testProjectionFactor.cpp File Reference

Unit tests for ProjectionFactor Class. More...

#include <gtsam/slam/ProjectionFactor.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 <gtsam/base/TestableAssertions.h>
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testProjectionFactor.cpp:

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Typedefs
typedef GenericProjectionFactor< Pose3, Point3 >	TestProjectionFactor

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

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

Detailed Description

Unit tests for ProjectionFactor Class.

Unit tests for ProjectionFactorPPP Class.

Author

Frank Dellaert

Date

Nov 2009

Author

Chris Beall

Date

July 2014

Definition in file testProjectionFactor.cpp.

Typedef Documentation

TestProjectionFactor

typedef GenericProjectionFactor<Pose3, Point3> TestProjectionFactor

Definition at line 44 of file testProjectionFactor.cpp.

Function Documentation

K()

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

static

main()

int main

(

)

Definition at line 192 of file testProjectionFactor.cpp.

model()

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

static

TEST() [1/9]

TEST	(	ProjectionFactor	,
		Constructor
	)

Definition at line 52 of file testProjectionFactor.cpp.

TEST() [2/9]

TEST	(	ProjectionFactor	,
		ConstructorWithTransform
	)

Definition at line 62 of file testProjectionFactor.cpp.

TEST() [3/9]

TEST	(	ProjectionFactor	,
		Equals
	)

Definition at line 73 of file testProjectionFactor.cpp.

TEST() [4/9]

TEST	(	ProjectionFactor	,
		EqualsWithTransform
	)

Definition at line 84 of file testProjectionFactor.cpp.

TEST() [5/9]

TEST	(	ProjectionFactor	,
		Error
	)

Definition at line 96 of file testProjectionFactor.cpp.

TEST() [6/9]

TEST	(	ProjectionFactor	,
		ErrorWithTransform
	)

Definition at line 118 of file testProjectionFactor.cpp.

TEST() [7/9]

TEST	(	ProjectionFactor	,
		Jacobian
	)

Definition at line 141 of file testProjectionFactor.cpp.

TEST() [8/9]

TEST	(	ProjectionFactor	,
		JacobianWithTransform
	)

Definition at line 166 of file testProjectionFactor.cpp.

TEST() [9/9]

TEST	(	ProjectionFactor	,
		nonStandard
	)

Definition at line 47 of file testProjectionFactor.cpp.

Variable Documentation

fov

double fov = 60

static

Definition at line 33 of file testProjectionFactor.cpp.

h

size_t h =480

static

Definition at line 34 of file testProjectionFactor.cpp.

w

size_t w =640

static

Definition at line 34 of file testProjectionFactor.cpp.