#include <gtsam/3rdparty/ceres/example.h>
#include <gtsam/nonlinear/AdaptAutoDiff.h>
#include <gtsam/nonlinear/Expression.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/Testable.h>
#include <CppUnitLite/TestHarness.h>
Go to the source code of this file.
Classes | |
struct | gtsam::Cal3Bundler0 |
struct | Projective |
struct | gtsam::traits< Cal3Bundler0 > |
Namespaces | |
example | |
gtsam | |
traits | |
Typedefs | |
typedef PinholeCamera< Cal3Bundler0 > | gtsam::Camera |
Functions | |
Vector2 | adapted (const Vector9 &P, const Vector3 &X) |
int | main () |
Point3 | example::point (10, 0, -5) |
double | RandDouble () |
template<typename T > | |
T & | RowMajorAccess (T *base, int rows, int cols, int i, int j) |
TEST (AdaptAutoDiff, AdaptAutoDiff) | |
TEST (AdaptAutoDiff, AutoDiff) | |
TEST (AdaptAutoDiff, AutoDiff2) | |
TEST (AdaptAutoDiff, Local) | |
TEST (AdaptAutoDiff, Rotation) | |
TEST (AdaptAutoDiff, SnavelyExpression) | |
Variables | |
Camera | example::camera (Pose3(Rot3().retract(Vector3(0.1, 0.2, 0.3)), Point3(0, 5, 0)), Cal3Bundler0(1, 0, 0)) |
Matrix | example::E1 = numericalDerivative21<Vector2, Vector9, Vector3>(adapted, P, X) |
Matrix | example::E2 = numericalDerivative22<Vector2, Vector9, Vector3>(adapted, P, X) |
Vector2 | example::expectedMeasurement (1.2431567, 1.2525694) |
Vector9 | example::P = Camera().localCoordinates(camera) |
Vector3 | example::X = point |
Definition at line 152 of file testAdaptAutoDiff.cpp.
int main | ( | ) |
Definition at line 258 of file testAdaptAutoDiff.cpp.
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inline |
Definition at line 76 of file testAdaptAutoDiff.cpp.
Definition at line 72 of file testAdaptAutoDiff.cpp.
TEST | ( | AdaptAutoDiff | , |
AdaptAutoDiff | |||
) |
Definition at line 217 of file testAdaptAutoDiff.cpp.
TEST | ( | AdaptAutoDiff | , |
AutoDiff | |||
) |
Definition at line 115 of file testAdaptAutoDiff.cpp.
TEST | ( | AdaptAutoDiff | , |
AutoDiff2 | |||
) |
Definition at line 193 of file testAdaptAutoDiff.cpp.
TEST | ( | AdaptAutoDiff | , |
Local | |||
) |
Definition at line 179 of file testAdaptAutoDiff.cpp.
TEST | ( | AdaptAutoDiff | , |
Rotation | |||
) |
Definition at line 60 of file testAdaptAutoDiff.cpp.
TEST | ( | AdaptAutoDiff | , |
SnavelyExpression | |||
) |
Definition at line 238 of file testAdaptAutoDiff.cpp.