testSmartProjectionRigFactor.cpp File Reference

Unit tests for SmartProjectionRigFactor 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 <iostream>
#include "smartFactorScenarios.h"
#include <gtsam/slam/ProjectionFactor.h>

Include dependency graph for testSmartProjectionRigFactor.cpp:

Go to the source code of this file.

Namespaces
	vanillaRig

Macros
#define	DISABLE_TIMING

Typedefs
typedef GenericProjectionFactor< Pose3, Point3 >	TestProjectionFactor

Functions
int	main ()
static Point2	measurement1 (323.0, 240.0)
static SharedIsotropic	model (noiseModel::Isotropic::Sigma(2, sigma))
	TEST (SmartProjectionRigFactor, Constructor)
	TEST (SmartProjectionRigFactor, Constructor2)
	TEST (SmartProjectionRigFactor, Constructor3)
	TEST (SmartProjectionRigFactor, Constructor4)
	TEST (SmartProjectionRigFactor, Equals)
	TEST (SmartProjectionRigFactor, noiseless)
	TEST (SmartProjectionRigFactor, noisy)
	TEST (SmartProjectionRigFactor, smartFactorWithSensorBodyTransform)
	TEST (SmartProjectionRigFactor, smartFactorWithMultipleCameras)
	TEST (SmartProjectionRigFactor, 3poses_smart_projection_factor)
	TEST (SmartProjectionRigFactor, Factors)
	TEST (SmartProjectionRigFactor, 3poses_iterative_smart_projection_factor)
	TEST (SmartProjectionRigFactor, landmarkDistance)
	TEST (SmartProjectionRigFactor, dynamicOutlierRejection)
	TEST (SmartProjectionRigFactor, CheckHessian)
	TEST (SmartProjectionRigFactor, Hessian)
	TEST (SmartProjectionRigFactor, ConstructorWithCal3Bundler)
	TEST (SmartProjectionRigFactor, Cal3Bundler)
	TEST (SmartProjectionRigFactor, hessianComparedToProjFactors_measurementsFromSamePose)
	TEST (SmartProjectionRigFactor, optimization_3poses_measurementsFromSamePose)
	TEST (SmartProjectionFactorP, optimization_3poses_sphericalCamera)
	TEST (SmartProjectionFactorP, 2poses_rankTol)
	TEST (SmartProjectionFactorP, 2poses_sphericalCamera_rankTol)

Variables
Key	cameraId1 = 0
Key	cameraId2 = 1
Key	cameraId3 = 2
static Symbol	l0 ('L', 0)
LevenbergMarquardtParams	lmParams
SmartProjectionParams	vanillaRig::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)

Detailed Description

Unit tests for SmartProjectionRigFactor Class.

Author

Chris Beall

Luca Carlone

Zsolt Kira

Frank Dellaert

Date

August 2021

Definition in file testSmartProjectionRigFactor.cpp.

Macro Definition Documentation

DISABLE_TIMING

#define DISABLE_TIMING

Definition at line 31 of file testSmartProjectionRigFactor.cpp.

Typedef Documentation

TestProjectionFactor

typedef GenericProjectionFactor<Pose3, Point3> TestProjectionFactor

Definition at line 965 of file testSmartProjectionRigFactor.cpp.

Function Documentation

main()

int main

(

void

)

Definition at line 1597 of file testSmartProjectionRigFactor.cpp.

measurement1()

static Point2 measurement1 ( 323.  0, 240.  0  )

static

model()

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

static

TEST() [1/23]

TEST	(	SmartProjectionRigFactor	,
		Constructor
	)

Definition at line 67 of file testSmartProjectionRigFactor.cpp.

TEST() [2/23]

TEST	(	SmartProjectionRigFactor	,
		Constructor2
	)

Definition at line 76 of file testSmartProjectionRigFactor.cpp.

TEST() [3/23]

TEST	(	SmartProjectionRigFactor	,
		Constructor3
	)

Definition at line 87 of file testSmartProjectionRigFactor.cpp.

TEST() [4/23]

TEST	(	SmartProjectionRigFactor	,
		Constructor4
	)

Definition at line 97 of file testSmartProjectionRigFactor.cpp.

TEST() [5/23]

TEST	(	SmartProjectionRigFactor	,
		Equals
	)

Definition at line 110 of file testSmartProjectionRigFactor.cpp.

