Classes | Typedefs | Functions | Variables
testGeneralSFMFactor.cpp File Reference

unit tests for GeneralSFMFactor More...

#include <gtsam/slam/GeneralSFMFactor.h>
#include <gtsam/sam/RangeFactor.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Rot2.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/nonlinear/NonlinearEquality.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/linear/VectorValues.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/base/Testable.h>
#include <memory>
#include <CppUnitLite/TestHarness.h>
#include <iostream>
#include <vector>
Include dependency graph for testGeneralSFMFactor.cpp:

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Classes

class  Graph
 

Typedefs

typedef NonlinearEquality< GeneralCameraCameraConstraint
 
typedef PinholeCamera< Cal3_S2GeneralCamera
 
typedef NonlinearEquality< Point3Point3Constraint
 
typedef GeneralSFMFactor< GeneralCamera, Point3Projection
 

Functions

static vector< GeneralCameragenCameraDefaultCalibration ()
 
static vector< GeneralCameragenCameraVariableCalibration ()
 
static vector< Point3genPoint3 ()
 
static double getGaussian ()
 
static std::shared_ptr< OrderinggetOrdering (const vector< GeneralCamera > &cameras, const vector< Point3 > &landmarks)
 
int main ()
 
static const SharedNoiseModel sigma1 (noiseModel::Unit::Create(2))
 
 TEST (GeneralSFMFactor, equals)
 
 TEST (GeneralSFMFactor, error)
 
 TEST (GeneralSFMFactor, optimize_defaultK)
 
 TEST (GeneralSFMFactor, optimize_varK_SingleMeasurementError)
 
 TEST (GeneralSFMFactor, optimize_varK_FixCameras)
 
 TEST (GeneralSFMFactor, optimize_varK_FixLandmarks)
 
 TEST (GeneralSFMFactor, optimize_varK_BA)
 
 TEST (GeneralSFMFactor, GeneralCameraPoseRange)
 
 TEST (GeneralSFMFactor, CalibratedCameraPoseRange)
 
 TEST (GeneralSFMFactor, BinaryJacobianFactor)
 
 TEST (GeneralSFMFactor, BinaryJacobianFactor2)
 

Variables

static const double baseline = 5.
 

Detailed Description

unit tests for GeneralSFMFactor

Date
Dec 27, 2010
Author
nikai

Definition in file testGeneralSFMFactor.cpp.

Typedef Documentation

◆ CameraConstraint

Definition at line 46 of file testGeneralSFMFactor.cpp.

◆ GeneralCamera

Definition at line 44 of file testGeneralSFMFactor.cpp.

◆ Point3Constraint

Definition at line 47 of file testGeneralSFMFactor.cpp.

◆ Projection

Definition at line 45 of file testGeneralSFMFactor.cpp.

Function Documentation

◆ genCameraDefaultCalibration()

static vector<GeneralCamera> genCameraDefaultCalibration ( )
static

Definition at line 103 of file testGeneralSFMFactor.cpp.

◆ genCameraVariableCalibration()

static vector<GeneralCamera> genCameraVariableCalibration ( )
static

Definition at line 110 of file testGeneralSFMFactor.cpp.

◆ genPoint3()

static vector<Point3> genPoint3 ( )
static

Definition at line 85 of file testGeneralSFMFactor.cpp.

◆ getGaussian()

static double getGaussian ( )
static

Definition at line 68 of file testGeneralSFMFactor.cpp.

◆ getOrdering()

static std::shared_ptr<Ordering> getOrdering ( const vector< GeneralCamera > &  cameras,
const vector< Point3 > &  landmarks 
)
static

Definition at line 118 of file testGeneralSFMFactor.cpp.

◆ main()

int main ( void  )

Definition at line 522 of file testGeneralSFMFactor.cpp.

◆ sigma1()

static const SharedNoiseModel sigma1 ( noiseModel::Unit::Create(2)  )
static

◆ TEST() [1/11]

TEST ( GeneralSFMFactor  ,
equals   
)

Definition at line 129 of file testGeneralSFMFactor.cpp.

◆ TEST() [2/11]

TEST ( GeneralSFMFactor  ,
error   
)

Definition at line 144 of file testGeneralSFMFactor.cpp.

◆ TEST() [3/11]

TEST ( GeneralSFMFactor  ,
optimize_defaultK   
)

Definition at line 162 of file testGeneralSFMFactor.cpp.

◆ TEST() [4/11]

TEST ( GeneralSFMFactor  ,
optimize_varK_SingleMeasurementError   
)

Definition at line 201 of file testGeneralSFMFactor.cpp.

◆ TEST() [5/11]

TEST ( GeneralSFMFactor  ,
optimize_varK_FixCameras   
)

Definition at line 243 of file testGeneralSFMFactor.cpp.

◆ TEST() [6/11]

TEST ( GeneralSFMFactor  ,
optimize_varK_FixLandmarks   
)

Definition at line 283 of file testGeneralSFMFactor.cpp.

◆ TEST() [7/11]

TEST ( GeneralSFMFactor  ,
optimize_varK_BA   
)

Definition at line 335 of file testGeneralSFMFactor.cpp.

◆ TEST() [8/11]

TEST ( GeneralSFMFactor  ,
GeneralCameraPoseRange   
)

Definition at line 381 of file testGeneralSFMFactor.cpp.

◆ TEST() [9/11]

TEST ( GeneralSFMFactor  ,
CalibratedCameraPoseRange   
)

Definition at line 409 of file testGeneralSFMFactor.cpp.

◆ TEST() [10/11]

Definition at line 439 of file testGeneralSFMFactor.cpp.

◆ TEST() [11/11]

TEST ( GeneralSFMFactor  ,
BinaryJacobianFactor2   
)

Definition at line 495 of file testGeneralSFMFactor.cpp.

Variable Documentation

◆ baseline

const double baseline = 5.
static

Definition at line 82 of file testGeneralSFMFactor.cpp.



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autogenerated on Tue Jul 4 2023 02:40:55