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Ivan
2022-06-28 10:36:24 +03:00
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thirdparty/Sophus/sophus/test_sim3.cpp vendored Normal file
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// This file is part of Sophus.
//
// Copyright 2012-2013 Hauke Strasdat
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
#include <iostream>
#include <vector>
#include <unsupported/Eigen/MatrixFunctions>
#include "sim3.hpp"
#include "tests.hpp"
using namespace Sophus;
using namespace std;
template<class Scalar>
void tests() {
typedef Sim3Group<Scalar> Sim3Type;
typedef RxSO3Group<Scalar> RxSO3Type;
typedef typename Sim3Group<Scalar>::Point Point;
typedef typename Sim3Group<Scalar>::Tangent Tangent;
typedef Matrix<Scalar,4,1> Vector4Type;
vector<Sim3Type> sim3_vec;
sim3_vec.push_back(Sim3Type(RxSO3Type::exp(Vector4Type(0.2, 0.5, 0.0,1.)),
Point(0,0,0)));
sim3_vec.push_back(Sim3Type(RxSO3Type::exp(Vector4Type(0.2, 0.5, -1.0,1.1)),
Point(10,0,0)));
sim3_vec.push_back(Sim3Type(RxSO3Type::exp(Vector4Type(0., 0., 0.,1.1)),
Point(0,10,5)));
sim3_vec.push_back(Sim3Type(RxSO3Type::exp(Vector4Type(0., 0., 0.00001, 0.)),
Point(0,0,0)));
sim3_vec.push_back(Sim3Type(RxSO3Type::exp(
Vector4Type(0., 0., 0.00001, 0.0000001)),
Point(1,-1.00000001,2.0000000001)));
sim3_vec.push_back(Sim3Type(RxSO3Type::exp(Vector4Type(0., 0., 0.00001, 0)),
Point(0.01,0,0)));
sim3_vec.push_back(Sim3Type(RxSO3Type::exp(Vector4Type(M_PI, 0, 0,0.9)),
Point(4,-5,0)));
sim3_vec.push_back(Sim3Type(RxSO3Type::exp(Vector4Type(0.2, 0.5, 0.0,0)),
Point(0,0,0))
*Sim3Type(RxSO3Type::exp(Vector4Type(M_PI, 0, 0,0)),
Point(0,0,0))
*Sim3Type(RxSO3Type::exp(Vector4Type(-0.2, -0.5, -0.0,0)),
Point(0,0,0)));
sim3_vec.push_back(Sim3Type(RxSO3Type::exp(Vector4Type(0.3, 0.5, 0.1,0)),
Point(2,0,-7))
*Sim3Type(RxSO3Type::exp(Vector4Type(M_PI, 0, 0,0)),
Point(0,0,0))
*Sim3Type(RxSO3Type::exp(Vector4Type(-0.3, -0.5, -0.1,0)),
Point(0,6,0)));
vector<Tangent> tangent_vec;
Tangent tmp;
tmp << 0,0,0,0,0,0,0;
tangent_vec.push_back(tmp);
tmp << 1,0,0,0,0,0,0;
tangent_vec.push_back(tmp);
tmp << 0,1,0,1,0,0,0.1;
tangent_vec.push_back(tmp);
tmp << 0,0,1,0,1,0,0.1;
tangent_vec.push_back(tmp);
tmp << -1,1,0,0,0,1,-0.1;
tangent_vec.push_back(tmp);
tmp << 20,-1,0,-1,1,0,-0.1;
tangent_vec.push_back(tmp);
tmp << 30,5,-1,20,-1,0,1.5;
tangent_vec.push_back(tmp);
vector<Point> point_vec;
point_vec.push_back(Point(1,2,4));
Tests<Sim3Type> tests;
tests.setGroupElements(sim3_vec);
tests.setTangentVectors(tangent_vec);
tests.setPoints(point_vec);
tests.runAllTests();
}
int main() {
cerr << "Test Sim3" << endl << endl;
cerr << "Double tests: " << endl;
tests<double>();
cerr << "Float tests: " << endl;
tests<float>();
return 0;
}