272 lines
11 KiB
C++
272 lines
11 KiB
C++
#include <iostream>
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#include <unsupported/Eigen/MatrixFunctions>
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#include <sophus/sim3.hpp>
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#include "tests.hpp"
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// Explicit instantiate all class templates so that all member methods
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// get compiled and for code coverage analysis.
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namespace Eigen {
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template class Map<Sophus::Sim3<double>>;
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template class Map<Sophus::Sim3<double> const>;
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} // namespace Eigen
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namespace Sophus {
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template class Sim3<double, Eigen::AutoAlign>;
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template class Sim3<float, Eigen::DontAlign>;
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#if SOPHUS_CERES
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template class Sim3<ceres::Jet<double, 3>>;
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#endif
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template <class Scalar>
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class Tests {
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public:
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using Sim3Type = Sim3<Scalar>;
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using RxSO3Type = RxSO3<Scalar>;
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using Point = typename Sim3<Scalar>::Point;
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using Vector4Type = Vector4<Scalar>;
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using Tangent = typename Sim3<Scalar>::Tangent;
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Scalar const kPi = Constants<Scalar>::pi();
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Tests() {
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sim3_vec_.push_back(
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Sim3Type(RxSO3Type::exp(Vector4Type(Scalar(0.2), Scalar(0.5),
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Scalar(0.0), Scalar(1.))),
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Point(Scalar(0), Scalar(0), Scalar(0))));
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sim3_vec_.push_back(
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Sim3Type(RxSO3Type::exp(Vector4Type(Scalar(0.2), Scalar(0.5),
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Scalar(-1.0), Scalar(1.1))),
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Point(Scalar(10), Scalar(0), Scalar(0))));
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sim3_vec_.push_back(
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Sim3Type(RxSO3Type::exp(Vector4Type(Scalar(0.), Scalar(0.), Scalar(0.),
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Scalar(0.))),
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Point(Scalar(0), Scalar(10), Scalar(5))));
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sim3_vec_.push_back(
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Sim3Type(RxSO3Type::exp(Vector4Type(Scalar(0.), Scalar(0.), Scalar(0.),
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Scalar(1.1))),
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Point(Scalar(0), Scalar(10), Scalar(5))));
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sim3_vec_.push_back(
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Sim3Type(RxSO3Type::exp(Vector4Type(Scalar(0.), Scalar(0.),
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Scalar(0.00001), Scalar(0.))),
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Point(Scalar(0), Scalar(0), Scalar(0))));
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sim3_vec_.push_back(Sim3Type(
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RxSO3Type::exp(Vector4Type(Scalar(0.), Scalar(0.), Scalar(0.00001),
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Scalar(0.0000001))),
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Point(Scalar(1), Scalar(-1.00000001), Scalar(2.0000000001))));
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sim3_vec_.push_back(
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Sim3Type(RxSO3Type::exp(Vector4Type(Scalar(0.), Scalar(0.),
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Scalar(0.00001), Scalar(0))),
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Point(Scalar(0.01), Scalar(0), Scalar(0))));
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sim3_vec_.push_back(Sim3Type(
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RxSO3Type::exp(Vector4Type(kPi, Scalar(0), Scalar(0), Scalar(0.9))),
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Point(Scalar(4), Scalar(-5), Scalar(0))));
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sim3_vec_.push_back(
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Sim3Type(RxSO3Type::exp(Vector4Type(Scalar(0.2), Scalar(0.5),
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Scalar(0.0), Scalar(0))),
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Point(Scalar(0), Scalar(0), Scalar(0))) *
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Sim3Type(
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RxSO3Type::exp(Vector4Type(kPi, Scalar(0), Scalar(0), Scalar(0))),
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Point(Scalar(0), Scalar(0), Scalar(0))) *
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Sim3Type(RxSO3Type::exp(Vector4Type(Scalar(-0.2), Scalar(-0.5),
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Scalar(-0.0), Scalar(0))),
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Point(Scalar(0), Scalar(0), Scalar(0))));
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sim3_vec_.push_back(
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Sim3Type(RxSO3Type::exp(Vector4Type(Scalar(0.3), Scalar(0.5),
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Scalar(0.1), Scalar(0))),
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Point(Scalar(2), Scalar(0), Scalar(-7))) *
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Sim3Type(
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RxSO3Type::exp(Vector4Type(kPi, Scalar(0), Scalar(0), Scalar(0))),
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Point(Scalar(0), Scalar(0), Scalar(0))) *
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Sim3Type(RxSO3Type::exp(Vector4Type(Scalar(-0.3), Scalar(-0.5),
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Scalar(-0.1), Scalar(0))),
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Point(Scalar(0), Scalar(6), Scalar(0))));
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Tangent tmp;
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tmp << Scalar(0), Scalar(0), Scalar(0), Scalar(0), Scalar(0), Scalar(0),
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Scalar(0);
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tangent_vec_.push_back(tmp);
