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< GeneralCamera >	CameraConstraint
typedef PinholeCamera< Cal3_S2 >	GeneralCamera
typedef NonlinearEquality< Point3 >	Point3Constraint
typedef GeneralSFMFactor< GeneralCamera, Point3 >	Projection

Functions
static vector< GeneralCamera >	genCameraDefaultCalibration ()
static vector< GeneralCamera >	genCameraVariableCalibration ()
static vector< Point3 >	genPoint3 ()
static double	getGaussian ()
static std::shared_ptr< Ordering >	getOrdering (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

typedef NonlinearEquality<GeneralCamera> CameraConstraint

Definition at line 46 of file testGeneralSFMFactor.cpp.

GeneralCamera

typedef PinholeCamera<Cal3_S2> GeneralCamera

Definition at line 44 of file testGeneralSFMFactor.cpp.

Point3Constraint

typedef NonlinearEquality<Point3> Point3Constraint

Definition at line 47 of file testGeneralSFMFactor.cpp.

Projection

typedef GeneralSFMFactor<GeneralCamera, Point3> 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]

TEST	(	GeneralSFMFactor	,
		BinaryJacobianFactor
	)

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.