Namespaces | Typedefs | Functions | Variables
testShonanAveraging.cpp File Reference

Unit tests for Shonan Averaging algorithm. More...

#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/sfm/ShonanAveraging.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/FrobeniusFactor.h>
#include <algorithm>
#include <iostream>
#include <map>
#include <random>
Include dependency graph for testShonanAveraging.cpp:

Go to the source code of this file.

Namespaces

 klaus
 

Typedefs

template<size_t d>
using Pose = typename std::conditional< d==2, Pose2, Pose3 >::type
 
template<size_t d>
using Rot = typename std::conditional< d==2, Rot2, Rot3 >::type
 

Functions

ShonanAveraging3 fromExampleName (const std::string &name, ShonanAveraging3::Parameters parameters=ShonanAveraging3::Parameters())
 
static std::mt19937 kRandomNumberGenerator (42)
 
int main ()
 
 TEST (ShonanAveraging3, checkConstructor)
 
 TEST (ShonanAveraging3, buildGraphAt)
 
 TEST (ShonanAveraging3, checkOptimality)
 
 TEST (ShonanAveraging3, checkSubgraph)
 
 TEST (ShonanAveraging3, tryOptimizingAt3)
 
 TEST (ShonanAveraging3, tryOptimizingAt4)
 
 TEST (ShonanAveraging3, TangentVectorValues)
 
 TEST (ShonanAveraging3, LiftTo)
 
 TEST (ShonanAveraging3, CheckWithEigen)
 
 TEST (ShonanAveraging3, initializeWithDescent)
 
 TEST (ShonanAveraging3, run)
 
 TEST (ShonanAveraging3, runKlaus)
 
 TEST (ShonanAveraging3, runKlausKarcher)
 
 TEST (ShonanAveraging2, noisyToyGraph)
 
 TEST (ShonanAveraging2, noisyToyGraphWithHuber)
 
 TEST (ShonanAveraging3, PriorWeights)
 

Variables

static const ShonanAveraging3 kShonan = fromExampleName("toyExample.g2o")
 
const Rot3 klaus::wR0 (0.9992281076190063, -0.02676080288219576, -0.024497002638379624, -0.015064701622500615)
 
const Rot3 klaus::wR1 (0.998239108728862, -0.049543805396343954, -0.03232420352077356, -0.004386230477751116)
 
const Rot3 klaus::wR2 (0.9925378735259738, -0.07993768981394891, 0.0825062894866454, -0.04088089479075661)
 

Detailed Description

Unit tests for Shonan Averaging algorithm.

Timing script for Shonan Averaging algorithm.

Date
March 2019
Author
Frank Dellaert
Date
September 2019
Author
Jing Wu
Frank Dellaert

Definition in file testShonanAveraging.cpp.

Typedef Documentation

◆ Pose

template<size_t d>
using Pose = typename std::conditional<d == 2, Pose2, Pose3>::type

Definition at line 37 of file testShonanAveraging.cpp.

◆ Rot

template<size_t d>
using Rot = typename std::conditional<d == 2, Rot2, Rot3>::type

Definition at line 34 of file testShonanAveraging.cpp.

Function Documentation

◆ fromExampleName()

ShonanAveraging3 fromExampleName ( const std::string &  name,
ShonanAveraging3::Parameters  parameters = ShonanAveraging3::Parameters() 
)

Definition at line 39 of file testShonanAveraging.cpp.

◆ kRandomNumberGenerator()

static std::mt19937 kRandomNumberGenerator ( 42  )
static

◆ main()

int main ( void  )

Definition at line 419 of file testShonanAveraging.cpp.

◆ TEST() [1/16]

TEST ( ShonanAveraging3  ,
checkConstructor   
)

Definition at line 51 of file testShonanAveraging.cpp.

◆ TEST() [2/16]

TEST ( ShonanAveraging3  ,
buildGraphAt   
)

Definition at line 74 of file testShonanAveraging.cpp.

◆ TEST() [3/16]

TEST ( ShonanAveraging3  ,
checkOptimality   
)

Definition at line 80 of file testShonanAveraging.cpp.

◆ TEST() [4/16]

TEST ( ShonanAveraging3  ,
checkSubgraph   
)

Definition at line 96 of file testShonanAveraging.cpp.

◆ TEST() [5/16]

TEST ( ShonanAveraging3  ,
tryOptimizingAt3   
)

Definition at line 117 of file testShonanAveraging.cpp.

◆ TEST() [6/16]

TEST ( ShonanAveraging3  ,
tryOptimizingAt4   
)

Definition at line 132 of file testShonanAveraging.cpp.

◆ TEST() [7/16]

TEST ( ShonanAveraging3  ,
TangentVectorValues   
)

Definition at line 146 of file testShonanAveraging.cpp.

◆ TEST() [8/16]

TEST ( ShonanAveraging3  ,
LiftTo   
)

Definition at line 160 of file testShonanAveraging.cpp.

◆ TEST() [9/16]

TEST ( ShonanAveraging3  ,
CheckWithEigen   
)

Definition at line 168 of file testShonanAveraging.cpp.

◆ TEST() [10/16]

TEST ( ShonanAveraging3  ,
initializeWithDescent   
)

Definition at line 219 of file testShonanAveraging.cpp.

◆ TEST() [11/16]

TEST ( ShonanAveraging3  ,
run   
)

Definition at line 231 of file testShonanAveraging.cpp.

◆ TEST() [12/16]

TEST ( ShonanAveraging3  ,
runKlaus   
)

Definition at line 250 of file testShonanAveraging.cpp.

◆ TEST() [13/16]

TEST ( ShonanAveraging3  ,
runKlausKarcher   
)

Definition at line 308 of file testShonanAveraging.cpp.

◆ TEST() [14/16]

TEST ( ShonanAveraging2  ,
noisyToyGraph   
)

Definition at line 332 of file testShonanAveraging.cpp.

◆ TEST() [15/16]

TEST ( ShonanAveraging2  ,
noisyToyGraphWithHuber   
)

Definition at line 352 of file testShonanAveraging.cpp.

◆ TEST() [16/16]

TEST ( ShonanAveraging3  ,
PriorWeights   
)

Definition at line 389 of file testShonanAveraging.cpp.

Variable Documentation

◆ kShonan

const ShonanAveraging3 kShonan = fromExampleName("toyExample.g2o")
static

Definition at line 46 of file testShonanAveraging.cpp.



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autogenerated on Tue Jul 4 2023 02:40:56