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tmp << Scalar(1), Scalar(0), Scalar(0), Scalar(0), Scalar(0), Scalar(0),
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Scalar(0);
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tangent_vec_.push_back(tmp);
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tmp << Scalar(0), Scalar(1), Scalar(0), Scalar(1), Scalar(0), Scalar(0),
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Scalar(0.1);
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tangent_vec_.push_back(tmp);
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tmp << Scalar(0), Scalar(0), Scalar(1), Scalar(0), Scalar(1), Scalar(0),
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Scalar(0.1);
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tangent_vec_.push_back(tmp);
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tmp << Scalar(-1), Scalar(1), Scalar(0), Scalar(0), Scalar(0), Scalar(1),
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Scalar(-0.1);
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tangent_vec_.push_back(tmp);
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tmp << Scalar(20), Scalar(-1), Scalar(0), Scalar(-1), Scalar(1), Scalar(0),
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Scalar(-0.1);
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tangent_vec_.push_back(tmp);
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tmp << Scalar(30), Scalar(5), Scalar(-1), Scalar(20), Scalar(-1), Scalar(0),
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Scalar(1.5);
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tangent_vec_.push_back(tmp);
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point_vec_.push_back(Point(Scalar(1), Scalar(2), Scalar(4)));
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point_vec_.push_back(Point(Scalar(1), Scalar(-3), Scalar(0.5)));
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}
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void runAll() {
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bool passed = testLieProperties();
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passed &= testRawDataAcces();
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passed &= testConstructors();
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processTestResult(passed);
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}
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private:
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bool testLieProperties() {
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LieGroupTests<Sim3Type> tests(sim3_vec_, tangent_vec_, point_vec_);
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return tests.doAllTestsPass();
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}
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bool testRawDataAcces() {
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bool passed = true;
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Eigen::Matrix<Scalar, 7, 1> raw;
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raw << Scalar(0), Scalar(1), Scalar(0), Scalar(0), Scalar(1), Scalar(3),
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Scalar(2);
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Eigen::Map<Sim3Type const> map_of_const_sim3(raw.data());
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SOPHUS_TEST_APPROX(passed, map_of_const_sim3.quaternion().coeffs().eval(),
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raw.template head<4>().eval(),
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Constants<Scalar>::epsilon());
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SOPHUS_TEST_APPROX(passed, map_of_const_sim3.translation().eval(),
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raw.template tail<3>().eval(),
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Constants<Scalar>::epsilon());
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SOPHUS_TEST_EQUAL(passed, map_of_const_sim3.quaternion().coeffs().data(),
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raw.data());
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SOPHUS_TEST_EQUAL(passed, map_of_const_sim3.translation().data(),
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raw.data() + 4);
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Eigen::Map<Sim3Type const> const_shallow_copy = map_of_const_sim3;
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SOPHUS_TEST_EQUAL(passed, const_shallow_copy.quaternion().coeffs().eval(),
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map_of_const_sim3.quaternion().coeffs().eval());
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SOPHUS_TEST_EQUAL(passed, const_shallow_copy.translation().eval(),
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map_of_const_sim3.translation().eval());
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Eigen::Matrix<Scalar, 7, 1> raw2;
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raw2 << Scalar(1), Scalar(0), Scalar(0), Scalar(0), Scalar(3), Scalar(2),
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Scalar(1);
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Eigen::Map<Sim3Type> map_of_sim3(raw.data());
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Eigen::Quaternion<Scalar> quat;
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quat.coeffs() = raw2.template head<4>();
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map_of_sim3.setQuaternion(quat);
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map_of_sim3.translation() = raw2.template tail<3>();
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SOPHUS_TEST_APPROX(passed, map_of_sim3.quaternion().coeffs().eval(),
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raw2.template head<4>().eval(),
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Constants<Scalar>::epsilon());
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SOPHUS_TEST_APPROX(passed, map_of_sim3.translation().eval(),
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raw2.template tail<3>().eval(),
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Constants<Scalar>::epsilon());
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SOPHUS_TEST_EQUAL(passed, map_of_sim3.quaternion().coeffs().data(),
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raw.data());
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SOPHUS_TEST_EQUAL(passed, map_of_sim3.translation().data(), raw.data() + 4);
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SOPHUS_TEST_NEQ(passed, map_of_sim3.quaternion().coeffs().data(),
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quat.coeffs().data());
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Eigen::Map<Sim3Type> shallow_copy = map_of_sim3;
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SOPHUS_TEST_EQUAL(passed, shallow_copy.quaternion().coeffs().eval(),
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map_of_sim3.quaternion().coeffs().eval());
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SOPHUS_TEST_EQUAL(passed, shallow_copy.translation().eval(),
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map_of_sim3.translation().eval());
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Eigen::Map<Sim3Type> const const_map_of_sim3 = map_of_sim3;
