testSmartProjectionPoseFactor.cpp File Reference

Unit tests for ProjectionFactor Class. More...

#include "smartFactorScenarios.h"
#include <gtsam/slam/ProjectionFactor.h>
#include <gtsam/slam/PoseTranslationPrior.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/serializationTestHelpers.h>
#include <CppUnitLite/TestHarness.h>
#include <boost/assign/std/map.hpp>
#include <iostream>

Include dependency graph for testSmartProjectionPoseFactor.cpp:

Go to the source code of this file.

Functions
	BOOST_CLASS_EXPORT_GUID (gtsam::noiseModel::Constrained,"gtsam_noiseModel_Constrained")
	BOOST_CLASS_EXPORT_GUID (gtsam::noiseModel::Diagonal,"gtsam_noiseModel_Diagonal")
	BOOST_CLASS_EXPORT_GUID (gtsam::noiseModel::Gaussian,"gtsam_noiseModel_Gaussian")
	BOOST_CLASS_EXPORT_GUID (gtsam::noiseModel::Unit,"gtsam_noiseModel_Unit")
	BOOST_CLASS_EXPORT_GUID (gtsam::noiseModel::Isotropic,"gtsam_noiseModel_Isotropic")
	BOOST_CLASS_EXPORT_GUID (gtsam::SharedNoiseModel,"gtsam_SharedNoiseModel")
	BOOST_CLASS_EXPORT_GUID (gtsam::SharedDiagonal,"gtsam_SharedDiagonal")
int	main ()
static Point2	measurement1 (323.0, 240.0)
static SharedIsotropic	model (noiseModel::Isotropic::Sigma(2, sigma))
	TEST (SmartProjectionPoseFactor, Constructor)
	TEST (SmartProjectionPoseFactor, Constructor2)
	TEST (SmartProjectionPoseFactor, Constructor3)
	TEST (SmartProjectionPoseFactor, Constructor4)
	TEST (SmartProjectionPoseFactor, params)
	TEST (SmartProjectionPoseFactor, Equals)
	TEST (SmartProjectionPoseFactor, noiseless)
	TEST (SmartProjectionPoseFactor, noisy)
	TEST (SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform)
	TEST (SmartProjectionPoseFactor, 3poses_smart_projection_factor)
	TEST (SmartProjectionPoseFactor, Factors)
	TEST (SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor)
	TEST (SmartProjectionPoseFactor, jacobianSVD)
	TEST (SmartProjectionPoseFactor, landmarkDistance)
	TEST (SmartProjectionPoseFactor, dynamicOutlierRejection)
	TEST (SmartProjectionPoseFactor, jacobianQ)
	TEST (SmartProjectionPoseFactor, 3poses_projection_factor)
	TEST (SmartProjectionPoseFactor, CheckHessian)
	TEST (SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_factor)
	TEST (SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor)
	TEST (SmartProjectionPoseFactor, Hessian)
	TEST (SmartProjectionPoseFactor, HessianWithRotation)
	TEST (SmartProjectionPoseFactor, HessianWithRotationDegenerate)
	TEST (SmartProjectionPoseFactor, ConstructorWithCal3Bundler)
	TEST (SmartProjectionPoseFactor, Cal3Bundler)
	TEST (SmartProjectionPoseFactor, Cal3BundlerRotationOnly)
	TEST (SmartProjectionPoseFactor, serialize)
	TEST (SmartProjectionPoseFactor, serialize2)

Variables
LevenbergMarquardtParams	lmParams
static const double	rankTol = 1.0
static const double	sigma = 0.1
static Symbol	x1 ('X', 1)
static Symbol	x2 ('X', 2)
static Symbol	x3 ('X', 3)

Detailed Description

Unit tests for ProjectionFactor Class.

Author

Chris Beall

Luca Carlone

Zsolt Kira

Frank Dellaert

Date

Sept 2013

Definition in file testSmartProjectionPoseFactor.cpp.

Function Documentation

BOOST_CLASS_EXPORT_GUID	(	gtsam::noiseModel::Constrained	,
		"gtsam_noiseModel_Constrained"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::noiseModel::Diagonal	,
		"gtsam_noiseModel_Diagonal"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::noiseModel::Gaussian	,
		"gtsam_noiseModel_Gaussian"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::noiseModel::Unit	,
		"gtsam_noiseModel_Unit"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::noiseModel::Isotropic	,
		"gtsam_noiseModel_Isotropic"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::SharedNoiseModel	,
		"gtsam_SharedNoiseModel"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::SharedDiagonal	,
		"gtsam_SharedDiagonal"
	)

int main

(

void

)

Definition at line 1376 of file testSmartProjectionPoseFactor.cpp.

static Point2 measurement1 ( 323.  0, 240.  0  )

static

static SharedIsotropic model ( noiseModel::Isotropic::Sigma(2, sigma)  )

static

TEST	(	SmartProjectionPoseFactor	,
		Constructor
	)

Definition at line 55 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		Constructor2
	)

Definition at line 61 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		Constructor3
	)

Definition at line 69 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		Constructor4
	)

Definition at line 76 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		params
	)

Definition at line 85 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		Equals
	)

Definition at line 96 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		noiseless
	)

Definition at line 108 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		noisy
	)

Definition at line 166 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		smartFactorWithSensorBodyTransform
	)

Definition at line 200 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		3poses_smart_projection_factor
	)

Definition at line 275 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		Factors
	)

Definition at line 336 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		3poses_iterative_smart_projection_factor
	)

Definition at line 500 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		jacobianSVD
	)

Definition at line 554 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		landmarkDistance
	)

Definition at line 610 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		dynamicOutlierRejection
	)

Definition at line 669 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		jacobianQ
	)

Definition at line 735 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		3poses_projection_factor
	)

Definition at line 786 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		CheckHessian
	)

Definition at line 833 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		3poses_2land_rotation_only_smart_projection_factor
	)

Definition at line 915 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		3poses_rotation_only_smart_projection_factor
	)

Definition at line 969 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		Hessian
	)

Definition at line 1052 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		HessianWithRotation
	)

Definition at line 1083 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		HessianWithRotationDegenerate
	)

Definition at line 1134 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		ConstructorWithCal3Bundler
	)

Definition at line 1186 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		Cal3Bundler
	)

Definition at line 1195 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		Cal3BundlerRotationOnly
	)

Definition at line 1251 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		serialize
	)

Definition at line 1343 of file testSmartProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		serialize2
	)

Definition at line 1355 of file testSmartProjectionPoseFactor.cpp.

Variable Documentation

LevenbergMarquardtParams lmParams

Definition at line 50 of file testSmartProjectionPoseFactor.cpp.

const double rankTol = 1.0

static

Definition at line 34 of file testSmartProjectionPoseFactor.cpp.

const double sigma = 0.1

static

Definition at line 36 of file testSmartProjectionPoseFactor.cpp.

Symbol x1('X', 1)

static

Symbol x2('X', 2)

static

Symbol x3('X', 3)

static