Classes | Macros | Typedefs | Functions | Variables
testSmartStereoFactor_iSAM2.cpp File Reference

Unit tests for ProjectionFactor Class. More...

#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/debug.h>
#include <gtsam/nonlinear/ISAM2.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h>
#include <array>
#include <fstream>
#include <iostream>
#include <sstream>
#include <string>
#include <vector>
Include dependency graph for testSmartStereoFactor_iSAM2.cpp:

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Classes

struct  stereo_meas_t
 

Macros

#define TEST_COUT(ARGS_)   void(0)
 
#define TEST_VERBOSE_OUTPUT   0
 

Typedefs

using lm_id_t = int
 
using timestep_t = std::size_t
 

Functions

int main ()
 
 TEST (testISAM2SmartFactor, Stereo_Batch)
 
 TEST (testISAM2SmartFactor, Stereo_iSAM2)
 

Variables

const double baseline = 0.2
 
const double cx = 512.0
 
const double cy = 384.0
 
static std::map< timestep_t, std::vector< stereo_meas_t > > dataset
 
const double fx = 200.0
 
const double fy = 150.0
 
static const std::map< timestep_t, gtsam::Point3gt_positions
 
static const double tol = 1e-3
 

Detailed Description

Unit tests for ProjectionFactor Class.

Author
Jose Luis Blanco-Claraco
Date
May 2019
Note
Originally based on ISAM2_SmartFactorStereo.cpp by Nghia Ho

Definition in file testSmartStereoFactor_iSAM2.cpp.

Macro Definition Documentation

◆ TEST_COUT

#define TEST_COUT (   ARGS_)    void(0)

Definition at line 38 of file testSmartStereoFactor_iSAM2.cpp.

◆ TEST_VERBOSE_OUTPUT

#define TEST_VERBOSE_OUTPUT   0

Definition at line 33 of file testSmartStereoFactor_iSAM2.cpp.

Typedef Documentation

◆ lm_id_t

using lm_id_t = int

Definition at line 54 of file testSmartStereoFactor_iSAM2.cpp.

◆ timestep_t

Definition at line 53 of file testSmartStereoFactor_iSAM2.cpp.

Function Documentation

◆ main()

int main ( void  )

Definition at line 363 of file testSmartStereoFactor_iSAM2.cpp.

◆ TEST() [1/2]

TEST ( testISAM2SmartFactor  ,
Stereo_Batch   
)

Definition at line 151 of file testSmartStereoFactor_iSAM2.cpp.

◆ TEST() [2/2]

TEST ( testISAM2SmartFactor  ,
Stereo_iSAM2   
)

Definition at line 232 of file testSmartStereoFactor_iSAM2.cpp.

Variable Documentation

◆ baseline

const double baseline = 0.2

Definition at line 51 of file testSmartStereoFactor_iSAM2.cpp.

◆ cx

const double cx = 512.0

Definition at line 49 of file testSmartStereoFactor_iSAM2.cpp.

◆ cy

const double cy = 384.0

Definition at line 50 of file testSmartStereoFactor_iSAM2.cpp.

◆ dataset

std::map<timestep_t, std::vector<stereo_meas_t> > dataset
static

Definition at line 64 of file testSmartStereoFactor_iSAM2.cpp.

◆ fx

const double fx = 200.0

Definition at line 47 of file testSmartStereoFactor_iSAM2.cpp.

◆ fy

const double fy = 150.0

Definition at line 48 of file testSmartStereoFactor_iSAM2.cpp.

◆ gt_positions

const std::map<timestep_t, gtsam::Point3> gt_positions
static
Initial value:
= {
{0, {0.000000, 0.000000, 0.0}},
{1, {0.042019, -0.008403, 0.0}},
{2, {0.084783, -0.016953, 0.0}},
{3, {0.128305, -0.025648, 0.0}},
{4, {0.172605, -0.034490, 0.0}}}

Definition at line 143 of file testSmartStereoFactor_iSAM2.cpp.

◆ tol

const double tol = 1e-3
static

Definition at line 42 of file testSmartStereoFactor_iSAM2.cpp.



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autogenerated on Tue Jul 4 2023 02:40:56