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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
9b8d0286
Commit
9b8d0286
authored
5 years ago
by
Joan Solà Ortega
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Update gtest_odom_2D.cpp
parent
333c2044
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Pipeline
#4273
passed
5 years ago
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1 changed file
test/gtest_odom_2D.cpp
+28
-13
28 additions, 13 deletions
test/gtest_odom_2D.cpp
with
28 additions
and
13 deletions
test/gtest_odom_2D.cpp
+
28
−
13
View file @
9b8d0286
...
@@ -8,14 +8,16 @@
...
@@ -8,14 +8,16 @@
#include
"core/utils/utils_gtest.h"
#include
"core/utils/utils_gtest.h"
// Classes under test
// Classes under test
#include
"core/sensor/sensor_odom_2D.h"
#include
"core/processor/processor_odom_2D.h"
#include
"core/processor/processor_odom_2D.h"
#include
"core/factor/factor_odom_2D.h"
#include
"core/factor/factor_odom_2D.h"
#include
"core/capture/capture_odom_2D.h"
// Wolf includes
// Wolf includes
#include
"core/sensor/sensor_odom_2D.h"
#include
"core/state_block/state_block.h"
#include
"core/state_block/state_block.h"
#include
"core/common/wolf.h"
#include
"core/common/wolf.h"
#include
"core/ceres_wrapper/ceres_manager.h"
#include
"core/ceres_wrapper/ceres_manager.h"
#include
"core/capture/capture_pose.h"
// STL includes
// STL includes
#include
<map>
#include
<map>
...
@@ -26,7 +28,6 @@
...
@@ -26,7 +28,6 @@
// General includes
// General includes
#include
<iostream>
#include
<iostream>
#include
<iomanip>
// std::setprecision
#include
<iomanip>
// std::setprecision
#include
"core/capture/capture_pose.h"
using
namespace
wolf
;
using
namespace
wolf
;
using
namespace
Eigen
;
using
namespace
Eigen
;
...
@@ -234,6 +235,9 @@ TEST(Odom2D, VoteForKfAndSolve)
...
@@ -234,6 +235,9 @@ TEST(Odom2D, VoteForKfAndSolve)
std
::
vector
<
Eigen
::
VectorXs
>
integrated_pose_vector
;
std
::
vector
<
Eigen
::
VectorXs
>
integrated_pose_vector
;
std
::
vector
<
Eigen
::
MatrixXs
>
integrated_cov_vector
;
std
::
vector
<
Eigen
::
MatrixXs
>
integrated_cov_vector
;
integrated_pose_vector
.
push_back
(
integrated_pose
);
integrated_cov_vector
.
push_back
(
integrated_cov
);
// std::cout << "\nIntegrating data..." << std::endl;
// std::cout << "\nIntegrating data..." << std::endl;
t
+=
dt
;
t
+=
dt
;
...
@@ -249,10 +253,7 @@ TEST(Odom2D, VoteForKfAndSolve)
...
@@ -249,10 +253,7 @@ TEST(Odom2D, VoteForKfAndSolve)
// Processor
// Processor
capture
->
process
();
capture
->
process
();
ASSERT_TRUE
(
problem
->
check
(
0
));
ASSERT_TRUE
(
problem
->
check
(
0
));
// Matrix3s odom2d_delta_cov = processor_odom2d->integrateBufferCovariance(processor_odom2d->getBuffer());
Matrix3s
odom2d_delta_cov
=
processor_odom2d
->
getMotion
().
delta_integr_cov_
;
Matrix3s
odom2d_delta_cov
=
processor_odom2d
->
getMotion
().
delta_integr_cov_
;
// std::cout << "State(" << (t - t0) << ") : " << processor_odom2d->getCurrentState().transpose() << std::endl;
// std::cout << "PRC cov: \n" << odom2d_delta_cov << std::endl;
// Integrate Delta
// Integrate Delta
if
(
n
==
3
||
n
==
6
)
// keyframes
if
(
n
==
3
||
n
==
6
)
// keyframes
...
