testStereoFactor.cpp File Reference

Unit test for StereoFactor. More...

#include <gtsam/slam/StereoFactor.h>
#include <gtsam/nonlinear/NonlinearEquality.h>
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/geometry/StereoCamera.h>
#include <gtsam/geometry/Cal3_S2Stereo.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Point3.h>
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testStereoFactor.cpp:

Go to the source code of this file.

Typedefs
typedef GenericStereoFactor< Pose3, Point3 >	TestStereoFactor

Functions
static std::shared_ptr< Cal3_S2Stereo >	K (new Cal3_S2Stereo(625, 625, 0, 320, 240, 0.5))
int	main ()
static SharedNoiseModel	model (noiseModel::Unit::Create(3))
static Point3	p (0, 0, 5)
	TEST (StereoFactor, Constructor)
	TEST (StereoFactor, ConstructorWithTransform)
	TEST (StereoFactor, Equals)
	TEST (StereoFactor, EqualsWithTransform)
	TEST (StereoFactor, Error)
	TEST (StereoFactor, ErrorWithTransform)
	TEST (StereoFactor, Jacobian)
	TEST (StereoFactor, JacobianWithTransform)
	TEST (StereoFactor, singlePoint)

Variables
static Pose3	camera1 (Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 6.25))

Detailed Description

Unit test for StereoFactor.

Author

Chris Beall

Definition in file testStereoFactor.cpp.

Typedef Documentation

TestStereoFactor

typedef GenericStereoFactor<Pose3, Point3> TestStereoFactor

Definition at line 47 of file testStereoFactor.cpp.

Function Documentation

K()

static std::shared_ptr<Cal3_S2Stereo> K ( new   Cal3_S2Stereo625, 625, 0, 320, 240, 0.5 )

static

main()

int main

(

void

)

Definition at line 217 of file testStereoFactor.cpp.

model()

static SharedNoiseModel model ( noiseModel::Unit::Create(3)  )

static

p()

static Point3 p ( 0  , 0  , 5    )

static

TEST() [1/9]

TEST	(	StereoFactor	,
		Constructor
	)

Definition at line 50 of file testStereoFactor.cpp.

TEST() [2/9]

TEST	(	StereoFactor	,
		ConstructorWithTransform
	)

Definition at line 57 of file testStereoFactor.cpp.

TEST() [3/9]

TEST	(	StereoFactor	,
		Equals
	)

Definition at line 65 of file testStereoFactor.cpp.

TEST() [4/9]

TEST	(	StereoFactor	,
		EqualsWithTransform
	)

Definition at line 76 of file testStereoFactor.cpp.

TEST() [5/9]

TEST	(	StereoFactor	,
		Error
	)

Definition at line 88 of file testStereoFactor.cpp.

TEST() [6/9]

TEST	(	StereoFactor	,
		ErrorWithTransform
	)

Definition at line 108 of file testStereoFactor.cpp.

TEST() [7/9]

TEST	(	StereoFactor	,
		Jacobian
	)

Definition at line 129 of file testStereoFactor.cpp.

TEST() [8/9]

TEST	(	StereoFactor	,
		JacobianWithTransform
	)

Definition at line 156 of file testStereoFactor.cpp.

TEST() [9/9]

TEST	(	StereoFactor	,
		singlePoint
	)

Definition at line 184 of file testStereoFactor.cpp.

Variable Documentation

camera1

Pose3 camera1(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 6.25))

static