Unit tests for 3D SLAM initialization, using rotation relaxation. More...
#include <gtsam/slam/InitializePose3.h>
#include <gtsam/slam/dataset.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/geometry/Pose3.h>
#include <CppUnitLite/TestHarness.h>
#include <cmath>
Go to the source code of this file.
Namespaces | |
simple | |
Functions | |
NonlinearFactorGraph | simple::graph () |
NonlinearFactorGraph | simple::graph2 () |
int | main () |
static SharedNoiseModel | model (noiseModel::Isotropic::Sigma(6, 0.1)) |
TEST (InitializePose3, buildPose3graph) | |
TEST (InitializePose3, initializePoses) | |
TEST (InitializePose3, iterationGradient) | |
TEST (InitializePose3, orientations) | |
TEST (InitializePose3, orientationsGradient) | |
TEST (InitializePose3, orientationsGradientSymbolicGraph) | |
TEST (InitializePose3, orientationsPrecisions) | |
TEST (InitializePose3, posesWithGivenGuess) | |
TEST (InitializePose3, singleGradient) | |
Variables | |
static Point3 | simple::p0 = Point3(0,0,0) |
static Point3 | simple::p1 = Point3(1,2,0) |
static Point3 | simple::p2 = Point3(0,2,0) |
static Point3 | simple::p3 = Point3(-1,1,0) |
static Pose3 | simple::pose0 = Pose3(R0,p0) |
static Pose3 | simple::pose1 = Pose3(R1,p1) |
static Pose3 | simple::pose2 = Pose3(R2,p2) |
static Pose3 | simple::pose3 = Pose3(R3,p3) |
static Rot3 | simple::R0 = Rot3::Expmap( ( Vector(3) << 0.0,0.0,0.0 ).finished() ) |
static Rot3 | simple::R1 = Rot3::Expmap( ( Vector(3) << 0.0,0.0,1.570796 ).finished() ) |
static Rot3 | simple::R2 = Rot3::Expmap( ( Vector(3) << 0.0,0.0,3.141593 ).finished() ) |
static Rot3 | simple::R3 = Rot3::Expmap( ( Vector(3) << 0.0,0.0,4.712389 ).finished() ) |
static Symbol | x0 ('x', 0) |
static Symbol | x1 ('x', 1) |
static Symbol | x2 ('x', 2) |
static Symbol | x3 ('x', 3) |
Unit tests for 3D SLAM initialization, using rotation relaxation.
Definition in file testInitializePose3.cpp.
int main | ( | ) |
Definition at line 279 of file testInitializePose3.cpp.
|
static |
TEST | ( | InitializePose3 | , |
buildPose3graph | |||
) |
Definition at line 92 of file testInitializePose3.cpp.
TEST | ( | InitializePose3 | , |
initializePoses | |||
) |
Definition at line 265 of file testInitializePose3.cpp.
TEST | ( | InitializePose3 | , |
iterationGradient | |||
) |
Definition at line 173 of file testInitializePose3.cpp.
TEST | ( | InitializePose3 | , |
orientations | |||
) |
Definition at line 98 of file testInitializePose3.cpp.
TEST | ( | InitializePose3 | , |
orientationsGradient | |||
) |
Definition at line 214 of file testInitializePose3.cpp.
TEST | ( | InitializePose3 | , |
orientationsGradientSymbolicGraph | |||
) |
Definition at line 124 of file testInitializePose3.cpp.
TEST | ( | InitializePose3 | , |
orientationsPrecisions | |||
) |
Definition at line 111 of file testInitializePose3.cpp.
TEST | ( | InitializePose3 | , |
posesWithGivenGuess | |||
) |
Definition at line 251 of file testInitializePose3.cpp.
TEST | ( | InitializePose3 | , |
singleGradient | |||
) |
Definition at line 156 of file testInitializePose3.cpp.