@@ -291,12 +292,21 @@ TEST(Odom2D, VoteForKfAndSolve)
...
@@ -291,12 +292,21 @@ TEST(Odom2D, VoteForKfAndSolve)
// Solve
// Solve
std
::
string
report
=
ceres_manager
.
solve
(
SolverManager
::
ReportVerbosity
::
BRIEF
);
std
::
string
report
=
ceres_manager
.
solve
(
SolverManager
::
ReportVerbosity
::
BRIEF
);
// std::cout << report << std::endl;
ceres_manager
.
computeCovariances
(
SolverManager
::
CovarianceBlocksToBeComputed
::
ALL_MARGINALS
);
ceres_manager
.
computeCovariances
(
SolverManager
::
CovarianceBlocksToBeComputed
::
ALL_MARGINALS
);
// Check the 3 KFs' states and covariances
MatrixXs
computed_cov
;
MatrixXs
computed_cov
;
ASSERT_TRUE
(
problem
->
getLastKeyFrameCovariance
(
computed_cov
));
int
n
=
0
;
ASSERT_MATRIX_APPROX
(
computed_cov
,
integrated_cov_vector
[
5
],
1e-6
);
for
(
auto
F
:
problem
->
getTrajectory
()
->
getFrameList
())
{
if
(
!
F
->
isKey
())
break
;
ASSERT_POSE2D_APPROX
(
F
->
getState
(),
integrated_pose_vector
[
n
]
,
1e-6
);
ASSERT_TRUE
(
F
->
getCovariance
(
computed_cov
));
ASSERT_MATRIX_APPROX
(
computed_cov
,
integrated_cov_vector
[
n
]
,
1e-6
);
n
+=
3
;
}
}
}
TEST
(
Odom2D
,
KF_callback
)
TEST
(
Odom2D
,
KF_callback
)
...
@@ -314,7 +324,7 @@ TEST(Odom2D, KF_callback)
...
@@ -314,7 +324,7 @@ TEST(Odom2D, KF_callback)
Eigen
::
Matrix3s
x0_cov
=
Eigen
::
Matrix3s
::
Identity
()
*
0.1
;
Eigen
::
Matrix3s
x0_cov
=
Eigen
::
Matrix3s
::
Identity
()
*
0.1
;
VectorXs
data
(
Vector2s
(
1
,
M_PI
/
4
)
);
// advance 1m
VectorXs
data
(
Vector2s
(
1
,
M_PI
/
4
)
);
// advance 1m
Eigen
::
MatrixXs
data_cov
=
Eigen
::
MatrixXs
::
Identity
(
2
,
2
)
*
0.01
;
Eigen
::
MatrixXs
data_cov
=
Eigen
::
MatrixXs
::
Identity
(
2
,
2
)
*
0.01
;
int
N
=
16
;
// number of process() steps
int
N
=
8
;
// number of process() steps
// NOTE: We integrate and create KFs as follows:
// NOTE: We integrate and create KFs as follows:
// n = 0 1 2 3 4 5 6 7 8
// n = 0 1 2 3 4 5 6 7 8
...
@@ -361,7 +371,7 @@ TEST(Odom2D, KF_callback)
...
@@ -361,7 +371,7 @@ TEST(Odom2D, KF_callback)
// std::cout << "\nIntegrating data..." << std::endl;
// std::cout << "\nIntegrating data..." << std::endl;
// Capture to use as container for all incoming data
// Capture to use as container for all incoming data
CaptureMotionPtr
capture
=
std
::
make_shared
<
Capture
Motion
>
(
"ODOM 2D"
,
t
,
sensor_odom2d
,
data
,
data_cov
,
3
,
3
,
nullptr
);
auto
capture
=
std
::
make_shared
<
Capture
Odom2D
>
(
t
,
sensor_odom2d
,
data
,
data_cov
,
nullptr
);
std
::
cout
<<
"t: "
<<
t
<<
std
::
endl
;
std
::
cout
<<
"t: "
<<
t
<<
std
::
endl
;
for
(
int
n
=
1
;
n
<=
N
;
n
++
)
for
(
int
n
=
1
;
n
<=
N
;
n
++
)
...
