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::Point3 >	gt_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

using timestep_t = std::size_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.