1 // g2o - General Graph Optimization
2 // Copyright (C) 2014 R. Kuemmerle, G. Grisetti, W. Burgard
3 // All rights reserved.
4 //
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are
7 // met:
8 //
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10 // this list of conditions and the following disclaimer.
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14 //
15 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
16 // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
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21 // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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26
27 #include "gtest/gtest.h"
28
29 #include "g2o/types/slam3d/isometry3d_mappings.h"
30 #include "g2o/types/slam3d/edge_se3.h"
31
32 using namespace std;
33
TEST(MappingsSlam3D,EulerConversion)34 TEST(MappingsSlam3D, EulerConversion)
35 {
36 g2o::Vector3 eulerAngles(.1,.2,.3);
37 g2o::Matrix3 m1 = g2o::internal::fromEuler(eulerAngles);
38 g2o::Vector3 eulerAnglesFromMatrix = g2o::internal::toEuler(m1);
39 for (int i = 0; i < 3; ++i)
40 EXPECT_DOUBLE_EQ(eulerAngles(i), eulerAnglesFromMatrix(i));
41 }
42
TEST(MappingsSlam3D,QuaternionConversion)43 TEST(MappingsSlam3D, QuaternionConversion)
44 {
45 g2o::Vector3 eulerAngles(.1,.2,.3);
46 g2o::Matrix3 m1 = g2o::internal::fromEuler(eulerAngles);
47 g2o::Vector3 q = g2o::internal::toCompactQuaternion(m1);
48 g2o::Matrix3 m2 = g2o::internal::fromCompactQuaternion(q);
49 for (int r = 0; r < 3; ++r)
50 for (int c = 0; c < 3; ++c)
51 EXPECT_DOUBLE_EQ(m1(r,c), m2(r,c));
52 }
53
TEST(MappingsSlam3D,ET)54 TEST(MappingsSlam3D, ET)
55 {
56 g2o::Vector3 eulerAngles(.1,.2,.3);
57 g2o::Vector6 et;
58 g2o::Vector3 t(1.,2.,3.);
59 et.block<3,1>(0,0) = t;
60 et.block<3,1>(3,0) = eulerAngles;
61 g2o::Matrix3 m1 = g2o::internal::fromEuler(eulerAngles);
62
63 g2o::Isometry3 i1 = g2o::internal::fromVectorET(et);
64 for (int r = 0; r < 3; ++r)
65 EXPECT_EQ(t(r), i1.translation()(r));
66
67 EXPECT_NEAR(0., (i1.linear() - m1).array().abs().maxCoeff(), 1e-6);
68
69 g2o::Vector6 et2 = g2o::internal::toVectorET(i1);
70 EXPECT_NEAR(0., (et - et2).array().abs().maxCoeff(), 1e-6);
71 }
72
TEST(MappingsSlam3D,MQT)73 TEST(MappingsSlam3D, MQT)
74 {
75 g2o::Vector3 eulerAngles(.1,.2,.3);
76 g2o::Vector6 et;
77 g2o::Vector3 t(1.,2.,3.);
78 et.block<3,1>(0,0) = t;
79 et.block<3,1>(3,0) = eulerAngles;
80 g2o::Isometry3 i1 = g2o::internal::fromVectorET(et);
81
82 g2o::Vector6 qt1 = g2o::internal::toVectorMQT(i1);
83
84 g2o::Isometry3 i2 = g2o::internal::fromVectorMQT(qt1);
85 EXPECT_NEAR(0., (i1.linear() - i2.linear()).array().abs().maxCoeff(), 1e-6);
86 EXPECT_NEAR(0., (i1.translation() - i2.translation()).array().abs().maxCoeff(), 1e-6);
87 }
88
TEST(MappingsSlam3D,QT)89 TEST(MappingsSlam3D, QT)
90 {
91 g2o::Vector3 eulerAngles(.1,.2,.3);
92 g2o::Vector6 et;
93 g2o::Vector3 t(1.,2.,3.);
94 et.block<3,1>(0,0) = t;
95 et.block<3,1>(3,0) = eulerAngles;
96 g2o::Isometry3 i1 = g2o::internal::fromVectorET(et);
97
98 g2o::Vector7 qt2 = g2o::internal::toVectorQT(i1);
99
100 g2o::Isometry3 i2 = g2o::internal::fromVectorQT(qt2);
101 EXPECT_NEAR(0., (i1.linear() - i2.linear()).array().abs().maxCoeff(), 1e-6);
102 EXPECT_NEAR(0., (i1.translation() - i2.translation()).array().abs().maxCoeff(), 1e-6);
103 }
104