moved TriangulationFactor to slam folder

gtsam/geometry/tests/testTriangulation.cpp

@@ -262,25 +262,6 @@ TEST( triangulation, twoIdenticalPoses) {
  }
  */
 
-//******************************************************************************
-TEST( triangulation, TriangulationFactor ) {
-  // Create the factor with a measurement that is 3 pixels off in x
-  Key pointKey(1);
-  SharedNoiseModel model;
-  typedef TriangulationFactor<> Factor;
-  Factor factor(camera1, z1, model, pointKey);
-
-  // Use the factor to calculate the Jacobians
-  Matrix HActual;
-  factor.evaluateError(landmark, HActual);
-
-  Matrix HExpected = numericalDerivative11<Vector,Point3>(
-      boost::bind(&Factor::evaluateError, &factor, _1, boost::none), landmark);
-
-  // Verify the Jacobians are correct
-  CHECK(assert_equal(HExpected, HActual, 1e-3));
-}
-
 //******************************************************************************
 int main() {
   TestResult tr;

gtsam/geometry/triangulation.h

@@ -19,12 +19,10 @@
 #pragma once
 
 
-#include <gtsam/geometry/TriangulationFactor.h>
+#include <gtsam/slam/TriangulationFactor.h>
+#include <gtsam/slam/PriorFactor.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/inference/Symbol.h>
-#include <gtsam/slam/PriorFactor.h>
-
-#include <vector>
 
 namespace gtsam {
 

gtsam/slam/TriangulationFactor.h

@@ -10,14 +10,13 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * testTriangulationFactor.h
+ * triangulationFactor.h
  * @date March 2, 2014
  * @author Frank Dellaert
  */
 
 #include <gtsam/nonlinear/NonlinearFactor.h>
 #include <gtsam/geometry/SimpleCamera.h>
-#include <gtsam/base/numericalDerivative.h>
 #include <boost/optional.hpp>
 #include <boost/make_shared.hpp>
 

gtsam/slam/tests/testTriangulationFactor.cpp

@@ -0,0 +1,70 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * testTriangulationFactor.cpp
+ *
+ *  Created on: July 30th, 2013
+ *      Author: cbeall3
+ */
+
+#include <gtsam/geometry/triangulation.h>
+#include <gtsam/geometry/Cal3Bundler.h>
+#include <gtsam/base/numericalDerivative.h>
+#include <CppUnitLite/TestHarness.h>
+
+#include <boost/assign.hpp>
+#include <boost/assign/std/vector.hpp>
+
+using namespace std;
+using namespace gtsam;
+using namespace boost::assign;
+
+// Some common constants
+static const boost::shared_ptr<Cal3_S2> sharedCal = //
+    boost::make_shared<Cal3_S2>(1500, 1200, 0, 640, 480);
+
+// Looking along X-axis, 1 meter above ground plane (x-y)
+static const Rot3 upright = Rot3::ypr(-M_PI / 2, 0., -M_PI / 2);
+static const Pose3 pose1 = Pose3(upright, gtsam::Point3(0, 0, 1));
+PinholeCamera<Cal3_S2> camera1(pose1, *sharedCal);
+
+// landmark ~5 meters infront of camera
+static const Point3 landmark(5, 0.5, 1.2);
+
+// 1. Project two landmarks into two cameras and triangulate
+Point2 z1 = camera1.project(landmark);
+
+//******************************************************************************
+TEST( triangulation, TriangulationFactor ) {
+  // Create the factor with a measurement that is 3 pixels off in x
+  Key pointKey(1);
+  SharedNoiseModel model;
+  typedef TriangulationFactor<> Factor;
+  Factor factor(camera1, z1, model, pointKey);
+
+  // Use the factor to calculate the Jacobians
+  Matrix HActual;
+  factor.evaluateError(landmark, HActual);
+
+  Matrix HExpected = numericalDerivative11<Vector,Point3>(
+      boost::bind(&Factor::evaluateError, &factor, _1, boost::none), landmark);
+
+  // Verify the Jacobians are correct
+  CHECK(assert_equal(HExpected, HActual, 1e-3));
+}
+
+//******************************************************************************
+int main() {
+  TestResult tr;
+  return TestRegistry::runAllTests(tr);
+}
+//******************************************************************************