Typedefs | Functions | Variables
testInvDepthFactor3.cpp File Reference

Unit tests inverse depth parametrization. More...

#include <CppUnitLite/TestHarness.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/nonlinear/NonlinearEquality.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam_unstable/slam/InvDepthFactor3.h>
Include dependency graph for testInvDepthFactor3.cpp:

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Typedefs

typedef InvDepthFactor3< Pose3, Vector5, double > InverseDepthFactor
 
typedef NonlinearEquality< Pose3PoseConstraint
 

Functions

Matrix factorError (const Pose3 &pose, const Vector5 &point, double invDepth, const InverseDepthFactor &factor)
 
static Cal3_S2::shared_ptr K (new Cal3_S2(1500, 1200, 0, 640, 480))
 
PinholeCamera< Cal3_S2level_camera (level_pose, *K)
 
int main ()
 
static SharedNoiseModel sigma (noiseModel::Unit::Create(2))
 
 TEST (InvDepthFactor, Jacobian3D)
 
 TEST (InvDepthFactor, optimize)
 

Variables

Pose3 level_pose = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1))
 

Detailed Description

Unit tests inverse depth parametrization.

Author
cbeall3
Dominik Van Opdenbosch
Date
Apr 13, 2012

Definition in file testInvDepthFactor3.cpp.

Typedef Documentation

◆ InverseDepthFactor

typedef InvDepthFactor3<Pose3, Vector5, double> InverseDepthFactor

Definition at line 39 of file testInvDepthFactor3.cpp.

◆ PoseConstraint

Definition at line 40 of file testInvDepthFactor3.cpp.

Function Documentation

◆ factorError()

Matrix factorError ( const Pose3 pose,
const Vector5 &  point,
double  invDepth,
const InverseDepthFactor factor 
)

Definition at line 42 of file testInvDepthFactor3.cpp.

◆ K()

static Cal3_S2::shared_ptr K ( new   Cal3_S21500, 1200, 0, 640, 480)
static

◆ level_camera()

PinholeCamera<Cal3_S2> level_camera ( level_pose  ,
K 
)

◆ main()

int main ( )

Definition at line 158 of file testInvDepthFactor3.cpp.

◆ sigma()

static SharedNoiseModel sigma ( noiseModel::Unit::Create(2)  )
static

◆ TEST() [1/2]

TEST ( InvDepthFactor  ,
Jacobian3D   
)

Definition at line 111 of file testInvDepthFactor3.cpp.

◆ TEST() [2/2]

TEST ( InvDepthFactor  ,
optimize   
)

Add a second camera

Definition at line 48 of file testInvDepthFactor3.cpp.

Variable Documentation

◆ level_pose

Pose3 level_pose = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1))

Definition at line 36 of file testInvDepthFactor3.cpp.



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autogenerated on Fri Nov 1 2024 03:43:25