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Now second test uses common header as well.

release/4.3a0
dellaert 2015-02-23 23:58:25 +01:00
parent 06ef84f968
commit ae1f534e66
2 changed files with 180 additions and 336 deletions
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12
gtsam/slam/tests/smartFactorScenarios.h
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@ -36,7 +36,7 @@ Pose3 level_pose = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
// Second camera 1 meter to the right of first camera // Second camera 1 meter to the right of first camera
Pose3 pose_right = level_pose * Pose3(Rot3(), Point3(1, 0, 0)); Pose3 pose_right = level_pose * Pose3(Rot3(), Point3(1, 0, 0));
// Third camera 1 meter above the first camera // Third camera 1 meter above the first camera
Pose3 pose_up = level_pose * Pose3(Rot3(), Point3(0, -1, 0)); Pose3 pose_above = level_pose * Pose3(Rot3(), Point3(0, -1, 0));
// Create a noise unit2 for the pixel error // Create a noise unit2 for the pixel error
static SharedNoiseModel unit2(noiseModel::Unit::Create(2)); static SharedNoiseModel unit2(noiseModel::Unit::Create(2));
@ -56,7 +56,7 @@ Point2 level_uv = level_camera.project(landmark1);
Point2 level_uv_right = level_camera_right.project(landmark1); Point2 level_uv_right = level_camera_right.project(landmark1);
Camera cam1(level_pose, K2); Camera cam1(level_pose, K2);
Camera cam2(pose_right, K2); Camera cam2(pose_right, K2);
Camera cam3(pose_up, K2); Camera cam3(pose_above, K2);
typedef GeneralSFMFactor<Camera, Point3> SFMFactor; typedef GeneralSFMFactor<Camera, Point3> SFMFactor;
} }
@ -69,7 +69,7 @@ Camera level_camera(level_pose, sharedK);
Camera level_camera_right(pose_right, sharedK); Camera level_camera_right(pose_right, sharedK);
Camera cam1(level_pose, sharedK); Camera cam1(level_pose, sharedK);
Camera cam2(pose_right, sharedK); Camera cam2(pose_right, sharedK);
Camera cam3(pose_up, sharedK); Camera cam3(pose_above, sharedK);
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -81,7 +81,7 @@ Camera level_camera(level_pose, sharedK2);
Camera level_camera_right(pose_right, sharedK2); Camera level_camera_right(pose_right, sharedK2);
Camera cam1(level_pose, sharedK2); Camera cam1(level_pose, sharedK2);
Camera cam2(pose_right, sharedK2); Camera cam2(pose_right, sharedK2);
Camera cam3(pose_up, sharedK2); Camera cam3(pose_above, sharedK2);
} }
/* *************************************************************************/ /* *************************************************************************/
@ -96,7 +96,7 @@ Point2 level_uv_right = level_camera_right.project(landmark1);
Pose3 pose1 = level_pose; Pose3 pose1 = level_pose;
Camera cam1(level_pose, K); Camera cam1(level_pose, K);
Camera cam2(pose_right, K); Camera cam2(pose_right, K);
Camera cam3(pose_up, K); Camera cam3(pose_above, K);
typedef GeneralSFMFactor<Camera, Point3> SFMFactor; typedef GeneralSFMFactor<Camera, Point3> SFMFactor;
} }
/* *************************************************************************/ /* *************************************************************************/
@ -109,7 +109,7 @@ Camera level_camera(level_pose, sharedBundlerK);
Camera level_camera_right(pose_right, sharedBundlerK); Camera level_camera_right(pose_right, sharedBundlerK);
Camera cam1(level_pose, sharedBundlerK); Camera cam1(level_pose, sharedBundlerK);
Camera cam2(pose_right, sharedBundlerK); Camera cam2(pose_right, sharedBundlerK);
Camera cam3(pose_up, sharedBundlerK); Camera cam3(pose_above, sharedBundlerK);
} }
/* *************************************************************************/ /* *************************************************************************/

504
gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
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