Unit tests for SmartProjectionPoseFactorRollingShutter Class. More...

#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/serializationTestHelpers.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/slam/PoseTranslationPrior.h>
#include <gtsam/slam/ProjectionFactor.h>
#include <gtsam_unstable/slam/ProjectionFactorRollingShutter.h>
#include <gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h>
#include <iostream>
#include "gtsam/slam/tests/smartFactorScenarios.h"
#include <gtsam/geometry/SphericalCamera.h>

Include dependency graph for testSmartProjectionPoseFactorRollingShutter.cpp:

Go to the source code of this file.

Namespaces
	sphericalCameraRS

	vanillaPoseRS

Macros
#define	DISABLE_TIMING

Typedefs
typedef PinholePose< Cal3_S2 >	vanillaPoseRS::Camera

typedef SphericalCamera	sphericalCameraRS::Camera

typedef CameraSet< Camera >	vanillaPoseRS::Cameras

typedef CameraSet< Camera >	sphericalCameraRS::Cameras

typedef std::vector< MatrixZD, Eigen::aligned_allocator< MatrixZD > >	FBlocks

typedef Eigen::Matrix< double, ZDim, DimBlock >	MatrixZD

typedef SmartProjectionPoseFactorRollingShutter< PinholePose< Cal3_S2 > >	SmartFactorRS

typedef SmartProjectionPoseFactorRollingShutter< Camera >	sphericalCameraRS::SmartFactorRS_spherical

Functions
static EmptyCal::shared_ptr	sphericalCameraRS::emptyK (new EmptyCal())

int	main ()

static Point2	measurement1 (323.0, 240.0)

static Point2	measurement2 (200.0, 220.0)

static Point2	measurement3 (320.0, 10.0)

static SharedIsotropic	model (noiseModel::Isotropic::Sigma(2, sigma))

static Cal3_S2::shared_ptr	vanillaPoseRS::sharedK (new Cal3_S2(fov, w, h))

	TEST (SmartProjectionPoseFactorRollingShutter, Constructor)

	TEST (SmartProjectionPoseFactorRollingShutter, Constructor2)

	TEST (SmartProjectionPoseFactorRollingShutter, add)

	TEST (SmartProjectionPoseFactorRollingShutter, Equals)

	TEST (SmartProjectionPoseFactorRollingShutter, noiselessErrorAndJacobians)

	TEST (SmartProjectionPoseFactorRollingShutter, noisyErrorAndJacobians)

	TEST (SmartProjectionPoseFactorRollingShutter, optimization_3poses)

	TEST (SmartProjectionPoseFactorRollingShutter, optimization_3poses_multiCam)

	TEST (SmartProjectionPoseFactorRollingShutter, optimization_3poses_multiCam2)

	TEST (SmartProjectionPoseFactorRollingShutter, hessian_simple_2poses)

	TEST (SmartProjectionPoseFactorRollingShutter, optimization_3poses_EPI)

	TEST (SmartProjectionPoseFactorRollingShutter, optimization_3poses_landmarkDistance)

	TEST (SmartProjectionPoseFactorRollingShutter, optimization_3poses_dynamicOutlierRejection)

	TEST (SmartProjectionPoseFactorRollingShutter, hessianComparedToProjFactorsRollingShutter)

	TEST (SmartProjectionPoseFactorRollingShutter, hessianComparedToProjFactorsRollingShutter_measurementsFromSamePose)

	TEST (SmartProjectionPoseFactorRollingShutter, optimization_3poses_measurementsFromSamePose)

	TEST (SmartProjectionPoseFactorRollingShutter, optimization_3poses_sphericalCameras)

Variables
static Pose3	body_P_sensor

Camera	vanillaPoseRS::cam1 (interp_pose1, sharedK)

Camera	sphericalCameraRS::cam1 (interp_pose1, emptyK)

Camera	vanillaPoseRS::cam2 (interp_pose2, sharedK)

Camera	sphericalCameraRS::cam2 (interp_pose2, emptyK)

Camera	vanillaPoseRS::cam3 (interp_pose3, sharedK)

Camera	sphericalCameraRS::cam3 (interp_pose3, emptyK)

static size_t	cameraId1 = 0

static const int	DimBlock = 12

static double	interp_factor = 0.5

static double	interp_factor1 = 0.3

static double	interp_factor2 = 0.4

static double	interp_factor3 = 0.5

Pose3	vanillaPoseRS::interp_pose1 = interpolate<Pose3>(level_pose, pose_right, interp_factor1)

Pose3	sphericalCameraRS::interp_pose1 = interpolate<Pose3>(level_pose, pose_right, interp_factor1)

Pose3	vanillaPoseRS::interp_pose2 = interpolate<Pose3>(pose_right, pose_above, interp_factor2)

Pose3	sphericalCameraRS::interp_pose2 = interpolate<Pose3>(pose_right, pose_above, interp_factor2)

Pose3	vanillaPoseRS::interp_pose3 = interpolate<Pose3>(pose_above, level_pose, interp_factor3)

Pose3	sphericalCameraRS::interp_pose3 = interpolate<Pose3>(pose_above, level_pose, interp_factor3)

static Symbol	l0 ('L', 0)

LevenbergMarquardtParams	lmParams

SmartProjectionParams	vanillaPoseRS::params (gtsam::HESSIAN, gtsam::ZERO_ON_DEGENERACY)

static const double	rankTol = 1.0

static const double	sigma = 0.1

static Symbol	x1 ('X', 1)

static Symbol	x2 ('X', 2)

static Symbol	x3 ('X', 3)

static Symbol	x4 ('X', 4)

static const int	ZDim = 2
	Measurement dimension (Point2) More...