@@ -405,11 +415,16 @@ TEST(Odom2D, KF_callback)
...
@@ -405,11 +415,16 @@ TEST(Odom2D, KF_callback)
Vector3s
x_split
=
processor_odom2d
->
getState
(
t_split
);
Vector3s
x_split
=
processor_odom2d
->
getState
(
t_split
);
FrameBasePtr
keyframe_2
=
problem
->
emplaceFrame
(
KEY
,
x_split
,
t_split
);
FrameBasePtr
keyframe_2
=
problem
->
emplaceFrame
(
KEY
,
x_split
,
t_split
);
// there must be 2KF and one F
ASSERT_EQ
(
problem
->
getTrajectory
()
->
getFrameList
().
size
(),
3
);
// The last KF must have TS = 0.08
ASSERT_EQ
(
problem
->
getLastKeyFrame
()
->
getTimeStamp
().
getNanoSeconds
(),
80000000
);
ASSERT_TRUE
(
problem
->
check
(
0
));
ASSERT_TRUE
(
problem
->
check
(
0
));
processor_odom2d
->
keyFrameCallback
(
keyframe_2
,
dt
/
2
);
processor_odom2d
->
keyFrameCallback
(
keyframe_2
,
dt
/
2
);
ASSERT_TRUE
(
problem
->
check
(
0
));
ASSERT_TRUE
(
problem
->
check
(
0
));
t
+=
dt
;
t
+=
dt
;
capture
=
std
::
make_shared
<
Capture
Motion
>
(
"ODOM 2D"
,
t
,
sensor_odom2d
,
data
,
data_cov
,
3
,
3
,
nullptr
);
capture
=
std
::
make_shared
<
Capture
Odom2D
>
(
t
,
sensor_odom2d
,
data
,
data_cov
,
nullptr
);
capture
->
process
();
capture
->
process
();
ASSERT_TRUE
(
problem
->
check
(
0
));
ASSERT_TRUE
(
problem
->
check
(
0
));
...
@@ -441,7 +456,7 @@ TEST(Odom2D, KF_callback)
...
@@ -441,7 +456,7 @@ TEST(Odom2D, KF_callback)
processor_odom2d
->
keyFrameCallback
(
keyframe_1
,
dt
/
2
);
processor_odom2d
->
keyFrameCallback
(
keyframe_1
,
dt
/
2
);
ASSERT_TRUE
(
problem
->
check
(
0
));
ASSERT_TRUE
(
problem
->
check
(
0
));
t
+=
dt
;
t
+=
dt
;
capture
=
std
::
make_shared
<
Capture
Motion
>
(
"ODOM 2D"
,
t
,
sensor_odom2d
,
data
,
data_cov
,
3
,
3
,
nullptr
);
capture
=
std
::
make_shared
<
Capture
Odom2D
>
(
t
,
sensor_odom2d
,
data
,
data_cov
,
nullptr
);
capture
->
process
();
capture
->
process
();
ASSERT_TRUE
(
problem
->
check
(
0
));
ASSERT_TRUE
(
problem
->
check
(
0
));
...
@@ -485,7 +500,7 @@ TEST(Odom2D, KF_callback)
...
@@ -485,7 +500,7 @@ TEST(Odom2D, KF_callback)
int
main
(
int
argc
,
char
**
argv
)
int
main
(
int
argc
,
char
**
argv
)
{
{
testing
::
InitGoogleTest
(
&
argc
,
argv
);
testing
::
InitGoogleTest
(
&
argc
,
argv
);
// testing::GTEST_FLAG(filter) = "Odom2D.
KF_callback
";
// testing::GTEST_FLAG(filter) = "Odom2D.
VoteForKfAndSolve
";
return
RUN_ALL_TESTS
();
return
RUN_ALL_TESTS
();
}
}
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