#include <gtsam/slam/tests/smartFactorScenarios.h>
#include <gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/slam/PoseTranslationPrior.h>
#include <gtsam/slam/ProjectionFactor.h>
#include <gtsam/slam/StereoFactor.h>
#include <boost/assign/std/vector.hpp>
#include <CppUnitLite/TestHarness.h>
#include <iostream>

Include dependency graph for testSmartStereoProjectionPoseFactor.cpp:

Functions
static Cal3_S2Stereo::shared_ptr	K (new Cal3_S2Stereo(fov, w, h, b))

static Cal3_S2Stereo::shared_ptr	K2 (new Cal3_S2Stereo(1500, 1200, 0, 640, 480, b))

int	main ()

static SharedNoiseModel	model (noiseModel::Isotropic::Sigma(3, 0.1))

static Key	poseKey1 (x1)

vector< StereoPoint2 >	stereo_projectToMultipleCameras (const StereoCamera &cam1, const StereoCamera &cam2, const StereoCamera &cam3, Point3 landmark)

	TEST (SmartStereoProjectionPoseFactor, params)

	TEST (SmartStereoProjectionPoseFactor, Constructor)

	TEST (SmartStereoProjectionPoseFactor, Constructor2)

	TEST (SmartStereoProjectionPoseFactor, Constructor3)

	TEST (SmartStereoProjectionPoseFactor, Constructor4)

	TEST (SmartStereoProjectionPoseFactor, Equals)

	TEST (SmartProjectionPoseFactor, noiselessWithMissingMeasurements)

	TEST (SmartStereoProjectionPoseFactor, noisy)

	TEST (SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor)

	TEST (SmartStereoProjectionPoseFactor, body_P_sensor)

	TEST (SmartStereoProjectionPoseFactor, body_P_sensor_monocular)

	TEST (SmartStereoProjectionPoseFactor, jacobianSVD)

	TEST (SmartStereoProjectionPoseFactor, jacobianSVDwithMissingValues)

	TEST (SmartStereoProjectionPoseFactor, landmarkDistance)

	TEST (SmartStereoProjectionPoseFactor, dynamicOutlierRejection)

	TEST (SmartStereoProjectionPoseFactor, CheckHessian)

	TEST (SmartStereoProjectionPoseFactor, HessianWithRotation)

	TEST (SmartStereoProjectionPoseFactor, HessianWithRotationNonDegenerate)

	TEST_UNSAFE (SmartStereoProjectionPoseFactor, noiseless)

Variables
static double	b = 1

static Pose3	body_P_sensor1 (Rot3::RzRyRx(-M_PI_2, 0.0,-M_PI_2), Point3(0.25,-0.10, 1.0))

LevenbergMarquardtParams	lm_params

static StereoPoint2	measurement1 (323.0, 300.0, 240.0)

static double	missing_uR = std::numeric_limits<double>::quiet_NaN()

static SmartStereoProjectionParams	params

static Symbol	x1 ('X', 1)

static Symbol	x2 ('X', 2)

static Symbol	x3 ('X', 3)

Function Documentation

static Cal3_S2Stereo::shared_ptr K ( new Cal3_S2Stereofov, w, h, b )

static

static Cal3_S2Stereo::shared_ptr K2 ( new Cal3_S2Stereo1500, 1200, 0, 640, 480, b )

static

int main ( void )

Definition at line 1456 of file testSmartStereoProjectionPoseFactor.cpp.

static SharedNoiseModel model ( noiseModel::Isotropic::Sigma(3, 0.1) )

static

static Key poseKey1 ( x1 )

static

vector<StereoPoint2> stereo_projectToMultipleCameras	(	const StereoCamera &	cam1,
		const StereoCamera &	cam2,
		const StereoCamera &	cam3,
		Point3	landmark
	)

Definition at line 65 of file testSmartStereoProjectionPoseFactor.cpp.

TEST	(	SmartStereoProjectionPoseFactor	,
		params
	)

Definition at line 83 of file testSmartStereoProjectionPoseFactor.cpp.

TEST	(	SmartStereoProjectionPoseFactor	,
		Constructor
	)

Definition at line 112 of file testSmartStereoProjectionPoseFactor.cpp.

TEST	(	SmartStereoProjectionPoseFactor	,
		Constructor2
	)

Definition at line 117 of file testSmartStereoProjectionPoseFactor.cpp.

TEST	(	SmartStereoProjectionPoseFactor	,
		Constructor3
	)

Definition at line 122 of file testSmartStereoProjectionPoseFactor.cpp.

TEST	(	SmartStereoProjectionPoseFactor	,
		Constructor4
	)

Definition at line 128 of file testSmartStereoProjectionPoseFactor.cpp.

TEST	(	SmartStereoProjectionPoseFactor	,
		Equals
	)

Definition at line 134 of file testSmartStereoProjectionPoseFactor.cpp.

TEST	(	SmartProjectionPoseFactor	,
		noiselessWithMissingMeasurements
	)

Definition at line 184 of file testSmartStereoProjectionPoseFactor.cpp.

TEST	(	SmartStereoProjectionPoseFactor	,
		noisy
	)

< shared pointer to calibration object (one for each camera)

Definition at line 238 of file testSmartStereoProjectionPoseFactor.cpp.

TEST	(	SmartStereoProjectionPoseFactor	,
		3poses_smart_projection_factor
	)

Definition at line 289 of file testSmartStereoProjectionPoseFactor.cpp.

TEST	(	SmartStereoProjectionPoseFactor	,
		body_P_sensor
	)

Definition at line 429 of file testSmartStereoProjectionPoseFactor.cpp.

TEST	(	SmartStereoProjectionPoseFactor	,
		body_P_sensor_monocular
	)

Definition at line 514 of file testSmartStereoProjectionPoseFactor.cpp.

TEST	(	SmartStereoProjectionPoseFactor	,
		jacobianSVD
	)

Definition at line 615 of file testSmartStereoProjectionPoseFactor.cpp.

TEST	(	SmartStereoProjectionPoseFactor	,
		jacobianSVDwithMissingValues
	)

Definition at line 681 of file testSmartStereoProjectionPoseFactor.cpp.

TEST	(	SmartStereoProjectionPoseFactor	,
		landmarkDistance
	)

Definition at line 753 of file testSmartStereoProjectionPoseFactor.cpp.

TEST	(	SmartStereoProjectionPoseFactor	,
		dynamicOutlierRejection
	)

Definition at line 823 of file testSmartStereoProjectionPoseFactor.cpp.

TEST	(	SmartStereoProjectionPoseFactor	,
		CheckHessian
	)

*************************************************************************/* *************************************************************************/

Definition at line 1041 of file testSmartStereoProjectionPoseFactor.cpp.

TEST	(	SmartStereoProjectionPoseFactor	,
		HessianWithRotation
	)

*************************************************************************/* *************************************************************************/* *************************************************************************/

Definition at line 1311 of file testSmartStereoProjectionPoseFactor.cpp.