testSmartProjectionFactor.cpp File Reference

Unit tests for SmartProjectionFactor Class. More...

#include "smartFactorScenarios.h"
#include <gtsam/slam/SmartProjectionFactor.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/base/serializationTestHelpers.h>
#include <CppUnitLite/TestHarness.h>
#include <boost/assign/std/map.hpp>
#include <iostream>

Include dependency graph for testSmartProjectionFactor.cpp:

Go to the source code of this file.

Functions
	BOOST_CLASS_EXPORT_GUID (gtsam::noiseModel::Constrained,"gtsam_noiseModel_Constrained")
	BOOST_CLASS_EXPORT_GUID (gtsam::noiseModel::Diagonal,"gtsam_noiseModel_Diagonal")
	BOOST_CLASS_EXPORT_GUID (gtsam::noiseModel::Gaussian,"gtsam_noiseModel_Gaussian")
	BOOST_CLASS_EXPORT_GUID (gtsam::noiseModel::Unit,"gtsam_noiseModel_Unit")
	BOOST_CLASS_EXPORT_GUID (gtsam::noiseModel::Isotropic,"gtsam_noiseModel_Isotropic")
	BOOST_CLASS_EXPORT_GUID (gtsam::SharedNoiseModel,"gtsam_SharedNoiseModel")
	BOOST_CLASS_EXPORT_GUID (gtsam::SharedDiagonal,"gtsam_SharedDiagonal")
int	main ()
static const Point2	measurement1 (323.0, 240.0)
template<class CALIBRATION >
PinholeCamera< CALIBRATION >	perturbCameraPoseAndCalibration (const PinholeCamera< CALIBRATION > &camera)
	TEST (SmartProjectionFactor, perturbCameraPose)
	TEST (SmartProjectionFactor, Constructor)
	TEST (SmartProjectionFactor, Constructor2)
	TEST (SmartProjectionFactor, Constructor3)
	TEST (SmartProjectionFactor, Constructor4)
	TEST (SmartProjectionFactor, Equals)
	TEST (SmartProjectionFactor, noiseless)
	TEST (SmartProjectionFactor, noisy)
	TEST (SmartProjectionFactor, perturbPoseAndOptimize)
	TEST (SmartProjectionFactor, perturbPoseAndOptimizeFromSfM_tracks)
	TEST (SmartProjectionFactor, perturbCamerasAndOptimize)
	TEST (SmartProjectionFactor, Cal3Bundler)
	TEST (SmartProjectionFactor, Cal3Bundler2)
	TEST (SmartProjectionFactor, noiselessBundler)
	TEST (SmartProjectionFactor, comparisonGeneralSfMFactor)
	TEST (SmartProjectionFactor, comparisonGeneralSfMFactor1)
	TEST (SmartProjectionFactor, computeImplicitJacobian)
	TEST (SmartProjectionFactor, implicitJacobianFactor)
	TEST (SmartProjectionFactor, serialize)

Variables
static const Key	c1 = 1
static const Key	c2 = 2
static const Key	c3 = 3
static const bool	isDebugTest = false
static const Symbol	l1 ('l', 1)
static const Symbol	l2 ('l', 2)
static const Symbol	l3 ('l', 3)
static const double	rankTol = 1.0

Detailed Description

Unit tests for SmartProjectionFactor Class.

Author

Chris Beall

Luca Carlone

Zsolt Kira

Frank Dellaert

Date

Sept 2013

Definition in file testSmartProjectionFactor.cpp.

