Unit test for StereoFactor. More...
#include <gtsam/slam/StereoFactor.h>
#include <gtsam/nonlinear/NonlinearEquality.h>
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/geometry/StereoCamera.h>
#include <gtsam/geometry/Cal3_S2Stereo.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Point3.h>
#include <CppUnitLite/TestHarness.h>
Go to the source code of this file.
Typedefs | |
typedef GenericStereoFactor< Pose3, Point3 > | TestStereoFactor |
Functions | |
static std::shared_ptr< Cal3_S2Stereo > | K (new Cal3_S2Stereo(625, 625, 0, 320, 240, 0.5)) |
int | main () |
static SharedNoiseModel | model (noiseModel::Unit::Create(3)) |
static Point3 | p (0, 0, 5) |
TEST (StereoFactor, Constructor) | |
TEST (StereoFactor, ConstructorWithTransform) | |
TEST (StereoFactor, Equals) | |
TEST (StereoFactor, EqualsWithTransform) | |
TEST (StereoFactor, Error) | |
TEST (StereoFactor, ErrorWithTransform) | |
TEST (StereoFactor, Jacobian) | |
TEST (StereoFactor, JacobianWithTransform) | |
TEST (StereoFactor, singlePoint) | |
Variables | |
static Pose3 | camera1 (Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 6.25)) |
Unit test for StereoFactor.
Definition in file testStereoFactor.cpp.
typedef GenericStereoFactor<Pose3, Point3> TestStereoFactor |
Definition at line 47 of file testStereoFactor.cpp.
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int main | ( | ) |
Definition at line 217 of file testStereoFactor.cpp.
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TEST | ( | StereoFactor | , |
Constructor | |||
) |
Definition at line 50 of file testStereoFactor.cpp.
TEST | ( | StereoFactor | , |
ConstructorWithTransform | |||
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Definition at line 57 of file testStereoFactor.cpp.
TEST | ( | StereoFactor | , |
Equals | |||
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Definition at line 65 of file testStereoFactor.cpp.
TEST | ( | StereoFactor | , |
EqualsWithTransform | |||
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Definition at line 76 of file testStereoFactor.cpp.
TEST | ( | StereoFactor | , |
Error | |||
) |
Definition at line 88 of file testStereoFactor.cpp.
TEST | ( | StereoFactor | , |
ErrorWithTransform | |||
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Definition at line 108 of file testStereoFactor.cpp.
TEST | ( | StereoFactor | , |
Jacobian | |||
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Definition at line 129 of file testStereoFactor.cpp.
TEST | ( | StereoFactor | , |
JacobianWithTransform | |||
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Definition at line 156 of file testStereoFactor.cpp.
TEST | ( | StereoFactor | , |
singlePoint | |||
) |
Definition at line 184 of file testStereoFactor.cpp.