TEST() [6/23]

TEST	(	SmartProjectionRigFactor	,
		noiseless
	)

Definition at line 133 of file testSmartProjectionRigFactor.cpp.

TEST() [7/23]

TEST	(	SmartProjectionRigFactor	,
		noisy
	)

Definition at line 194 of file testSmartProjectionRigFactor.cpp.

TEST() [8/23]

TEST	(	SmartProjectionRigFactor	,
		smartFactorWithSensorBodyTransform
	)

Definition at line 235 of file testSmartProjectionRigFactor.cpp.

TEST() [9/23]

TEST	(	SmartProjectionRigFactor	,
		smartFactorWithMultipleCameras
	)

Definition at line 316 of file testSmartProjectionRigFactor.cpp.

TEST() [10/23]

TEST	(	SmartProjectionRigFactor	,
		3poses_smart_projection_factor
	)

Definition at line 403 of file testSmartProjectionRigFactor.cpp.

TEST() [11/23]

TEST	(	SmartProjectionRigFactor	,
		Factors
	)

Definition at line 473 of file testSmartProjectionRigFactor.cpp.

TEST() [12/23]

TEST	(	SmartProjectionRigFactor	,
		3poses_iterative_smart_projection_factor
	)

Definition at line 565 of file testSmartProjectionRigFactor.cpp.

TEST() [13/23]

TEST	(	SmartProjectionRigFactor	,
		landmarkDistance
	)

Definition at line 625 of file testSmartProjectionRigFactor.cpp.

TEST() [14/23]

TEST	(	SmartProjectionRigFactor	,
		dynamicOutlierRejection
	)

Definition at line 688 of file testSmartProjectionRigFactor.cpp.

TEST() [15/23]

TEST	(	SmartProjectionRigFactor	,
		CheckHessian
	)

Definition at line 760 of file testSmartProjectionRigFactor.cpp.

TEST() [16/23]

TEST	(	SmartProjectionRigFactor	,
		Hessian
	)

Definition at line 847 of file testSmartProjectionRigFactor.cpp.

TEST() [17/23]

TEST	(	SmartProjectionRigFactor	,
		ConstructorWithCal3Bundler
	)

Definition at line 887 of file testSmartProjectionRigFactor.cpp.

TEST() [18/23]

TEST	(	SmartProjectionRigFactor	,
		Cal3Bundler
	)

Definition at line 899 of file testSmartProjectionRigFactor.cpp.

TEST() [19/23]

TEST	(	SmartProjectionRigFactor	,
		hessianComparedToProjFactors_measurementsFromSamePose
	)

Definition at line 968 of file testSmartProjectionRigFactor.cpp.

TEST() [20/23]

TEST	(	SmartProjectionRigFactor	,
		optimization_3poses_measurementsFromSamePose
	)

Definition at line 1105 of file testSmartProjectionRigFactor.cpp.

TEST() [21/23]

TEST	(	SmartProjectionFactorP	,
		optimization_3poses_sphericalCamera
	)

Definition at line 1248 of file testSmartProjectionRigFactor.cpp.

TEST() [22/23]

TEST	(	SmartProjectionFactorP	,
		2poses_rankTol
	)

Definition at line 1401 of file testSmartProjectionRigFactor.cpp.

TEST() [23/23]

TEST	(	SmartProjectionFactorP	,
		2poses_sphericalCamera_rankTol
	)

Definition at line 1522 of file testSmartProjectionRigFactor.cpp.

Variable Documentation

cameraId1

Key cameraId1 = 0

Definition at line 49 of file testSmartProjectionRigFactor.cpp.

cameraId2

Key cameraId2 = 1

Definition at line 50 of file testSmartProjectionRigFactor.cpp.

cameraId3

Key cameraId3 = 2

Definition at line 51 of file testSmartProjectionRigFactor.cpp.

l0

Symbol l0( 'L', 0)

static

lmParams

LevenbergMarquardtParams lmParams

Definition at line 55 of file testSmartProjectionRigFactor.cpp.

rankTol

const double rankTol = 1.0

static

Definition at line 35 of file testSmartProjectionRigFactor.cpp.

sigma

const double sigma = 0.1

static

Definition at line 37 of file testSmartProjectionRigFactor.cpp.

x1

Symbol x1( 'X', 1)

static

x2

Symbol x2( 'X', 2)

static

x3

Symbol x3( 'X', 3)

static