testProjectionFactorPPP.cpp File Reference

#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam_unstable/slam/ProjectionFactorPPP.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/geometry/Cal3DS2.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Point2.h>
#include <CppUnitLite/TestHarness.h>
#include <boost/bind.hpp>

Include dependency graph for testProjectionFactorPPP.cpp:

Go to the source code of this file.

Classes
struct	gtsam::traits< TestProjectionFactor >

Namespaces
	gtsam
	traits

Typedefs
typedef ProjectionFactorPPP< Pose3, Point3 >	TestProjectionFactor

Functions
static Cal3_S2::shared_ptr	K (new Cal3_S2(fov, w, h))
int	main ()
static SharedNoiseModel	model (noiseModel::Unit::Create(2))
	TEST (ProjectionFactorPPP, nonStandard)
	TEST (ProjectionFactorPPP, Constructor)
	TEST (ProjectionFactorPPP, ConstructorWithTransform)
	TEST (ProjectionFactorPPP, Equals)
	TEST (ProjectionFactorPPP, EqualsWithTransform)
	TEST (ProjectionFactorPPP, Error)
	TEST (ProjectionFactorPPP, ErrorWithTransform)
	TEST (ProjectionFactorPPP, Jacobian)
	TEST (ProjectionFactorPPP, JacobianWithTransform)

Variables
static double	fov = 60
static size_t	h =480
static size_t	w =640

Typedef Documentation

typedef ProjectionFactorPPP<Pose3, Point3> TestProjectionFactor

Definition at line 49 of file testProjectionFactorPPP.cpp.

Function Documentation

static Cal3_S2::shared_ptr K ( new   Cal3_S2fov, w, h )

static

int main

(

void

)

Definition at line 226 of file testProjectionFactorPPP.cpp.

static SharedNoiseModel model ( noiseModel::Unit::Create(2)  )

static

TEST	(	ProjectionFactorPPP	,
		nonStandard
	)

Definition at line 59 of file testProjectionFactorPPP.cpp.

TEST	(	ProjectionFactorPPP	,
		Constructor
	)

Definition at line 64 of file testProjectionFactorPPP.cpp.

TEST	(	ProjectionFactorPPP	,
		ConstructorWithTransform
	)

Definition at line 75 of file testProjectionFactorPPP.cpp.

TEST	(	ProjectionFactorPPP	,
		Equals
	)

Definition at line 85 of file testProjectionFactorPPP.cpp.

TEST	(	ProjectionFactorPPP	,
		EqualsWithTransform
	)

Definition at line 96 of file testProjectionFactorPPP.cpp.

TEST	(	ProjectionFactorPPP	,
		Error
	)

Definition at line 108 of file testProjectionFactorPPP.cpp.

TEST	(	ProjectionFactorPPP	,
		ErrorWithTransform
	)

Definition at line 131 of file testProjectionFactorPPP.cpp.

TEST	(	ProjectionFactorPPP	,
		Jacobian
	)

Definition at line 155 of file testProjectionFactorPPP.cpp.

TEST	(	ProjectionFactorPPP	,
		JacobianWithTransform
	)

Definition at line 189 of file testProjectionFactorPPP.cpp.

Variable Documentation

double fov = 60

static

Definition at line 37 of file testProjectionFactorPPP.cpp.

size_t h =480

static

Definition at line 38 of file testProjectionFactorPPP.cpp.

size_t w =640

static

Definition at line 38 of file testProjectionFactorPPP.cpp.