testSmartStereoProjectionFactorPP.cpp File Reference

Unit tests for SmartStereoProjectionFactorPP Class. More...

#include <gtsam/slam/tests/smartFactorScenarios.h>
#include <gtsam_unstable/slam/SmartStereoProjectionFactorPP.h>
#include <gtsam_unstable/slam/ProjectionFactorPPP.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/slam/PoseTranslationPrior.h>
#include <gtsam/slam/ProjectionFactor.h>
#include <gtsam/slam/StereoFactor.h>
#include <CppUnitLite/TestHarness.h>
#include <iostream>

Include dependency graph for testSmartStereoProjectionFactorPP.cpp:

Go to the source code of this file.

Functions
int	main ()
	TEST (SmartStereoProjectionFactorPP, params)
	TEST (SmartStereoProjectionFactorPP, Constructor)
	TEST (SmartStereoProjectionFactorPP, Constructor2)
	TEST (SmartStereoProjectionFactorPP, Constructor3)
	TEST (SmartStereoProjectionFactorPP, Constructor4)
	TEST (SmartStereoProjectionFactorPP, Equals)
	TEST (SmartProjectionPoseFactor, noiseless_error_multipleExtrinsics_missingMeasurements)
	TEST (SmartStereoProjectionFactorPP, noisy_error_multipleExtrinsics)
	TEST (SmartStereoProjectionFactorPP, 3poses_optimization_multipleExtrinsics)
	TEST (SmartStereoProjectionFactorPP, 3poses_error_sameExtrinsicKey)
	TEST (SmartStereoProjectionFactorPP, 3poses_noisy_error_sameExtrinsicKey)
	TEST (SmartStereoProjectionFactorPP, 3poses_optimization_sameExtrinsicKey)
	TEST (SmartStereoProjectionFactorPP, 3poses_optimization_2ExtrinsicKeys)
	TEST (SmartStereoProjectionFactorPP, monocular_multipleExtrinsicKeys)
	TEST (SmartStereoProjectionFactorPP, landmarkDistance)
	TEST (SmartStereoProjectionFactorPP, dynamicOutlierRejection)
	TEST_UNSAFE (SmartStereoProjectionFactorPP, noiseless_error_identityExtrinsics)
	TEST_UNSAFE (SmartStereoProjectionFactorPP, noiseless_error_multipleExtrinsics)

Detailed Description

Unit tests for SmartStereoProjectionFactorPP Class.

Author

Luca Carlone

Date

March 2021

Definition in file testSmartStereoProjectionFactorPP.cpp.

Function Documentation

main()

int main

(

void

)

Definition at line 1270 of file testSmartStereoProjectionFactorPP.cpp.

TEST() [1/16]

TEST	(	SmartStereoProjectionFactorPP	,
		params
	)

Definition at line 90 of file testSmartStereoProjectionFactorPP.cpp.

TEST() [2/16]

TEST	(	SmartStereoProjectionFactorPP	,
		Constructor
	)

Definition at line 119 of file testSmartStereoProjectionFactorPP.cpp.

TEST() [3/16]

TEST	(	SmartStereoProjectionFactorPP	,
		Constructor2
	)

Definition at line 124 of file testSmartStereoProjectionFactorPP.cpp.

TEST() [4/16]

TEST	(	SmartStereoProjectionFactorPP	,
		Constructor3
	)

Definition at line 129 of file testSmartStereoProjectionFactorPP.cpp.

TEST() [5/16]

TEST	(	SmartStereoProjectionFactorPP	,
		Constructor4
	)

Definition at line 135 of file testSmartStereoProjectionFactorPP.cpp.

TEST() [6/16]

TEST	(	SmartStereoProjectionFactorPP	,
		Equals
	)

Definition at line 141 of file testSmartStereoProjectionFactorPP.cpp.

TEST() [7/16]

TEST	(	SmartProjectionPoseFactor	,
		noiseless_error_multipleExtrinsics_missingMeasurements
	)

Definition at line 243 of file testSmartStereoProjectionFactorPP.cpp.

TEST() [8/16]

TEST	(	SmartStereoProjectionFactorPP	,
		noisy_error_multipleExtrinsics
	)

< shared pointer to calibration object (one for each camera)

Definition at line 306 of file testSmartStereoProjectionFactorPP.cpp.

TEST() [9/16]

TEST	(	SmartStereoProjectionFactorPP	,
		3poses_optimization_multipleExtrinsics
	)

Definition at line 372 of file testSmartStereoProjectionFactorPP.cpp.

TEST() [10/16]

TEST	(	SmartStereoProjectionFactorPP	,
		3poses_error_sameExtrinsicKey
	)

Definition at line 535 of file testSmartStereoProjectionFactorPP.cpp.

TEST() [11/16]

TEST	(	SmartStereoProjectionFactorPP	,
		3poses_noisy_error_sameExtrinsicKey
	)

Definition at line 614 of file testSmartStereoProjectionFactorPP.cpp.

TEST() [12/16]

TEST	(	SmartStereoProjectionFactorPP	,
		3poses_optimization_sameExtrinsicKey
	)

Definition at line 750 of file testSmartStereoProjectionFactorPP.cpp.

TEST() [13/16]

TEST	(	SmartStereoProjectionFactorPP	,
		3poses_optimization_2ExtrinsicKeys
	)

Definition at line 872 of file testSmartStereoProjectionFactorPP.cpp.

TEST() [14/16]

TEST	(	SmartStereoProjectionFactorPP	,
		monocular_multipleExtrinsicKeys
	)

Definition at line 969 of file testSmartStereoProjectionFactorPP.cpp.

TEST() [15/16]

TEST	(	SmartStereoProjectionFactorPP	,
		landmarkDistance
	)

Definition at line 1089 of file testSmartStereoProjectionFactorPP.cpp.

TEST() [16/16]

TEST	(	SmartStereoProjectionFactorPP	,
		dynamicOutlierRejection
	)

Definition at line 1166 of file testSmartStereoProjectionFactorPP.cpp.

TEST_UNSAFE() [1/2]

TEST_UNSAFE	(	SmartStereoProjectionFactorPP	,
		noiseless_error_identityExtrinsics
	)

Definition at line 162 of file testSmartStereoProjectionFactorPP.cpp.

TEST_UNSAFE() [2/2]

TEST_UNSAFE	(	SmartStereoProjectionFactorPP	,
		noiseless_error_multipleExtrinsics
	)

Definition at line 199 of file testSmartStereoProjectionFactorPP.cpp.