Functions | Variables
testProjectionFactorRollingShutter.cpp File Reference
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Cal3DS2.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam_unstable/slam/ProjectionFactorRollingShutter.h>
Include dependency graph for testProjectionFactorRollingShutter.cpp:

Go to the source code of this file.

Functions

static Cal3_S2::shared_ptr K (new Cal3_S2(fov, w, h))
 
int main ()
 
static Point2 measurement (323.0, 240.0)
 
static SharedNoiseModel model (noiseModel::Unit::Create(2))
 
static Key pointKey (L(1))
 
static Key poseKey1 (X(1))
 
static Key poseKey2 (X(2))
 
 TEST (ProjectionFactorRollingShutter, cheirality)
 
 TEST (ProjectionFactorRollingShutter, Constructor)
 
 TEST (ProjectionFactorRollingShutter, ConstructorWithTransform)
 
 TEST (ProjectionFactorRollingShutter, Equals)
 
 TEST (ProjectionFactorRollingShutter, EqualsWithTransform)
 
 TEST (ProjectionFactorRollingShutter, Error)
 
 TEST (ProjectionFactorRollingShutter, ErrorWithTransform)
 
 TEST (ProjectionFactorRollingShutter, Jacobian)
 
 TEST (ProjectionFactorRollingShutter, JacobianWithTransform)
 

Variables

static Pose3 body_P_sensor (Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0))
 
static double fov = 60
 
static size_t h = 480
 
static double interp_params = 0.5
 
static size_t w = 640
 

Function Documentation

◆ K()

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

◆ main()

int main ( )

Definition at line 373 of file testProjectionFactorRollingShutter.cpp.

◆ measurement()

static Point2 measurement ( 323.  0,
240.  0 
)
static

◆ model()

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

◆ pointKey()

static Key pointKey ( L(1)  )
static

◆ poseKey1()

static Key poseKey1 ( X(1)  )
static

◆ poseKey2()

static Key poseKey2 ( X(2)  )
static

◆ TEST() [1/9]

TEST ( ProjectionFactorRollingShutter  ,
cheirality   
)

Definition at line 284 of file testProjectionFactorRollingShutter.cpp.

◆ TEST() [2/9]

TEST ( ProjectionFactorRollingShutter  ,
Constructor   
)

Definition at line 57 of file testProjectionFactorRollingShutter.cpp.

◆ TEST() [3/9]

TEST ( ProjectionFactorRollingShutter  ,
ConstructorWithTransform   
)

Definition at line 63 of file testProjectionFactorRollingShutter.cpp.

◆ TEST() [4/9]

TEST ( ProjectionFactorRollingShutter  ,
Equals   
)

Definition at line 70 of file testProjectionFactorRollingShutter.cpp.

◆ TEST() [5/9]

TEST ( ProjectionFactorRollingShutter  ,
EqualsWithTransform   
)

Definition at line 95 of file testProjectionFactorRollingShutter.cpp.

◆ TEST() [6/9]

TEST ( ProjectionFactorRollingShutter  ,
Error   
)

Definition at line 120 of file testProjectionFactorRollingShutter.cpp.

◆ TEST() [7/9]

TEST ( ProjectionFactorRollingShutter  ,
ErrorWithTransform   
)

Definition at line 189 of file testProjectionFactorRollingShutter.cpp.

◆ TEST() [8/9]

TEST ( ProjectionFactorRollingShutter  ,
Jacobian   
)

Definition at line 215 of file testProjectionFactorRollingShutter.cpp.

◆ TEST() [9/9]

TEST ( ProjectionFactorRollingShutter  ,
JacobianWithTransform   
)

Definition at line 249 of file testProjectionFactorRollingShutter.cpp.

Variable Documentation

◆ body_P_sensor

Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0))
static

◆ fov

double fov = 60
static

Definition at line 35 of file testProjectionFactorRollingShutter.cpp.

◆ h

size_t h = 480
static

Definition at line 36 of file testProjectionFactorRollingShutter.cpp.

◆ interp_params

double interp_params = 0.5
static

Definition at line 51 of file testProjectionFactorRollingShutter.cpp.

◆ w

size_t w = 640
static

Definition at line 36 of file testProjectionFactorRollingShutter.cpp.



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autogenerated on Fri Nov 1 2024 03:43:26