Unit tests for Shonan Averaging algorithm. More...
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/sfm/ShonanAveraging.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/FrobeniusFactor.h>
#include <algorithm>
#include <iostream>
#include <map>
#include <random>
Go to the source code of this file.
Namespaces | |
klaus | |
Typedefs | |
template<size_t d> | |
using | Pose = typename std::conditional< d==2, Pose2, Pose3 >::type |
template<size_t d> | |
using | Rot = typename std::conditional< d==2, Rot2, Rot3 >::type |
Functions | |
ShonanAveraging3 | fromExampleName (const std::string &name, ShonanAveraging3::Parameters parameters=ShonanAveraging3::Parameters()) |
static std::mt19937 | kRandomNumberGenerator (42) |
int | main () |
TEST (ShonanAveraging2, noisyToyGraph) | |
TEST (ShonanAveraging2, noisyToyGraphWithHuber) | |
TEST (ShonanAveraging3, BinaryMeasurements) | |
TEST (ShonanAveraging3, buildGraphAt) | |
TEST (ShonanAveraging3, checkConstructor) | |
TEST (ShonanAveraging3, checkOptimality) | |
TEST (ShonanAveraging3, checkSubgraph) | |
TEST (ShonanAveraging3, CheckWithEigen) | |
TEST (ShonanAveraging3, initializeWithDescent) | |
TEST (ShonanAveraging3, LiftTo) | |
TEST (ShonanAveraging3, PriorWeights) | |
TEST (ShonanAveraging3, run) | |
TEST (ShonanAveraging3, runKlaus) | |
TEST (ShonanAveraging3, runKlausKarcher) | |
TEST (ShonanAveraging3, TangentVectorValues) | |
TEST (ShonanAveraging3, tryOptimizingAt3) | |
TEST (ShonanAveraging3, tryOptimizingAt4) | |
Variables | |
static const ShonanAveraging3 | kShonan = fromExampleName("toyExample.g2o") |
const Rot3 | klaus::wR0 (0.9992281076190063, -0.02676080288219576, -0.024497002638379624, -0.015064701622500615) |
const Rot3 | klaus::wR1 (0.998239108728862, -0.049543805396343954, -0.03232420352077356, -0.004386230477751116) |
const Rot3 | klaus::wR2 (0.9925378735259738, -0.07993768981394891, 0.0825062894866454, -0.04088089479075661) |
Unit tests for Shonan Averaging algorithm.
Timing script for Shonan Averaging algorithm.
Definition in file testShonanAveraging.cpp.
Definition at line 37 of file testShonanAveraging.cpp.
Definition at line 34 of file testShonanAveraging.cpp.
ShonanAveraging3 fromExampleName | ( | const std::string & | name, |
ShonanAveraging3::Parameters | parameters = ShonanAveraging3::Parameters() |
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) |
Definition at line 39 of file testShonanAveraging.cpp.
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static |
int main | ( | ) |
Definition at line 435 of file testShonanAveraging.cpp.
TEST | ( | ShonanAveraging2 | , |
noisyToyGraph | |||
) |
Definition at line 332 of file testShonanAveraging.cpp.
TEST | ( | ShonanAveraging2 | , |
noisyToyGraphWithHuber | |||
) |
Definition at line 352 of file testShonanAveraging.cpp.
TEST | ( | ShonanAveraging3 | , |
BinaryMeasurements | |||
) |
Definition at line 423 of file testShonanAveraging.cpp.
TEST | ( | ShonanAveraging3 | , |
buildGraphAt | |||
) |
Definition at line 74 of file testShonanAveraging.cpp.
TEST | ( | ShonanAveraging3 | , |
checkConstructor | |||
) |
Definition at line 51 of file testShonanAveraging.cpp.
TEST | ( | ShonanAveraging3 | , |
checkOptimality | |||
) |
Definition at line 80 of file testShonanAveraging.cpp.
TEST | ( | ShonanAveraging3 | , |
checkSubgraph | |||
) |
Definition at line 96 of file testShonanAveraging.cpp.
TEST | ( | ShonanAveraging3 | , |
CheckWithEigen | |||
) |
Definition at line 168 of file testShonanAveraging.cpp.
TEST | ( | ShonanAveraging3 | , |
initializeWithDescent | |||
) |
Definition at line 219 of file testShonanAveraging.cpp.
TEST | ( | ShonanAveraging3 | , |
LiftTo | |||
) |
Definition at line 160 of file testShonanAveraging.cpp.
TEST | ( | ShonanAveraging3 | , |
PriorWeights | |||
) |
Definition at line 391 of file testShonanAveraging.cpp.
TEST | ( | ShonanAveraging3 | , |
run | |||
) |
Definition at line 231 of file testShonanAveraging.cpp.
TEST | ( | ShonanAveraging3 | , |
runKlaus | |||
) |
Definition at line 250 of file testShonanAveraging.cpp.
TEST | ( | ShonanAveraging3 | , |
runKlausKarcher | |||
) |
Definition at line 308 of file testShonanAveraging.cpp.
TEST | ( | ShonanAveraging3 | , |
TangentVectorValues | |||
) |
Definition at line 146 of file testShonanAveraging.cpp.
TEST | ( | ShonanAveraging3 | , |
tryOptimizingAt3 | |||
) |
Definition at line 117 of file testShonanAveraging.cpp.
TEST | ( | ShonanAveraging3 | , |
tryOptimizingAt4 | |||
) |
Definition at line 132 of file testShonanAveraging.cpp.
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static |
Definition at line 46 of file testShonanAveraging.cpp.