testSmartProjectionFactor.cpp File Reference

Unit tests for SmartProjectionFactor Class. More...

#include "smartFactorScenarios.h"
#include <gtsam/slam/SmartProjectionFactor.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <CppUnitLite/TestHarness.h>
#include <iostream>

Include dependency graph for testSmartProjectionFactor.cpp:

Go to the source code of this file.

Functions
int	main ()
template<class CALIBRATION >
PinholeCamera< CALIBRATION >	perturbCameraPoseAndCalibration (const PinholeCamera< CALIBRATION > &camera)
	TEST (SmartProjectionFactor, perturbCameraPose)
	TEST (SmartProjectionFactor, Constructor)
	TEST (SmartProjectionFactor, Constructor2)
	TEST (SmartProjectionFactor, Constructor3)
	TEST (SmartProjectionFactor, Constructor4)
	TEST (SmartProjectionFactor, Equals)
	TEST (SmartProjectionFactor, noiseless)
	TEST (SmartProjectionFactor, noisy)
	TEST (SmartProjectionFactor, perturbPoseAndOptimize)
	TEST (SmartProjectionFactor, perturbPoseAndOptimizeFromSfM_tracks)
	TEST (SmartProjectionFactor, perturbCamerasAndOptimize)
	TEST (SmartProjectionFactor, Cal3Bundler)
	TEST (SmartProjectionFactor, Cal3Bundler2)
	TEST (SmartProjectionFactor, noiselessBundler)
	TEST (SmartProjectionFactor, comparisonGeneralSfMFactor)
	TEST (SmartProjectionFactor, comparisonGeneralSfMFactor1)
	TEST (SmartProjectionFactor, computeImplicitJacobian)
	TEST (SmartProjectionFactor, implicitJacobianFactor)

Detailed Description

Unit tests for SmartProjectionFactor Class.

Author

Chris Beall

Luca Carlone

Zsolt Kira

Frank Dellaert

Date

Sept 2013

Definition in file testSmartProjectionFactor.cpp.

Function Documentation

main()

int main

(

void

)

Definition at line 814 of file testSmartProjectionFactor.cpp.

perturbCameraPoseAndCalibration()

template<class CALIBRATION >

PinholeCamera<CALIBRATION> perturbCameraPoseAndCalibration

(

const PinholeCamera< CALIBRATION > &

camera

)

Definition at line 37 of file testSmartProjectionFactor.cpp.

TEST() [1/18]

TEST	(	SmartProjectionFactor	,
		perturbCameraPose
	)

Definition at line 51 of file testSmartProjectionFactor.cpp.

TEST() [2/18]

TEST	(	SmartProjectionFactor	,
		Constructor
	)

Definition at line 63 of file testSmartProjectionFactor.cpp.

TEST() [3/18]

TEST	(	SmartProjectionFactor	,
		Constructor2
	)

Definition at line 69 of file testSmartProjectionFactor.cpp.

TEST() [4/18]

TEST	(	SmartProjectionFactor	,
		Constructor3
	)

Definition at line 77 of file testSmartProjectionFactor.cpp.

TEST() [5/18]

TEST	(	SmartProjectionFactor	,
		Constructor4
	)

Definition at line 84 of file testSmartProjectionFactor.cpp.

TEST() [6/18]

TEST	(	SmartProjectionFactor	,
		Equals
	)

Definition at line 93 of file testSmartProjectionFactor.cpp.

TEST() [7/18]

TEST	(	SmartProjectionFactor	,
		noiseless
	)

Definition at line 103 of file testSmartProjectionFactor.cpp.

TEST() [8/18]

TEST	(	SmartProjectionFactor	,
		noisy
	)

Definition at line 122 of file testSmartProjectionFactor.cpp.

TEST() [9/18]

TEST	(	SmartProjectionFactor	,
		perturbPoseAndOptimize
	)

Definition at line 173 of file testSmartProjectionFactor.cpp.

TEST() [10/18]

TEST	(	SmartProjectionFactor	,
		perturbPoseAndOptimizeFromSfM_tracks
	)

Definition at line 272 of file testSmartProjectionFactor.cpp.

TEST() [11/18]

TEST	(	SmartProjectionFactor	,
		perturbCamerasAndOptimize
	)

Definition at line 342 of file testSmartProjectionFactor.cpp.

TEST() [12/18]

TEST	(	SmartProjectionFactor	,
		Cal3Bundler
	)

Definition at line 419 of file testSmartProjectionFactor.cpp.

TEST() [13/18]

TEST	(	SmartProjectionFactor	,
		Cal3Bundler2
	)

Definition at line 492 of file testSmartProjectionFactor.cpp.

TEST() [14/18]

TEST	(	SmartProjectionFactor	,
		noiselessBundler
	)

Definition at line 565 of file testSmartProjectionFactor.cpp.

TEST() [15/18]

TEST	(	SmartProjectionFactor	,
		comparisonGeneralSfMFactor
	)

Definition at line 593 of file testSmartProjectionFactor.cpp.

TEST() [16/18]

TEST	(	SmartProjectionFactor	,
		comparisonGeneralSfMFactor1
	)

Definition at line 632 of file testSmartProjectionFactor.cpp.

TEST() [17/18]

TEST	(	SmartProjectionFactor	,
		computeImplicitJacobian
	)

Definition at line 724 of file testSmartProjectionFactor.cpp.

TEST() [18/18]

TEST	(	SmartProjectionFactor	,
		implicitJacobianFactor
	)

Definition at line 762 of file testSmartProjectionFactor.cpp.