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SOPHUS_TEST_EQUAL(passed, const_map_of_sim3.quaternion().coeffs().eval(),
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map_of_sim3.quaternion().coeffs().eval());
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SOPHUS_TEST_EQUAL(passed, const_map_of_sim3.translation().eval(),
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map_of_sim3.translation().eval());
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Sim3Type const const_sim3(quat, raw2.template tail<3>().eval());
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for (int i = 0; i < 7; ++i) {
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SOPHUS_TEST_EQUAL(passed, const_sim3.data()[i], raw2.data()[i]);
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}
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Sim3Type se3(quat, raw2.template tail<3>().eval());
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for (int i = 0; i < 7; ++i) {
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SOPHUS_TEST_EQUAL(passed, se3.data()[i], raw2.data()[i]);
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}
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for (int i = 0; i < 7; ++i) {
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SOPHUS_TEST_EQUAL(passed, se3.data()[i], raw.data()[i]);
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}
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Eigen::Matrix<Scalar, 7, 1> data1, data2;
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data1 << Scalar(0), Scalar(2), Scalar(0), Scalar(0),
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Scalar(1), Scalar(2), Scalar(3);
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data2 << Scalar(0), Scalar(0), Scalar(2), Scalar(0),
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Scalar(3), Scalar(2), Scalar(1);
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Eigen::Map<Sim3Type> map1(data1.data()), map2(data2.data());
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// map -> map assignment
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map2 = map1;
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SOPHUS_TEST_EQUAL(passed, map1.matrix(), map2.matrix());
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// map -> type assignment
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Sim3Type copy;
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copy = map1;
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SOPHUS_TEST_EQUAL(passed, map1.matrix(), copy.matrix());
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// type -> map assignment
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copy = Sim3Type(RxSO3Type::exp(Vector4Type(Scalar(0.2), Scalar(0.5),
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Scalar(-1.0), Scalar(1.1))),
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Point(Scalar(10), Scalar(0), Scalar(0)));
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map1 = copy;
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SOPHUS_TEST_EQUAL(passed, map1.matrix(), copy.matrix());
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return passed;
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}
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bool testConstructors() {
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bool passed = true;
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Eigen::Matrix<Scalar, 4, 4> I = Eigen::Matrix<Scalar, 4, 4>::Identity();
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SOPHUS_TEST_EQUAL(passed, Sim3Type().matrix(), I);
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Sim3Type sim3 = sim3_vec_.front();
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Point translation = sim3.translation();
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RxSO3Type rxso3 = sim3.rxso3();
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SOPHUS_TEST_APPROX(passed, Sim3Type(rxso3, translation).matrix(),
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sim3.matrix(), Constants<Scalar>::epsilon());
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SOPHUS_TEST_APPROX(passed,
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Sim3Type(rxso3.quaternion(), translation).matrix(),
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sim3.matrix(), Constants<Scalar>::epsilon());
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SOPHUS_TEST_APPROX(passed, Sim3Type(sim3.matrix()).matrix(), sim3.matrix(),
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Constants<Scalar>::epsilon());
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Scalar scale(1.2);
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sim3.setScale(scale);
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SOPHUS_TEST_APPROX(passed, scale, sim3.scale(),
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Constants<Scalar>::epsilon(), "setScale");
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sim3.setQuaternion(sim3_vec_[0].rxso3().quaternion());
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SOPHUS_TEST_APPROX(passed, sim3_vec_[0].rxso3().quaternion().coeffs(),
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sim3_vec_[0].rxso3().quaternion().coeffs(),
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Constants<Scalar>::epsilon(), "setQuaternion");
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return passed;
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}
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std::vector<Sim3Type, Eigen::aligned_allocator<Sim3Type>> sim3_vec_;
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std::vector<Tangent, Eigen::aligned_allocator<Tangent>> tangent_vec_;
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std::vector<Point, Eigen::aligned_allocator<Point>> point_vec_;
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};
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int test_sim3() {
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using std::cerr;
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using std::endl;
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cerr << "Test Sim3" << endl << endl;
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cerr << "Double tests: " << endl;
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Tests<double>().runAll();
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cerr << "Float tests: " << endl;
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Tests<float>().runAll();
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#if SOPHUS_CERES
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cerr << "ceres::Jet<double, 3> tests: " << endl;
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Tests<ceres::Jet<double, 3>>().runAll();
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#endif
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return 0;
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}
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} // namespace Sophus
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int main() { return Sophus::test_sim3(); }
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