Unit tests for SmartStereoProjectionFactorPP Class. More...

#include <gtsam/slam/tests/smartFactorScenarios.h>
#include <gtsam_unstable/slam/SmartStereoProjectionFactorPP.h>
#include <gtsam_unstable/slam/ProjectionFactorPPP.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/slam/PoseTranslationPrior.h>
#include <gtsam/slam/ProjectionFactor.h>
#include <gtsam/slam/StereoFactor.h>
#include <CppUnitLite/TestHarness.h>
#include <iostream>

Include dependency graph for testSmartStereoProjectionFactorPP.cpp:

Go to the source code of this file.

Functions
int	main ()

	TEST (SmartProjectionPoseFactor, noiseless_error_multipleExtrinsics_missingMeasurements)

	TEST (SmartStereoProjectionFactorPP, 3poses_error_sameExtrinsicKey)

	TEST (SmartStereoProjectionFactorPP, 3poses_noisy_error_sameExtrinsicKey)

	TEST (SmartStereoProjectionFactorPP, 3poses_optimization_2ExtrinsicKeys)

	TEST (SmartStereoProjectionFactorPP, 3poses_optimization_multipleExtrinsics)

	TEST (SmartStereoProjectionFactorPP, 3poses_optimization_sameExtrinsicKey)

	TEST (SmartStereoProjectionFactorPP, Constructor)

	TEST (SmartStereoProjectionFactorPP, Constructor2)

	TEST (SmartStereoProjectionFactorPP, Constructor3)

	TEST (SmartStereoProjectionFactorPP, Constructor4)

	TEST (SmartStereoProjectionFactorPP, dynamicOutlierRejection)

	TEST (SmartStereoProjectionFactorPP, Equals)

	TEST (SmartStereoProjectionFactorPP, landmarkDistance)

	TEST (SmartStereoProjectionFactorPP, monocular_multipleExtrinsicKeys)

	TEST (SmartStereoProjectionFactorPP, noisy_error_multipleExtrinsics)

	TEST (SmartStereoProjectionFactorPP, params)

	TEST_UNSAFE (SmartStereoProjectionFactorPP, noiseless_error_identityExtrinsics)

	TEST_UNSAFE (SmartStereoProjectionFactorPP, noiseless_error_multipleExtrinsics)

Detailed Description

Unit tests for SmartStereoProjectionFactorPP Class.

Author: Luca Carlone

Date: March 2021

Definition in file testSmartStereoProjectionFactorPP.cpp.

Function Documentation

◆ main()

int main ( )

Definition at line 1270 of file testSmartStereoProjectionFactorPP.cpp.

◆ TEST() [1/16]

TEST	(	SmartProjectionPoseFactor	,
		noiseless_error_multipleExtrinsics_missingMeasurements
	)

Definition at line 243 of file testSmartStereoProjectionFactorPP.cpp.

◆ TEST() [2/16]

TEST	(	SmartStereoProjectionFactorPP	,
		3poses_error_sameExtrinsicKey
	)

Definition at line 535 of file testSmartStereoProjectionFactorPP.cpp.

◆ TEST() [3/16]

TEST	(	SmartStereoProjectionFactorPP	,
		3poses_noisy_error_sameExtrinsicKey
	)

Definition at line 614 of file testSmartStereoProjectionFactorPP.cpp.

◆ TEST() [4/16]

TEST	(	SmartStereoProjectionFactorPP	,
		3poses_optimization_2ExtrinsicKeys
	)

Definition at line 872 of file testSmartStereoProjectionFactorPP.cpp.

◆ TEST() [5/16]

TEST	(	SmartStereoProjectionFactorPP	,
		3poses_optimization_multipleExtrinsics
	)

Definition at line 372 of file testSmartStereoProjectionFactorPP.cpp.

◆ TEST() [6/16]

TEST	(	SmartStereoProjectionFactorPP	,
		3poses_optimization_sameExtrinsicKey
	)

Definition at line 750 of file testSmartStereoProjectionFactorPP.cpp.

◆ TEST() [7/16]

TEST	(	SmartStereoProjectionFactorPP	,
		Constructor
	)

Definition at line 119 of file testSmartStereoProjectionFactorPP.cpp.

◆ TEST() [8/16]

TEST	(	SmartStereoProjectionFactorPP	,
		Constructor2
	)

Definition at line 124 of file testSmartStereoProjectionFactorPP.cpp.

◆ TEST() [9/16]

TEST	(	SmartStereoProjectionFactorPP	,
		Constructor3
	)

Definition at line 129 of file testSmartStereoProjectionFactorPP.cpp.

◆ TEST() [10/16]

TEST	(	SmartStereoProjectionFactorPP	,
		Constructor4
	)

Definition at line 135 of file testSmartStereoProjectionFactorPP.cpp.

◆ TEST() [11/16]

TEST	(	SmartStereoProjectionFactorPP	,
		dynamicOutlierRejection
	)

Definition at line 1166 of file testSmartStereoProjectionFactorPP.cpp.

◆ TEST() [12/16]

TEST	(	SmartStereoProjectionFactorPP	,
		Equals
	)

Definition at line 141 of file testSmartStereoProjectionFactorPP.cpp.

◆ TEST() [13/16]

TEST	(	SmartStereoProjectionFactorPP	,
		landmarkDistance
	)

Definition at line 1089 of file testSmartStereoProjectionFactorPP.cpp.

◆ TEST() [14/16]

TEST	(	SmartStereoProjectionFactorPP	,
		monocular_multipleExtrinsicKeys
	)

Definition at line 969 of file testSmartStereoProjectionFactorPP.cpp.

◆ TEST() [15/16]

TEST	(	SmartStereoProjectionFactorPP	,
		noisy_error_multipleExtrinsics
	)

< shared pointer to calibration object (one for each camera)

Definition at line 306 of file testSmartStereoProjectionFactorPP.cpp.

◆ TEST() [16/16]

TEST	(	SmartStereoProjectionFactorPP	,
		params
	)

Definition at line 90 of file testSmartStereoProjectionFactorPP.cpp.

◆ TEST_UNSAFE() [1/2]

TEST_UNSAFE	(	SmartStereoProjectionFactorPP	,
		noiseless_error_identityExtrinsics
	)

Definition at line 162 of file testSmartStereoProjectionFactorPP.cpp.

◆ TEST_UNSAFE() [2/2]

TEST_UNSAFE	(	SmartStereoProjectionFactorPP	,
		noiseless_error_multipleExtrinsics
	)

Definition at line 199 of file testSmartStereoProjectionFactorPP.cpp.

Functions