#include <CppUnitLite/TestHarness.h>#include <gtsam/geometry/Cal3_S2.h>#include <gtsam/geometry/SimpleCamera.h>#include <gtsam/nonlinear/factorTesting.h>#include <gtsam/sfm/TransferFactor.h>#include <memory>
Include dependency graph for testTransferFactor.cpp:
Go to the source code of this file.
Namespaces | |
| fixture | |
Functions | |
| std::array< Pose3, 3 > | generateCameraPoses () |
| Generate three cameras on a circle, looking inwards. More... | |
| TripleF< SimpleFundamentalMatrix > | generateTripleF (const std::array< Pose3, 3 > &cameraPoses) |
| int | main () |
| Point2 | fixture::principalPoint (640/2, 480/2) |
| TEST (EssentialTransferFactor, Jacobians) | |
| TEST (EssentialTransferFactorK, Jacobians) | |
| TEST (TransferFactor, GetMatrices) | |
| TEST (TransferFactor, Jacobians) | |
| TEST (TransferFactor, MultipleTuples) | |
Variables | |
| const Cal3_S2 | fixture::cal (focalLength, focalLength, 0.0, principalPoint.x(), principalPoint.y()) |
| std::array< Pose3, 3 > | fixture::cameraPoses = generateCameraPoses() |
| std::array< PinholeCamera< Cal3_S2 >, 3 > | fixture::cameras |
| auto | fixture::f = [](const Pose3& pose) { return PinholeCamera<Cal3_S2>(pose, cal); } |
| double | fixture::focalLength = 1000 |
| auto | fixture::triplet = generateTripleF(cameraPoses) |
Function Documentation
◆ generateCameraPoses()
| std::array<Pose3, 3> generateCameraPoses | ( | ) |
Generate three cameras on a circle, looking inwards.
Definition at line 21 of file testTransferFactor.cpp.
◆ generateTripleF()
| TripleF<SimpleFundamentalMatrix> generateTripleF | ( | const std::array< Pose3, 3 > & | cameraPoses | ) |
Definition at line 35 of file testTransferFactor.cpp.
◆ main()
| int main | ( | ) |
Definition at line 250 of file testTransferFactor.cpp.
◆ TEST() [1/5]
| TEST | ( | EssentialTransferFactor | , |
| Jacobians | |||
| ) |
Definition at line 158 of file testTransferFactor.cpp.
◆ TEST() [2/5]
| TEST | ( | EssentialTransferFactorK | , |
| Jacobians | |||
| ) |
Definition at line 202 of file testTransferFactor.cpp.
◆ TEST() [3/5]
| TEST | ( | TransferFactor | , |
| GetMatrices | |||
| ) |
Definition at line 65 of file testTransferFactor.cpp.
◆ TEST() [4/5]
| TEST | ( | TransferFactor | , |
| Jacobians | |||
| ) |
Definition at line 77 of file testTransferFactor.cpp.
◆ TEST() [5/5]
| TEST | ( | TransferFactor | , |
| MultipleTuples | |||
| ) |
Definition at line 110 of file testTransferFactor.cpp.