Unit tests for ProjectionFactor Class. More...
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/debug.h>
#include <gtsam/nonlinear/ISAM2.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h>
#include <array>
#include <fstream>
#include <iostream>
#include <sstream>
#include <string>
#include <vector>
Go to the source code of this file.
Classes | |
struct | stereo_meas_t |
Macros | |
#define | TEST_COUT(ARGS_) void(0) |
#define | TEST_VERBOSE_OUTPUT 0 |
Typedefs | |
using | lm_id_t = int |
using | timestep_t = std::size_t |
Functions | |
int | main () |
TEST (testISAM2SmartFactor, Stereo_Batch) | |
TEST (testISAM2SmartFactor, Stereo_iSAM2) | |
Variables | |
const double | baseline = 0.2 |
const double | cx = 512.0 |
const double | cy = 384.0 |
static std::map< timestep_t, std::vector< stereo_meas_t > > | dataset |
const double | fx = 200.0 |
const double | fy = 150.0 |
static const std::map< timestep_t, gtsam::Point3 > | gt_positions |
static const double | tol = 1e-3 |
Unit tests for ProjectionFactor Class.
Definition in file testSmartStereoFactor_iSAM2.cpp.
#define TEST_COUT | ( | ARGS_ | ) | void(0) |
Definition at line 38 of file testSmartStereoFactor_iSAM2.cpp.
#define TEST_VERBOSE_OUTPUT 0 |
Definition at line 33 of file testSmartStereoFactor_iSAM2.cpp.
Definition at line 54 of file testSmartStereoFactor_iSAM2.cpp.
using timestep_t = std::size_t |
Definition at line 53 of file testSmartStereoFactor_iSAM2.cpp.
int main | ( | ) |
Definition at line 363 of file testSmartStereoFactor_iSAM2.cpp.
TEST | ( | testISAM2SmartFactor | , |
Stereo_Batch | |||
) |
Definition at line 151 of file testSmartStereoFactor_iSAM2.cpp.
TEST | ( | testISAM2SmartFactor | , |
Stereo_iSAM2 | |||
) |
Definition at line 232 of file testSmartStereoFactor_iSAM2.cpp.
const double baseline = 0.2 |
Definition at line 51 of file testSmartStereoFactor_iSAM2.cpp.
const double cx = 512.0 |
Definition at line 49 of file testSmartStereoFactor_iSAM2.cpp.
const double cy = 384.0 |
Definition at line 50 of file testSmartStereoFactor_iSAM2.cpp.
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static |
Definition at line 64 of file testSmartStereoFactor_iSAM2.cpp.
const double fx = 200.0 |
Definition at line 47 of file testSmartStereoFactor_iSAM2.cpp.
const double fy = 150.0 |
Definition at line 48 of file testSmartStereoFactor_iSAM2.cpp.
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static |
Definition at line 143 of file testSmartStereoFactor_iSAM2.cpp.
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static |
Definition at line 42 of file testSmartStereoFactor_iSAM2.cpp.