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Small example for bearing-range #2286

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dellaert merged 2 commits into from
Oct 15, 2025
Merged

Small example for bearing-range #2286

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f6c54cd
Add test back in
dellaert Oct 15, 2025
4a05607
Full python example
dellaert Oct 15, 2025
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64 changes: 31 additions & 33 deletions gtsam/sam/tests/testBearingRangeFactor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,33 +16,27 @@
* @date July 2015
*/

#include <gtsam/sam/BearingRangeFactor.h>
#include <CppUnitLite/TestHarness.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/nonlinear/factorTesting.h>
#include <gtsam/nonlinear/expressionTesting.h>

#include <CppUnitLite/TestHarness.h>
#include <gtsam/nonlinear/factorTesting.h>
#include <gtsam/sam/BearingRangeFactor.h>

using namespace std;
using namespace gtsam;

namespace {
Key poseKey(1);
Key pointKey(2);

typedef BearingRangeFactor<Pose2, Point2> BearingRangeFactor2D;
static SharedNoiseModel model2D(noiseModel::Isotropic::Sigma(2, 0.5));
BearingRangeFactor2D factor2D(poseKey, pointKey, 1, 2, model2D);

typedef BearingRangeFactor<Pose3, Point3> BearingRangeFactor3D;
static SharedNoiseModel model3D(noiseModel::Isotropic::Sigma(3, 0.5));
BearingRangeFactor3D factor3D(poseKey, pointKey,
Pose3().bearing(Point3(1, 0, 0)), 1, model3D);
}
} // namespace

/* ************************************************************************* */
TEST(BearingRangeFactor, 2D) {
typedef BearingRangeFactor<Pose2, Point2> BearingRangeFactor2D;
SharedNoiseModel model2D(noiseModel::Isotropic::Sigma(2, 0.5));
BearingRangeFactor2D factor2D(poseKey, pointKey, 1, 2, model2D);

// Set the linearization point
Values values;
values.insert(poseKey, Pose2(1.0, 2.0, 0.57));
Expand All @@ -54,25 +48,29 @@ TEST(BearingRangeFactor, 2D) {
}

/* ************************************************************************* */
// TODO(frank): this test is disabled (for now) because the macros below are
// incompatible with the Unit3 localCoordinates. See testBearingFactor...
//TEST(BearingRangeFactor, 3D) {
// // Serialize the factor
// std::string serialized = serializeXML(factor3D);
//
// // And de-serialize it
// BearingRangeFactor3D factor;
// deserializeXML(serialized, factor);
//
// // Set the linearization point
// Values values;
// values.insert(poseKey, Pose3());
// values.insert(pointKey, Point3(1, 0, 0));
//
// EXPECT_CORRECT_EXPRESSION_JACOBIANS(factor.expression({poseKey, pointKey}),
// values, 1e-7, 1e-5);
// EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5);
//}
TEST(BearingRangeFactor, 3D) {
typedef BearingRangeFactor<Pose3, Point3> BearingRangeFactor3D;
SharedNoiseModel model3D(noiseModel::Isotropic::Sigma(3, 0.5));

const Unit3 bearing = Pose3().bearing(Point3(1, 0, 0));
const double range = 1.0;
BearingRangeFactor3D factor3D(poseKey, pointKey, bearing, range, model3D);

// Set the linearization point
Values values;
values.insert(poseKey, Pose3());
values.insert(pointKey, Point3(1, 0, 0));

// Check that the error is zero at the linearization point
Vector actualError = factor3D.unwhitenedError(values);
EXPECT(assert_equal(Vector::Zero(actualError.size()), actualError, 1e-9));

// TODO(frank): this test is disabled (for now) because the macros below are
// incompatible with the Unit3 localCoordinates. See testBearingFactor...
// EXPECT_CORRECT_EXPRESSION_JACOBIANS(factor3D.expression({poseKey, pointKey}),
// values, 1e-7, 1e-5);
// EXPECT_CORRECT_FACTOR_JACOBIANS(factor3D, values, 1e-7, 1e-5);
} // namespace

/* ************************************************************************* */
int main() {
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