testProjectionFactorRollingShutter.cpp File Reference

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

Include dependency graph for testProjectionFactorRollingShutter.cpp:

Go to the source code of this file.

Functions
static Cal3_S2::shared_ptr	K (new Cal3_S2(fov, w, h))
int	main ()
static Point2	measurement (323.0, 240.0)
static SharedNoiseModel	model (noiseModel::Unit::Create(2))
static Key	pointKey (L(1))
static Key	poseKey1 (X(1))
static Key	poseKey2 (X(2))
	TEST (ProjectionFactorRollingShutter, cheirality)
	TEST (ProjectionFactorRollingShutter, Constructor)
	TEST (ProjectionFactorRollingShutter, ConstructorWithTransform)
	TEST (ProjectionFactorRollingShutter, Equals)
	TEST (ProjectionFactorRollingShutter, EqualsWithTransform)
	TEST (ProjectionFactorRollingShutter, Error)
	TEST (ProjectionFactorRollingShutter, ErrorWithTransform)
	TEST (ProjectionFactorRollingShutter, Jacobian)
	TEST (ProjectionFactorRollingShutter, JacobianWithTransform)

Variables
static Pose3	body_P_sensor (Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0))
static double	fov = 60
static size_t	h = 480
static double	interp_params = 0.5
static size_t	w = 640

Function Documentation

K()

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

static

main()

int main

(

)

Definition at line 373 of file testProjectionFactorRollingShutter.cpp.

measurement()

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

static

model()

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

static

pointKey()

static Key pointKey ( L(1)  )

static

poseKey1()

static Key poseKey1 ( X(1)  )

static

poseKey2()

static Key poseKey2 ( X(2)  )

static

TEST() [1/9]

TEST	(	ProjectionFactorRollingShutter	,
		cheirality
	)

Definition at line 284 of file testProjectionFactorRollingShutter.cpp.

TEST() [2/9]

TEST	(	ProjectionFactorRollingShutter	,
		Constructor
	)

Definition at line 57 of file testProjectionFactorRollingShutter.cpp.

TEST() [3/9]

TEST	(	ProjectionFactorRollingShutter	,
		ConstructorWithTransform
	)

Definition at line 63 of file testProjectionFactorRollingShutter.cpp.

TEST() [4/9]

TEST	(	ProjectionFactorRollingShutter	,
		Equals
	)

Definition at line 70 of file testProjectionFactorRollingShutter.cpp.

TEST() [5/9]

TEST	(	ProjectionFactorRollingShutter	,
		EqualsWithTransform
	)

Definition at line 95 of file testProjectionFactorRollingShutter.cpp.

TEST() [6/9]

TEST	(	ProjectionFactorRollingShutter	,
		Error
	)

Definition at line 120 of file testProjectionFactorRollingShutter.cpp.

TEST() [7/9]

TEST	(	ProjectionFactorRollingShutter	,
		ErrorWithTransform
	)

Definition at line 189 of file testProjectionFactorRollingShutter.cpp.

TEST() [8/9]

TEST	(	ProjectionFactorRollingShutter	,
		Jacobian
	)

Definition at line 215 of file testProjectionFactorRollingShutter.cpp.

TEST() [9/9]

TEST	(	ProjectionFactorRollingShutter	,
		JacobianWithTransform
	)

Definition at line 249 of file testProjectionFactorRollingShutter.cpp.

Variable Documentation

body_P_sensor

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

static

fov

double fov = 60

static

Definition at line 35 of file testProjectionFactorRollingShutter.cpp.

h

size_t h = 480

static

Definition at line 36 of file testProjectionFactorRollingShutter.cpp.

interp_params

double interp_params = 0.5

static

Definition at line 51 of file testProjectionFactorRollingShutter.cpp.

w

size_t w = 640

static

Definition at line 36 of file testProjectionFactorRollingShutter.cpp.