#include <CppUnitLite/TestHarness.h>#include <gtsam/geometry/SimpleCamera.h>#include <gtsam/nonlinear/factorTesting.h>#include <gtsam/sfm/TransferFactor.h>
Include dependency graph for testTransferFactor.cpp:
Go to the source code of this file.
Namespaces | |
| fixture | |
Functions | |
| std::array< Pose3, 3 > | generateCameraPoses () |
| Generate three cameras on a circle, looking in. More... | |
| TripleF< SimpleFundamentalMatrix > | generateTripleF (const std::array< Pose3, 3 > &cameraPoses) |
| int | main () |
| Point2 | fixture::principalPoint (640/2, 480/2) |
| TEST (TransferFactor, GetMatrices) | |
| TEST (TransferFactor, Jacobians) | |
| TEST (TransferFactor, MultipleTuples) | |
Variables | |
| std::array< Pose3, 3 > | fixture::cameraPoses = generateCameraPoses() |
| double | fixture::focalLength = 1000 |
| const Cal3_S2 | fixture::K (focalLength, focalLength, 0.0, principalPoint.x(), principalPoint.y()) |
| auto | fixture::triplet = generateTripleF(cameraPoses) |
Function Documentation
◆ generateCameraPoses()
| std::array<Pose3, 3> generateCameraPoses | ( | ) |
Generate three cameras on a circle, looking in.
Definition at line 17 of file testTransferFactor.cpp.
◆ generateTripleF()
| TripleF<SimpleFundamentalMatrix> generateTripleF | ( | const std::array< Pose3, 3 > & | cameraPoses | ) |
Definition at line 31 of file testTransferFactor.cpp.
◆ main()
| int main | ( | ) |
Definition at line 157 of file testTransferFactor.cpp.
◆ TEST() [1/3]
| TEST | ( | TransferFactor | , |
| GetMatrices | |||
| ) |
Definition at line 57 of file testTransferFactor.cpp.
◆ TEST() [2/3]
| TEST | ( | TransferFactor | , |
| Jacobians | |||
| ) |
Definition at line 69 of file testTransferFactor.cpp.
◆ TEST() [3/3]
| TEST | ( | TransferFactor | , |
| MultipleTuples | |||
| ) |
Definition at line 105 of file testTransferFactor.cpp.