Unit tests inverse depth parametrization. More...
#include <CppUnitLite/TestHarness.h>#include <gtsam/geometry/PinholeCamera.h>#include <gtsam/nonlinear/NonlinearEquality.h>#include <gtsam/nonlinear/NonlinearFactorGraph.h>#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>#include <gtsam/inference/Symbol.h>#include <gtsam/base/numericalDerivative.h>#include <gtsam_unstable/slam/InvDepthFactor3.h>
Include dependency graph for testInvDepthFactor3.cpp:
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Typedefs | |
| typedef InvDepthFactor3< Pose3, Vector5, double > | InverseDepthFactor |
| typedef NonlinearEquality< Pose3 > | PoseConstraint |
Functions | |
| Matrix | factorError (const Pose3 &pose, const Vector5 &point, double invDepth, const InverseDepthFactor &factor) |
| static Cal3_S2::shared_ptr | K (new Cal3_S2(1500, 1200, 0, 640, 480)) |
| PinholeCamera< Cal3_S2 > | level_camera (level_pose, *K) |
| int | main () |
| static SharedNoiseModel | sigma (noiseModel::Unit::Create(2)) |
| TEST (InvDepthFactor, optimize) | |
| TEST (InvDepthFactor, Jacobian3D) | |
Variables | |
| Pose3 | level_pose = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1)) |
Detailed Description
Unit tests inverse depth parametrization.
- Date
- Apr 13, 2012
Definition in file testInvDepthFactor3.cpp.
Typedef Documentation
◆ InverseDepthFactor
| typedef InvDepthFactor3<Pose3, Vector5, double> InverseDepthFactor |
Definition at line 39 of file testInvDepthFactor3.cpp.
◆ PoseConstraint
| typedef NonlinearEquality<Pose3> PoseConstraint |
Definition at line 40 of file testInvDepthFactor3.cpp.
Function Documentation
◆ factorError()
| Matrix factorError | ( | const Pose3 & | pose, |
| const Vector5 & | point, | ||
| double | invDepth, | ||
| const InverseDepthFactor & | factor | ||
| ) |
Definition at line 42 of file testInvDepthFactor3.cpp.
◆ K()
|
static |
◆ level_camera()
| PinholeCamera<Cal3_S2> level_camera | ( | level_pose | , |
| * | K | ||
| ) |
◆ main()
| int main | ( | void | ) |
Definition at line 158 of file testInvDepthFactor3.cpp.
◆ sigma()
|
static |
◆ TEST() [1/2]
| TEST | ( | InvDepthFactor | , |
| optimize | |||
| ) |
Add a second camera
Definition at line 48 of file testInvDepthFactor3.cpp.
◆ TEST() [2/2]
| TEST | ( | InvDepthFactor | , |
| Jacobian3D | |||
| ) |
Definition at line 111 of file testInvDepthFactor3.cpp.
Variable Documentation
◆ level_pose
| Pose3 level_pose = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1)) |
Definition at line 36 of file testInvDepthFactor3.cpp.