model

Tests.RGBDLoopConsistencyTests

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
parameter	`passed`	`Boolean`	`= run()`

Members

Name	Kind	Description
run	function

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

model RGBDLoopConsistencyTests
  function run
    output Boolean passed;
  protected
    import RGBDCatalogLoopVerification = SLAM.LoopClosure.RGBDCatalogLoopVerification;
    Boolean accepted; Real squared;
  algorithm
    // Identical shelf geometry at a different, well-localized bay is an alias.
    (accepted,squared) := RGBDCatalogLoopVerification.PoseConsistent(zeros(3),{6,0,0},identity(3),
      0.25*identity(6),0.25*identity(6),zeros(3),0.01*identity(3));
    assert(not accepted,"Repeated warehouse bay must not become a loop edge");
    (accepted,squared) := RGBDCatalogLoopVerification.PoseConsistent(zeros(3),{0.5,0.1,0},identity(3),
      0.25*identity(6),0.25*identity(6),zeros(3),0.01*identity(3));
    assert(accepted,"A revisited place with ordinary drift must remain eligible");
    (accepted,squared) := RGBDCatalogLoopVerification.PoseConsistent(zeros(3),{6,0,0},identity(3),
      4.0*identity(6),4.0*identity(6),zeros(3),0.01*identity(3),maximumTranslationInnovation=10.0);
    assert(accepted,"Explicit relocalization policy may accept an uncertain large correction");
    passed := true;
  end run;
  parameter Boolean passed = run();
equation
  assert(passed,"Loop consistency tests did not complete");
end RGBDLoopConsistencyTests;