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>
Go to the source code of this file.
Typedefs | |
typedef InvDepthFactor3< Pose3, Vector5, double > | InverseDepthFactor |
typedef NonlinearEquality< Pose3 > | PoseConstraint |
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_S2 > | level_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)) |
Unit tests inverse depth parametrization.
Definition in file testInvDepthFactor3.cpp.
typedef InvDepthFactor3<Pose3, Vector5, double> InverseDepthFactor |
Definition at line 39 of file testInvDepthFactor3.cpp.
typedef NonlinearEquality<Pose3> PoseConstraint |
Definition at line 40 of file testInvDepthFactor3.cpp.
Matrix factorError | ( | const Pose3 & | pose, |
const Vector5 & | point, | ||
double | invDepth, | ||
const InverseDepthFactor & | factor | ||
) |
Definition at line 42 of file testInvDepthFactor3.cpp.
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static |
PinholeCamera<Cal3_S2> level_camera | ( | level_pose | , |
* | K | ||
) |
int main | ( | ) |
Definition at line 158 of file testInvDepthFactor3.cpp.
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static |
TEST | ( | InvDepthFactor | , |
Jacobian3D | |||
) |
Definition at line 111 of file testInvDepthFactor3.cpp.
TEST | ( | InvDepthFactor | , |
optimize | |||
) |
Add a second camera
Definition at line 48 of file testInvDepthFactor3.cpp.
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.