50.0, 50.0, 49.9897346496582, 49.998111724853516, 49.99882125854492, 50.0, 50.0, 50.0, 50.0, 49.999698638916016, 50.0, 50.0, 50.0, 50.0, 49.991397857666016, 49.99360275268555, 49.999027252197266, 49.99750900268555, 49.99100112915039, 49.998714447021484, 49.98794174194336, 50.0, 50.0, 50.0, 50.0, 50.0, 49.98186492919922, 50.0, 50.0, 50.0, 49.99155807495117, 49.997196197509766, 49.98872375488281, 49.99138259887695, 50.0, 49.99021530151367, 49.99164581298828, 50.0, 49.991390228271484, 50.0, 50.0, 50.0, 49.997249603271484, 50.0, 49.991851806640625, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 49.97983169555664, 49.98630142211914, 50.0, 20.6888370513916, 49.9797477722168, 49.98846435546875, 49.99418640136719, 50.0, 50.0, 50.0, 49.99342346191406, 50.0, 49.9906005859375, 50.0, 49.99853515625, 49.989444732666016, 38.552852630615234, 38.28703689575195, 38.04865264892578, 37.78112030029297, 37.54747772216797, 37.28171157836914, 37.206565856933594, 36.835411071777344, 36.61864471435547, 36.39655685424805, 36.1579475402832, 35.95964431762695, 35.75605773925781, 35.552188873291016, 35.75926208496094, 36.27781677246094, 35.16993713378906, 34.99699401855469, 34.82910919189453, 34.6483039855957, 34.48637390136719, 34.32539749145508, 34.16202163696289, 34.232051849365234, 33.86043167114258, 33.71691131591797, 33.566650390625, 33.42384338378906, 33.2882080078125, 33.16693115234375, 33.041419982910156, 32.906009674072266, 33.008323669433594, 33.706356048583984, 34.43825149536133, 35.25088119506836, 36.05652618408203, 36.930118560791016, 37.83384704589844, 33.12321472167969, 33.02351760864258, 32.9192008972168, 32.82925796508789, 32.74382781982422, 32.64959716796875, 32.580204010009766, 32.49120330810547, 33.05714797973633, 32.343536376953125, 32.26381301879883, 32.21063232421875, 32.12488555908203, 32.06965255737305, 32.0222282409668, 31.954957962036133, 31.903532028198242, 31.83578872680664, 32.51456832885742, 34.189456939697266, 31.12668228149414, 31.076339721679688, 31.047151565551758, 30.967018127441406, 30.956220626831055, 30.924589157104492, 30.893285751342773, 30.869199752807617, 30.843050003051758, 32.791847229003906, 30.809431076049805, 30.79128074645996, 30.779237747192383, 30.776460647583008, 30.74305534362793, 30.74994468688965, 30.7137393951416, 30.734609603881836, 30.719928741455078, 30.71673011779785, 49.99970626831055, 50.0, 49.987911224365234, 33.68583679199219, 31.76846694946289, 31.8026123046875, 31.802202224731445, 31.818490982055664, 31.85223960876465, 31.86141014099121, 31.906801223754883, 31.93423843383789, 31.964210510253906, 33.567230224609375, 32.055015563964844, 32.07001876831055, 32.13076400756836, 32.16000747680664, 32.22781753540039, 32.26890563964844, 32.323944091796875, 32.36326217651367, 32.430908203125, 49.980655670166016, 34.32135772705078, 33.09465789794922, 32.27247619628906, 32.33710479736328, 32.41763687133789, 32.498661041259766, 32.57213592529297, 32.67158126831055, 32.74591827392578, 32.814476013183594, 32.93477249145508, 33.04751968383789, 33.136863708496094, 33.23999786376953, 33.34675979614258, 33.42970657348633, 33.53573226928711, 33.66716003417969, 33.78378677368164, 33.905670166015625, 34.02836608886719, 34.151817321777344, 34.2794189453125, 34.41516876220703, 34.551273345947266, 34.702728271484375, 34.84151840209961, 34.986881256103516, 35.162757873535156, 35.332794189453125, 35.47941970825195, 35.65633010864258, 35.82624435424805, 36.00060272216797, 36.17729187011719, 36.36515808105469, 36.55763626098633, 36.744773864746094, 38.46407699584961, 37.869808197021484, 37.767921447753906, 