testProjectionFactorPPPC.cpp File Reference

Unit tests for Pose+Transform+Calibration ProjectionFactor Class. More...

#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam_unstable/slam/ProjectionFactorPPPC.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/geometry/Cal3DS2.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Point2.h>
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testProjectionFactorPPPC.cpp:

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Typedefs
typedef ProjectionFactorPPPC< Pose3, Point3, Cal3_S2 >	TestProjectionFactor

Functions
static Cal3_S2::shared_ptr	K1 (new Cal3_S2(fov, w, h))
int	main ()
static SharedNoiseModel	model (noiseModel::Unit::Create(2))
	TEST (ProjectionFactorPPPC, Constructor)
	TEST (ProjectionFactorPPPC, Equals)
	TEST (ProjectionFactorPPPC, Error)
	TEST (ProjectionFactorPPPC, ErrorWithTransform)
	TEST (ProjectionFactorPPPC, Jacobian)
	TEST (ProjectionFactorPPPC, JacobianWithTransform)
	TEST (ProjectionFactorPPPC, nonStandard)

Variables
static double	fov = 60
static size_t	h =480
static size_t	w =640

Detailed Description

Unit tests for Pose+Transform+Calibration ProjectionFactor Class.

Author

Chris Beall

Date

Jul 29, 2014

Definition in file testProjectionFactorPPPC.cpp.

Typedef Documentation

TestProjectionFactor

typedef ProjectionFactorPPPC<Pose3, Point3, Cal3_S2> TestProjectionFactor

Definition at line 49 of file testProjectionFactorPPPC.cpp.

Function Documentation

K1()

static Cal3_S2::shared_ptr K1 ( new   Cal3_S2fov, w, h )

static

main()

int main

(

)

Definition at line 192 of file testProjectionFactorPPPC.cpp.

model()

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

static

TEST() [1/7]

TEST	(	ProjectionFactorPPPC	,
		Constructor
	)

Definition at line 57 of file testProjectionFactorPPPC.cpp.

TEST() [2/7]

TEST	(	ProjectionFactorPPPC	,
		Equals
	)

Definition at line 64 of file testProjectionFactorPPPC.cpp.

TEST() [3/7]

TEST	(	ProjectionFactorPPPC	,
		Error
	)

Definition at line 75 of file testProjectionFactorPPPC.cpp.

TEST() [4/7]

TEST	(	ProjectionFactorPPPC	,
		ErrorWithTransform
	)

Definition at line 95 of file testProjectionFactorPPPC.cpp.

TEST() [5/7]

TEST	(	ProjectionFactorPPPC	,
		Jacobian
	)

Definition at line 116 of file testProjectionFactorPPPC.cpp.

TEST() [6/7]

TEST	(	ProjectionFactorPPPC	,
		JacobianWithTransform
	)

Definition at line 151 of file testProjectionFactorPPPC.cpp.

TEST() [7/7]

TEST	(	ProjectionFactorPPPC	,
		nonStandard
	)

Definition at line 52 of file testProjectionFactorPPPC.cpp.

Variable Documentation

fov

double fov = 60

static

Definition at line 36 of file testProjectionFactorPPPC.cpp.

h

size_t h =480

static

Definition at line 37 of file testProjectionFactorPPPC.cpp.

w

size_t w =640

static

Definition at line 37 of file testProjectionFactorPPPC.cpp.