testInvDepthFactor3.cpp File Reference

#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_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
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)

Variables
Pose3	level_pose = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1))

Typedef Documentation

typedef InvDepthFactor3<Pose3, Vector5, double> InverseDepthFactor

Definition at line 28 of file testInvDepthFactor3.cpp.

typedef NonlinearEquality<Pose3> PoseConstraint

Definition at line 29 of file testInvDepthFactor3.cpp.

Function Documentation

static Cal3_S2::shared_ptr K ( new   Cal3_S21500, 1200, 0, 640, 480 )

static

PinholeCamera<Cal3_S2> level_camera	(	level_pose	,
		*	K
	)

int main

(

void

)

Definition at line 96 of file testInvDepthFactor3.cpp.

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

static

TEST	(	InvDepthFactor	,
		optimize
	)

Add a second camera

Definition at line 32 of file testInvDepthFactor3.cpp.

Variable Documentation

Pose3 level_pose = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1))

Definition at line 25 of file testInvDepthFactor3.cpp.