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Add test to replicate #891

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Rainer Kuemmerle
2025-05-08 19:57:09 +02:00
committed by Rainer Kümmerle
parent 1ffbe41943
commit b695eab6e9
2 changed files with 57 additions and 0 deletions
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1
unit_test/general/CMakeLists.txt
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@@ -7,6 +7,7 @@ add_executable(unittest_general
base_fixed_sized_edge.cpp
robust_kernel_tests.cpp
sparse_block_matrix.cpp
partially_initialize.cpp
)
target_link_libraries(unittest_general types_slam3d types_slam2d)
create_test(unittest_general)

56
unit_test/general/partially_initialize.cpp Normal file
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@@ -0,0 +1,56 @@
#include "g2o/core/block_solver.h"
#include "g2o/core/optimization_algorithm_levenberg.h"
#include "g2o/core/sparse_optimizer.h"
#include "g2o/solvers/eigen/linear_solver_eigen.h"
#include "g2o/types/slam3d/edge_se3.h"
#include "gtest/gtest.h"
TEST(General, JustInitOptimizer) {
// Initialise optimizer.
g2o::SparseOptimizer optimizer;
std::unique_ptr<g2o::BlockSolverX::LinearSolverType> linear_solver_ptr =
std::make_unique<
g2o::LinearSolverEigen<g2o::BlockSolverX::PoseMatrixType>>();
std::unique_ptr<g2o::BlockSolverX> solver_ptr =
std::make_unique<g2o::BlockSolverX>(std::move(linear_solver_ptr));
std::unique_ptr<g2o::OptimizationAlgorithmLevenberg> solver =
std::make_unique<g2o::OptimizationAlgorithmLevenberg>(
std::move(solver_ptr));
optimizer.setAlgorithm(solver.release());
SUCCEED();
}
TEST(General, InsertElementOnlyVertexNoEdge) {
// Initialise optimizer.
g2o::SparseOptimizer optimizer;
std::unique_ptr<g2o::BlockSolverX::LinearSolverType> linear_solver_ptr =
std::make_unique<
g2o::LinearSolverEigen<g2o::BlockSolverX::PoseMatrixType>>();
std::unique_ptr<g2o::BlockSolverX> solver_ptr =
std::make_unique<g2o::BlockSolverX>(std::move(linear_solver_ptr));
std::unique_ptr<g2o::OptimizationAlgorithmLevenberg> solver =
std::make_unique<g2o::OptimizationAlgorithmLevenberg>(
std::move(solver_ptr));
optimizer.setAlgorithm(solver.release());
const Eigen::Isometry3d transform = Eigen::Isometry3d::Identity();
// Add first vertex.
g2o::VertexSE3* vertex_0 = new g2o::VertexSE3();
vertex_0->setId(0);
vertex_0->setEstimate(transform);
optimizer.addVertex(vertex_0);
// Add second vertex.
g2o::VertexSE3* vertex_1 = new g2o::VertexSE3();
vertex_1->setId(1);
vertex_1->setEstimate(transform);
optimizer.addVertex(vertex_1);
// Create edge but do not add it to the graph
g2o::EdgeSE3* edge = new g2o::EdgeSE3();
edge->setVertex(0, vertex_0);
edge->setVertex(1, vertex_1);
edge->setMeasurement(transform);
SUCCEED();
}