Inheritance diagram for test_ShonanAveraging.TestShonanAveraging:

Public Member Functions
def	setUp (self)

def	test_buildGraphAt (self)

def	test_checkConstructor (self)

def	test_checkOptimality (self)

None	test_constructorBetweenFactorPose2s (self)

def	test_initializeWithDescent (self)

def	test_measurements3 (self)

def	test_PriorWeights (self)

def	test_run (self)

def	test_runKlausKarcher (self)

def	test_tryOptimizingAt3 (self)

def	test_tryOptimizingAt4 (self)

Public Member Functions inherited from gtsam.utils.test_case.GtsamTestCase
def	assertDeepCopyEquality (self, obj)

None	assertEqualityOnPickleRoundtrip (self, object obj, tol=1e-9)

def	gtsamAssertEquals (self, actual, expected, tol=1e-9)

Public Attributes
	shonan

Detailed Description

Tests for Shonan Rotation Averaging.

Definition at line 37 of file test_ShonanAveraging.py.

Member Function Documentation

◆ setUp()

def test_ShonanAveraging.TestShonanAveraging.setUp ( self )

Set up common variables.

Definition at line 40 of file test_ShonanAveraging.py.

◆ test_buildGraphAt()

def test_ShonanAveraging.TestShonanAveraging.test_buildGraphAt ( self )

Definition at line 56 of file test_ShonanAveraging.py.

◆ test_checkConstructor()

def test_ShonanAveraging.TestShonanAveraging.test_checkConstructor ( self )

Definition at line 44 of file test_ShonanAveraging.py.

◆ test_checkOptimality()

def test_ShonanAveraging.TestShonanAveraging.test_checkOptimality ( self )

Definition at line 60 of file test_ShonanAveraging.py.

◆ test_constructorBetweenFactorPose2s()

None test_ShonanAveraging.TestShonanAveraging.test_constructorBetweenFactorPose2s ( self )

Check if ShonanAveraging2 constructor works when not initialized from g2o file.

GT pose graph:

   | cam 1 = (0,4)
 --o
   | .
   .   .
   .     .
   |       |
   o-- ... o--
cam 0       cam 2 = (4,0)
  (0,0)

Definition at line 146 of file test_ShonanAveraging.py.

◆ test_initializeWithDescent()

def test_ShonanAveraging.TestShonanAveraging.test_initializeWithDescent ( self )

Definition at line 90 of file test_ShonanAveraging.py.

◆ test_measurements3()

def test_ShonanAveraging.TestShonanAveraging.test_measurements3 ( self )

Create from Measurements.

Definition at line 201 of file test_ShonanAveraging.py.

◆ test_PriorWeights()

def test_ShonanAveraging.TestShonanAveraging.test_PriorWeights ( self )

Definition at line 123 of file test_ShonanAveraging.py.

◆ test_run()

def test_ShonanAveraging.TestShonanAveraging.test_run ( self )

Definition at line 98 of file test_ShonanAveraging.py.

◆ test_runKlausKarcher()

def test_ShonanAveraging.TestShonanAveraging.test_runKlausKarcher ( self )

Definition at line 105 of file test_ShonanAveraging.py.

◆ test_tryOptimizingAt3()

def test_ShonanAveraging.TestShonanAveraging.test_tryOptimizingAt3 ( self )

Definition at line 67 of file test_ShonanAveraging.py.

◆ test_tryOptimizingAt4()

def test_ShonanAveraging.TestShonanAveraging.test_tryOptimizingAt4 ( self )

Definition at line 79 of file test_ShonanAveraging.py.

Member Data Documentation

◆ shonan

test_ShonanAveraging.TestShonanAveraging.shonan

Definition at line 42 of file test_ShonanAveraging.py.

The documentation for this class was generated from the following file:

test_ShonanAveraging.py

Public Member Functions

Public Attributes