test recovering translations when rotations are given. More...

#include <CppUnitLite/TestHarness.h>
#include <gtsam/sfm/SfmData.h>
#include <gtsam/sfm/TranslationRecovery.h>
#include <gtsam/slam/dataset.h>

Include dependency graph for testTranslationRecovery.cpp:

Go to the source code of this file.

Functions
Unit3	GetDirectionFromPoses (const Values &poses, const BinaryMeasurement< Unit3 > &unitTranslation)

int	main ()

	TEST (TranslationRecovery, BAL)

	TEST (TranslationRecovery, BALBATA)

	TEST (TranslationRecovery, FourPosesIncludingZeroTranslation)

	TEST (TranslationRecovery, FourPosesIncludingZeroTranslationBATA)

	TEST (TranslationRecovery, NodeWithBetweenFactorAndNoMeasurements)

	TEST (TranslationRecovery, NodeWithBetweenFactorAndNoMeasurementsBATA)

	TEST (TranslationRecovery, ThreePosesIncludingZeroTranslation)

	TEST (TranslationRecovery, ThreePosesIncludingZeroTranslationBATA)

	TEST (TranslationRecovery, ThreePosesWithOneHardConstraint)

	TEST (TranslationRecovery, ThreePosesWithOneHardConstraintBATA)

	TEST (TranslationRecovery, ThreePosesWithOneSoftConstraint)

	TEST (TranslationRecovery, ThreePosesWithOneSoftConstraintBATA)

	TEST (TranslationRecovery, ThreePosesWithZeroTranslation)

	TEST (TranslationRecovery, ThreePosesWithZeroTranslationBATA)

	TEST (TranslationRecovery, ThreePoseTest)

	TEST (TranslationRecovery, ThreePoseTestBATA)

	TEST (TranslationRecovery, TwoPoseTest)

	TEST (TranslationRecovery, TwoPoseTestBATA)

Detailed Description

test recovering translations when rotations are given.

Author: Frank Dellaert, Akshay Krishnan

Date: March 2020

Definition in file testTranslationRecovery.cpp.

Function Documentation

◆ GetDirectionFromPoses()

Unit3 GetDirectionFromPoses	(	const Values &	poses,
		const BinaryMeasurement< Unit3 > &	unitTranslation
	)

Definition at line 29 of file testTranslationRecovery.cpp.

◆ main()

int main ( )

Definition at line 691 of file testTranslationRecovery.cpp.

◆ TEST() [1/18]

TEST	(	TranslationRecovery	,
		BAL
	)

Definition at line 44 of file testTranslationRecovery.cpp.

◆ TEST() [2/18]

TEST	(	TranslationRecovery	,
		BALBATA
	)

Definition at line 368 of file testTranslationRecovery.cpp.

◆ TEST() [3/18]

TEST	(	TranslationRecovery	,
		FourPosesIncludingZeroTranslation
	)

Definition at line 193 of file testTranslationRecovery.cpp.

◆ TEST() [4/18]

TEST	(	TranslationRecovery	,
		FourPosesIncludingZeroTranslationBATA
	)

Definition at line 521 of file testTranslationRecovery.cpp.

◆ TEST() [5/18]

TEST	(	TranslationRecovery	,
		NodeWithBetweenFactorAndNoMeasurements
	)

Definition at line 327 of file testTranslationRecovery.cpp.

◆ TEST() [6/18]

TEST	(	TranslationRecovery	,
		NodeWithBetweenFactorAndNoMeasurementsBATA
	)

Definition at line 658 of file testTranslationRecovery.cpp.

◆ TEST() [7/18]

TEST	(	TranslationRecovery	,
		ThreePosesIncludingZeroTranslation
	)

Definition at line 160 of file testTranslationRecovery.cpp.

◆ TEST() [8/18]

TEST	(	TranslationRecovery	,
		ThreePosesIncludingZeroTranslationBATA
	)

Definition at line 487 of file testTranslationRecovery.cpp.

◆ TEST() [9/18]

TEST	(	TranslationRecovery	,
		ThreePosesWithOneHardConstraint
	)

Definition at line 293 of file testTranslationRecovery.cpp.

◆ TEST() [10/18]

TEST	(	TranslationRecovery	,
		ThreePosesWithOneHardConstraintBATA
	)

Definition at line 623 of file testTranslationRecovery.cpp.

◆ TEST() [11/18]

TEST	(	TranslationRecovery	,
		ThreePosesWithOneSoftConstraint
	)

Definition at line 259 of file testTranslationRecovery.cpp.

◆ TEST() [12/18]

TEST	(	TranslationRecovery	,
		ThreePosesWithOneSoftConstraintBATA
	)

Definition at line 588 of file testTranslationRecovery.cpp.

◆ TEST() [13/18]

TEST	(	TranslationRecovery	,
		ThreePosesWithZeroTranslation
	)

Definition at line 233 of file testTranslationRecovery.cpp.

◆ TEST() [14/18]

TEST	(	TranslationRecovery	,
		ThreePosesWithZeroTranslationBATA
	)

Definition at line 562 of file testTranslationRecovery.cpp.

◆ TEST() [15/18]

TEST	(	TranslationRecovery	,
		ThreePoseTest
	)

Definition at line 122 of file testTranslationRecovery.cpp.

◆ TEST() [16/18]

TEST	(	TranslationRecovery	,
		ThreePoseTestBATA
	)

Definition at line 448 of file testTranslationRecovery.cpp.

◆ TEST() [17/18]

TEST	(	TranslationRecovery	,
		TwoPoseTest
	)

Definition at line 90 of file testTranslationRecovery.cpp.

◆ TEST() [18/18]

TEST	(	TranslationRecovery	,
		TwoPoseTestBATA
	)

Definition at line 415 of file testTranslationRecovery.cpp.

Functions