Typedefs | Functions | Variables
testStereoFactor.cpp File Reference

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>
Include dependency graph for testStereoFactor.cpp:

Go to the source code of this file.

Typedefs

typedef GenericStereoFactor< Pose3, Point3TestStereoFactor
 

Functions

static std::shared_ptr< Cal3_S2StereoK (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))
 

Detailed Description

Unit test for StereoFactor.

Author
Chris Beall

Definition in file testStereoFactor.cpp.

Typedef Documentation

◆ TestStereoFactor

Definition at line 47 of file testStereoFactor.cpp.

Function Documentation

◆ K()

static std::shared_ptr<Cal3_S2Stereo> K ( new   Cal3_S2Stereo625, 625, 0, 320, 240, 0.5)
static

◆ main()

int main ( )

Definition at line 217 of file testStereoFactor.cpp.

◆ model()

static SharedNoiseModel model ( noiseModel::Unit::Create(3)  )
static

◆ p()

static Point3 p ( ,
,
 
)
static

◆ TEST() [1/9]

TEST ( StereoFactor  ,
Constructor   
)

Definition at line 50 of file testStereoFactor.cpp.

◆ TEST() [2/9]

TEST ( StereoFactor  ,
ConstructorWithTransform   
)

Definition at line 57 of file testStereoFactor.cpp.

◆ TEST() [3/9]

TEST ( StereoFactor  ,
Equals   
)

Definition at line 65 of file testStereoFactor.cpp.

◆ TEST() [4/9]

TEST ( StereoFactor  ,
EqualsWithTransform   
)

Definition at line 76 of file testStereoFactor.cpp.

◆ TEST() [5/9]

TEST ( StereoFactor  ,
Error   
)

Definition at line 88 of file testStereoFactor.cpp.

◆ TEST() [6/9]

TEST ( StereoFactor  ,
ErrorWithTransform   
)

Definition at line 108 of file testStereoFactor.cpp.

◆ TEST() [7/9]

TEST ( StereoFactor  ,
Jacobian   
)

Definition at line 129 of file testStereoFactor.cpp.

◆ TEST() [8/9]

TEST ( StereoFactor  ,
JacobianWithTransform   
)

Definition at line 156 of file testStereoFactor.cpp.

◆ TEST() [9/9]

TEST ( StereoFactor  ,
singlePoint   
)

Definition at line 184 of file testStereoFactor.cpp.

Variable Documentation

◆ camera1

Pose3 camera1(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 6.25))
static


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autogenerated on Fri Nov 1 2024 03:43:26