Function Documentation

BOOST_CLASS_EXPORT_GUID	(	gtsam::noiseModel::Constrained	,
		"gtsam_noiseModel_Constrained"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::noiseModel::Diagonal	,
		"gtsam_noiseModel_Diagonal"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::noiseModel::Gaussian	,
		"gtsam_noiseModel_Gaussian"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::noiseModel::Unit	,
		"gtsam_noiseModel_Unit"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::noiseModel::Isotropic	,
		"gtsam_noiseModel_Isotropic"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::SharedNoiseModel	,
		"gtsam_SharedNoiseModel"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::SharedDiagonal	,
		"gtsam_SharedDiagonal"
	)

int main

(

void

)

Definition at line 833 of file testSmartProjectionFactor.cpp.

static const Point2 measurement1 ( 323.  0, 240.  0  )

static

template<class CALIBRATION >

PinholeCamera<CALIBRATION> perturbCameraPoseAndCalibration

(

const PinholeCamera< CALIBRATION > &

camera

)

Definition at line 39 of file testSmartProjectionFactor.cpp.

TEST	(	SmartProjectionFactor	,
		perturbCameraPose
	)

Definition at line 53 of file testSmartProjectionFactor.cpp.

TEST	(	SmartProjectionFactor	,
		Constructor
	)

Definition at line 65 of file testSmartProjectionFactor.cpp.

TEST	(	SmartProjectionFactor	,
		Constructor2
	)

Definition at line 71 of file testSmartProjectionFactor.cpp.

TEST	(	SmartProjectionFactor	,
		Constructor3
	)

Definition at line 78 of file testSmartProjectionFactor.cpp.

TEST	(	SmartProjectionFactor	,
		Constructor4
	)

Definition at line 85 of file testSmartProjectionFactor.cpp.

TEST	(	SmartProjectionFactor	,
		Equals
	)

Definition at line 93 of file testSmartProjectionFactor.cpp.

TEST	(	SmartProjectionFactor	,
		noiseless
	)

Definition at line 103 of file testSmartProjectionFactor.cpp.

TEST	(	SmartProjectionFactor	,
		noisy
	)

Definition at line 122 of file testSmartProjectionFactor.cpp.

TEST	(	SmartProjectionFactor	,
		perturbPoseAndOptimize
	)

Definition at line 173 of file testSmartProjectionFactor.cpp.

TEST	(	SmartProjectionFactor	,
		perturbPoseAndOptimizeFromSfM_tracks
	)

Definition at line 272 of file testSmartProjectionFactor.cpp.

TEST	(	SmartProjectionFactor	,
		perturbCamerasAndOptimize
	)

Definition at line 342 of file testSmartProjectionFactor.cpp.

TEST	(	SmartProjectionFactor	,
		Cal3Bundler
	)

Definition at line 419 of file testSmartProjectionFactor.cpp.

TEST	(	SmartProjectionFactor	,
		Cal3Bundler2
	)

Definition at line 492 of file testSmartProjectionFactor.cpp.

TEST	(	SmartProjectionFactor	,
		noiselessBundler
	)

Definition at line 565 of file testSmartProjectionFactor.cpp.

TEST	(	SmartProjectionFactor	,
		comparisonGeneralSfMFactor
	)

Definition at line 593 of file testSmartProjectionFactor.cpp.

TEST	(	SmartProjectionFactor	,
		comparisonGeneralSfMFactor1
	)

Definition at line 632 of file testSmartProjectionFactor.cpp.

TEST	(	SmartProjectionFactor	,
		computeImplicitJacobian
	)

Definition at line 724 of file testSmartProjectionFactor.cpp.

TEST	(	SmartProjectionFactor	,
		implicitJacobianFactor
	)

Definition at line 762 of file testSmartProjectionFactor.cpp.

TEST	(	SmartProjectionFactor	,
		serialize
	)

Definition at line 822 of file testSmartProjectionFactor.cpp.

Variable Documentation

const Key c1 = 1

static

Definition at line 34 of file testSmartProjectionFactor.cpp.

const Key c2 = 2

static

Definition at line 34 of file testSmartProjectionFactor.cpp.

const Key c3 = 3

static

Definition at line 34 of file testSmartProjectionFactor.cpp.

const bool isDebugTest = false

static

Definition at line 32 of file testSmartProjectionFactor.cpp.

const Symbol l1('l', 1)

static

const Symbol l2('l', 2)

const Symbol l3('l', 3)

const double rankTol = 1.0

static

Definition at line 36 of file testSmartProjectionFactor.cpp.