Unit tests for Pose+Transform+Calibration ProjectionFactor Class. More...
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam_unstable/slam/ProjectionFactorPPPC.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/geometry/Cal3DS2.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Point2.h>
#include <CppUnitLite/TestHarness.h>
Go to the source code of this file.
Typedefs | |
typedef ProjectionFactorPPPC< Pose3, Point3, Cal3_S2 > | TestProjectionFactor |
Functions | |
static Cal3_S2::shared_ptr | K1 (new Cal3_S2(fov, w, h)) |
int | main () |
static SharedNoiseModel | model (noiseModel::Unit::Create(2)) |
TEST (ProjectionFactorPPPC, Constructor) | |
TEST (ProjectionFactorPPPC, Equals) | |
TEST (ProjectionFactorPPPC, Error) | |
TEST (ProjectionFactorPPPC, ErrorWithTransform) | |
TEST (ProjectionFactorPPPC, Jacobian) | |
TEST (ProjectionFactorPPPC, JacobianWithTransform) | |
TEST (ProjectionFactorPPPC, nonStandard) | |
Variables | |
static double | fov = 60 |
static size_t | h =480 |
static size_t | w =640 |
Unit tests for Pose+Transform+Calibration ProjectionFactor Class.
Definition in file testProjectionFactorPPPC.cpp.
typedef ProjectionFactorPPPC<Pose3, Point3, Cal3_S2> TestProjectionFactor |
Definition at line 49 of file testProjectionFactorPPPC.cpp.
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int main | ( | ) |
Definition at line 192 of file testProjectionFactorPPPC.cpp.
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TEST | ( | ProjectionFactorPPPC | , |
Constructor | |||
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Definition at line 57 of file testProjectionFactorPPPC.cpp.
TEST | ( | ProjectionFactorPPPC | , |
Equals | |||
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Definition at line 64 of file testProjectionFactorPPPC.cpp.
TEST | ( | ProjectionFactorPPPC | , |
Error | |||
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Definition at line 75 of file testProjectionFactorPPPC.cpp.
TEST | ( | ProjectionFactorPPPC | , |
ErrorWithTransform | |||
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Definition at line 95 of file testProjectionFactorPPPC.cpp.
TEST | ( | ProjectionFactorPPPC | , |
Jacobian | |||
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Definition at line 116 of file testProjectionFactorPPPC.cpp.
TEST | ( | ProjectionFactorPPPC | , |
JacobianWithTransform | |||
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Definition at line 151 of file testProjectionFactorPPPC.cpp.
TEST | ( | ProjectionFactorPPPC | , |
nonStandard | |||
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Definition at line 52 of file testProjectionFactorPPPC.cpp.
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Definition at line 36 of file testProjectionFactorPPPC.cpp.
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Definition at line 37 of file testProjectionFactorPPPC.cpp.
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Definition at line 37 of file testProjectionFactorPPPC.cpp.