37.958900451660156, 38.20857620239258, 38.38622283935547, 38.68323516845703, 38.871334075927734, 39.151519775390625, 39.377750396728516, 39.68268966674805, 39.89873123168945, 40.197330474853516, 40.47549819946289, 40.73743438720703, 41.04566955566406, 42.33650207519531, 41.92591094970703, 41.43912124633789, 41.045528411865234, 41.32114028930664, 41.581878662109375, 41.944580078125, 42.318912506103516, 42.6725959777832, 43.07264709472656, 43.443477630615234, 43.83216094970703, 44.19996643066406, 44.63225555419922, 45.06049346923828, 45.468536376953125, 45.89896774291992, 46.330604553222656, 46.778343200683594, 47.31666946411133, 47.789310455322266, 48.26376724243164, 48.826602935791016, 49.33188247680664, 49.990909576416016, 50.0, 50.0, 50.0, 50.0, 49.995697021484375, 49.99568176269531, 49.98163986206055, 50.0, 50.0, 49.9764289855957, 50.0, 50.0, 49.98639678955078, 49.99431228637695, 50.0, 50.0, 50.0, 50.0, 49.9874267578125, 50.0, 49.98714828491211, 50.0, 49.99470901489258, 49.99113464355469, 50.0, 50.0, 50.0, 49.985504150390625, 49.99067306518555, 50.0, 49.997161865234375, 50.0, 50.0, 50.0, 49.995513916015625, 49.993038177490234, 50.0, 49.99763107299805, 50.0, 49.98752975463867, 50.0, 49.988037109375, 50.0, 50.0, 50.0, 49.9975700378418, 50.0, 49.998756408691406, 49.97819519042969, 49.99104690551758, 49.99087905883789, 49.94268798828125, 49.85968017578125, 49.786617279052734, 49.70594787597656, 49.62562561035156, 49.56686782836914, 49.50475311279297, 49.416934967041016, 49.35699462890625, 49.308589935302734, 49.990482330322266, 50.0, 49.998836517333984, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 49.980472564697266, 49.99903869628906, 50.0, 50.0, 49.989845275878906, 49.98395919799805, 50.0, 49.99302673339844, 49.99530792236328, 49.99745559692383, 50.0, 49.99560546875, 21.569303512573242});
-
- problem->print(4,1,1,0);
TimeStamp t(t0);
- // ASSERT_MATRIX_APPROX(x, x0, 1e-6);
- // ASSERT_MATRIX_APPROX(F1->getState(), x0, 1e-6);
for (int i = 0; i < 7; i++)
{
- WOLF_TRACE("\n\n========== Process ", t.getSeconds(), " ==========");
+ std::cout << "\n========== Process " << t.getSeconds() << " sec. ==========" << std::endl;
CaptureLaser2DPtr scan = std::make_shared<CaptureLaser2D>(t, lidar, ranges);
scan->process();
F = problem->getLastFrame();
+ ASSERT_MATRIX_APPROX(F->getState(), x0, 1e-6);
+
WOLF_TRACE("F", F->id() , " ", F->getState().transpose());
if (i >= 2 && i <= 4)
@@ -133,20 +139,49 @@ TEST_F(ProcessorOdomICP_Test, full)
WOLF_TRACE("F", F->id() , " ", F->getState().transpose(), " perturbed!");
}
- problem->print(4,1,1,0);
-
t += 1.0;
}
ASSERT_MATRIX_APPROX(F->getState(), x0, 1e-6);
+}
+
+TEST_F(ProcessorOdomICP_Test, solve)
+{
+ TimeStamp t(t0);
+ for (int i = 0; i < 4; i++)
+ {
+ std::cout << "\n========== Process " << t.getSeconds() << " sec. ==========" << std::endl;
+
+ CaptureLaser2DPtr scan = std::make_shared<CaptureLaser2D>(t, lidar, ranges);
+ scan->process();
+
+ t += 1.0;
+ }
+
+ for (auto F : problem->getTrajectory()->getFrameList())
+ {
+ if (F->isKey())
+ F->setState(0.5 * Vector3s::Random());
+ }
+
+ std::string report = solver->solve(SolverManager::ReportVerbosity::BRIEF);
+ WOLF_TRACE(report);
+
+ for (auto F : problem->getTrajectory()->getFrameList())
+ {
+ if (F->isKey())
+ {
+ ASSERT_MATRIX_APPROX(F->getState() , x0 , 1e-6);
+ }
+ }
}
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
- ::testing::GTEST_FLAG(filter) = "ProcessorOdomICP_Test.full";
+ ::testing::GTEST_FLAG(filter) = "ProcessorOdomICP_Test.solve";
return RUN_ALL_TESTS();
}
--
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