graph_slam_levmarq_test_common.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include <mrpt/graphslam/types.h>
#include <mrpt/graphslam/levmarq.h>
#include <mrpt/graphs.h>
#include <mrpt/random.h>
#include <mrpt/io/CMemoryStream.h>
 
using namespace mrpt;
using namespace mrpt::random;
using namespace mrpt::poses;
using namespace mrpt::graphs;
using namespace mrpt::math;
using namespace std;
 
template <class my_graph_t>
class GraphSlamLevMarqTest
{
   public:
        // adds a new edge to the graph. The edge is annotated with the relative
        // position of the two nodes
        static void addEdge(
                TNodeID from, TNodeID to,
                const typename my_graph_t::global_poses_t& real_poses,
                my_graph_t& graph)
        {
                typename my_graph_t::edge_t RelativePose =
                        real_poses.find(to)->second - real_poses.find(from)->second;
                graph.insertEdge(from, to, RelativePose);
        }
 
        // The graph: nodes + edges:
        static void create_ring_path(
                my_graph_t& graph, size_t N_VERTEX = 50, double DIST_THRES = 7,
                double NODES_XY_MAX = 20)
        {
                // The global poses of each node (without covariance):
                typename my_graph_t::global_poses_t real_node_poses;
 
                // ----------------------------
                // Create a random graph:
                // ----------------------------
                // Level of noise in nodes initial positions:
                const double STD_NOISE_NODE_XYZ = 0.5;
                const double STD_NOISE_NODE_ANG = DEG2RAD(5);
 
                // Level of noise in edges:
                const double STD_NOISE_EDGE_XYZ = 0;  // 0.01;
                const double STD_NOISE_EDGE_ANG = 0;  // DEG2RAD(0.1);
 
                for (TNodeID j = 0; j < N_VERTEX; j++)
                {
                        static double ang = 2 * M_PI / N_VERTEX;
                        const double R = NODES_XY_MAX + 2 * (j % 2 ? 1 : -1);
                        CPose2D p(R * cos(ang * j), R * sin(ang * j), ang);
 
                        // Save real pose:
                        real_node_poses[j] = p;
 
                        // Copy the nodes to the graph, and add some noise:
                        graph.nodes[j] = p;
                }
 
                // Add some edges
                for (TNodeID i = 0; i < N_VERTEX; i++)
                {
                        for (TNodeID j = i + 1; j < N_VERTEX; j++)
                        {
                                if (real_node_poses[i].distanceTo(real_node_poses[j]) <
                                        DIST_THRES)
                                        addEdge(i, j, real_node_poses, graph);
                        }
                }
 
                // Cross-links:
                addEdge(0, N_VERTEX / 2, real_node_poses, graph);
 
                // The root node (the origin of coordinates):
                graph.root = TNodeID(0);
 
                // This is the ground truth graph (make a copy for later use):
                const my_graph_t graph_GT = graph;
 
                // Add noise to edges & nodes:
                for (typename my_graph_t::edges_map_t::iterator itEdge =
                                 graph.edges.begin();
                         itEdge != graph.edges.end(); ++itEdge)
                        itEdge->second += typename my_graph_t::edge_t(
                                CPose3D(
                                        getRandomGenerator().drawGaussian1D(0, STD_NOISE_EDGE_XYZ),
                                        getRandomGenerator().drawGaussian1D(0, STD_NOISE_EDGE_XYZ),
                                        getRandomGenerator().drawGaussian1D(0, STD_NOISE_EDGE_XYZ),
                                        getRandomGenerator().drawGaussian1D(0, STD_NOISE_EDGE_ANG),
                                        getRandomGenerator().drawGaussian1D(0, STD_NOISE_EDGE_ANG),
                                        getRandomGenerator().drawGaussian1D(
                                                0, STD_NOISE_EDGE_ANG)));
 
                for (typename my_graph_t::global_poses_t::iterator itNode =
                                 graph.nodes.begin();
                         itNode != graph.nodes.end(); ++itNode)
                        if (itNode->first != graph.root)
                                itNode->second += typename my_graph_t::edge_t::type_value(
                                        CPose3D(
                                                getRandomGenerator().drawGaussian1D(
                                                        0, STD_NOISE_NODE_XYZ),
                                                getRandomGenerator().drawGaussian1D(
                                                        0, STD_NOISE_NODE_XYZ),
                                                getRandomGenerator().drawGaussian1D(
                                                        0, STD_NOISE_NODE_XYZ),
                                                getRandomGenerator().drawGaussian1D(
                                                        0, STD_NOISE_NODE_ANG),
                                                getRandomGenerator().drawGaussian1D(
                                                        0, STD_NOISE_NODE_ANG),
                                                getRandomGenerator().drawGaussian1D(
                                                        0, STD_NOISE_NODE_ANG)));
        }
};