testProjectionFactorPPP.cpp File Reference

#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam_unstable/slam/ProjectionFactorPPP.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>

Include dependency graph for testProjectionFactorPPP.cpp:

Go to the source code of this file.

Classes
struct	gtsam::traits< TestProjectionFactor >

Namespaces
	gtsam
	traits

Typedefs
typedef ProjectionFactorPPP< Pose3, Point3 >	TestProjectionFactor

Functions
static Cal3_S2::shared_ptr	K (new Cal3_S2(fov, w, h))
int	main ()
static SharedNoiseModel	model (noiseModel::Unit::Create(2))
	TEST (ProjectionFactorPPP, Constructor)
	TEST (ProjectionFactorPPP, ConstructorWithTransform)
	TEST (ProjectionFactorPPP, Equals)
	TEST (ProjectionFactorPPP, EqualsWithTransform)
	TEST (ProjectionFactorPPP, Error)
	TEST (ProjectionFactorPPP, ErrorWithTransform)
	TEST (ProjectionFactorPPP, Jacobian)
	TEST (ProjectionFactorPPP, JacobianWithTransform)
	TEST (ProjectionFactorPPP, nonStandard)

Variables
static double	fov = 60
static size_t	h =480
static size_t	w =640

Typedef Documentation

TestProjectionFactor

typedef ProjectionFactorPPP<Pose3, Point3> TestProjectionFactor

Definition at line 48 of file testProjectionFactorPPP.cpp.

Function Documentation

K()

static Cal3_S2::shared_ptr K ( new   Cal3_S2fov, w, h )

static

main()

int main

(

)

Definition at line 227 of file testProjectionFactorPPP.cpp.

model()

static SharedNoiseModel model ( noiseModel::Unit::Create(2)  )

static

TEST() [1/9]

TEST	(	ProjectionFactorPPP	,
		Constructor
	)

Definition at line 63 of file testProjectionFactorPPP.cpp.

TEST() [2/9]

TEST	(	ProjectionFactorPPP	,
		ConstructorWithTransform
	)

Definition at line 74 of file testProjectionFactorPPP.cpp.

TEST() [3/9]

TEST	(	ProjectionFactorPPP	,
		Equals
	)

Definition at line 84 of file testProjectionFactorPPP.cpp.

TEST() [4/9]

TEST	(	ProjectionFactorPPP	,
		EqualsWithTransform
	)

Definition at line 95 of file testProjectionFactorPPP.cpp.

TEST() [5/9]

TEST	(	ProjectionFactorPPP	,
		Error
	)

Definition at line 107 of file testProjectionFactorPPP.cpp.

TEST() [6/9]

TEST	(	ProjectionFactorPPP	,
		ErrorWithTransform
	)

Definition at line 130 of file testProjectionFactorPPP.cpp.

TEST() [7/9]

TEST	(	ProjectionFactorPPP	,
		Jacobian
	)

Definition at line 154 of file testProjectionFactorPPP.cpp.

TEST() [8/9]

TEST	(	ProjectionFactorPPP	,
		JacobianWithTransform
	)

Definition at line 189 of file testProjectionFactorPPP.cpp.

TEST() [9/9]

TEST	(	ProjectionFactorPPP	,
		nonStandard
	)

Definition at line 58 of file testProjectionFactorPPP.cpp.

Variable Documentation

fov

double fov = 60

static

Definition at line 36 of file testProjectionFactorPPP.cpp.

h

size_t h =480

static

Definition at line 37 of file testProjectionFactorPPP.cpp.

w

size_t w =640

static

Definition at line 37 of file testProjectionFactorPPP.cpp.