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Tightened/cleaned up

release/4.3a0
dellaert 2014-10-01 10:36:24 +02:00
parent 837b2a6bc0
commit 8f6eae922a
1 changed files with 4 additions and 16 deletions
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20
gtsam_unstable/nonlinear/tests/testExpression.cpp
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@ -30,15 +30,6 @@ using namespace gtsam;
/* ************************************************************************* */ /* ************************************************************************* */
Point3 transformTo(const Pose3& x, const Point3& p,
boost::optional<Matrix&> Dpose, boost::optional<Matrix&> Dpoint) {
return x.transform_to(p, Dpose, Dpoint);
}
Point2 project(const Point3& p, boost::optional<Matrix&> Dpoint) {
return PinholeCamera<Cal3_S2>::project_to_camera(p, Dpoint);
}
template<class CAL> template<class CAL>
Point2 uncalibrate(const CAL& K, const Point2& p, boost::optional<Matrix&> Dcal, Point2 uncalibrate(const CAL& K, const Point2& p, boost::optional<Matrix&> Dcal,
boost::optional<Matrix&> Dp) { boost::optional<Matrix&> Dp) {
@ -47,7 +38,7 @@ Point2 uncalibrate(const CAL& K, const Point2& p, boost::optional<Matrix&> Dcal,
/* ************************************************************************* */ /* ************************************************************************* */
TEST(BAD, test) { TEST(Expression, test) {
// Test Constant expression // Test Constant expression
Expression<int> c(0); Expression<int> c(0);
@ -58,11 +49,8 @@ TEST(BAD, test) {
Expression<Cal3_S2> K(3); Expression<Cal3_S2> K(3);
// Create expression tree // Create expression tree
// MethodExpression<Point3,Pose3,Point3>::method m = &Pose3::transform_to;
// MethodExpression<Point3,Pose3,Point3> methodExpression(x, &Pose3::transform_to, p);
Expression<Point3> p_cam(x, &Pose3::transform_to, p); Expression<Point3> p_cam(x, &Pose3::transform_to, p);
//Expression<Point3> p_cam(transformTo, x, p); Expression<Point2> projection(PinholeCamera<Cal3_S2>::project_to_camera, p_cam);
Expression<Point2> projection(project, p_cam);
Expression<Point2> uv_hat(uncalibrate<Cal3_S2>, K, projection); Expression<Point2> uv_hat(uncalibrate<Cal3_S2>, K, projection);
// Check keys // Check keys
@ -75,7 +63,7 @@ TEST(BAD, test) {
/* ************************************************************************* */ /* ************************************************************************* */
TEST(BAD, compose) { TEST(Expression, compose) {
// Create expression // Create expression
Expression<Rot3> R1(1), R2(2); Expression<Rot3> R1(1), R2(2);
@ -90,7 +78,7 @@ TEST(BAD, compose) {
/* ************************************************************************* */ /* ************************************************************************* */
// Test compose with arguments referring to the same rotation // Test compose with arguments referring to the same rotation
TEST(BAD, compose2) { TEST(Expression, compose2) {
// Create expression // Create expression
Expression<Rot3> R1(1), R2(1); Expression<Rot3> R1(1), R2(1);