test_Cal3Fisheye.TestCal3Fisheye Class Reference

Inheritance diagram for test_Cal3Fisheye.TestCal3Fisheye:

Public Member Functions
def	setUpClass (cls)
def	test_Cal3Fisheye (self)
def	test_distortion (self)
def	test_generic_factor (self)
def	test_jacobian_convergence (self)
def	test_jacobian_on_axis (self)
def	test_pinhole (self)
def	test_retract (self)
def	test_scaling_factor (self)
def	test_sfm_factor2 (self)
def	test_triangulation_rectify (self)
def	test_triangulation_skipped (self)
Public Member Functions inherited from gtsam.utils.test_case.GtsamTestCase
None	assertEqualityOnPickleRoundtrip (self, object obj, tol=1e-9)
def	gtsamAssertEquals (self, actual, expected, tol=1e-9)

Static Public Member Functions
def	evaluate_jacobian (obj_point, img_point)
def	scaling_factor (r, z)

Public Attributes
	cameras
	img_point
	measurements
	obj_point
	origin
	poses

Detailed Description

Definition at line 29 of file test_Cal3Fisheye.py.

Member Function Documentation

evaluate_jacobian()

def test_Cal3Fisheye.TestCal3Fisheye.evaluate_jacobian (   obj_point,   img_point  )

static

Evaluate jacobian at given object point

Definition at line 165 of file test_Cal3Fisheye.py.

scaling_factor()

def test_Cal3Fisheye.TestCal3Fisheye.scaling_factor (   r,   z  )

static

Projection factor theta/r for equidistant fisheye lens model

Definition at line 160 of file test_Cal3Fisheye.py.

setUpClass()

def test_Cal3Fisheye.TestCal3Fisheye.setUpClass

(

cls

)

Equidistant fisheye projection

An equidistant fisheye projection with focal length f is defined
as the relation r/f = tan(theta), with r being the radius in the 
image plane and theta the incident angle of the object point.

Definition at line 32 of file test_Cal3Fisheye.py.

test_Cal3Fisheye()

def test_Cal3Fisheye.TestCal3Fisheye.test_Cal3Fisheye

(

self

)

Definition at line 58 of file test_Cal3Fisheye.py.

test_distortion()

def test_Cal3Fisheye.TestCal3Fisheye.test_distortion

(

self

)

Fisheye distortion and rectification

Definition at line 63 of file test_Cal3Fisheye.py.

test_generic_factor()

def test_Cal3Fisheye.TestCal3Fisheye.test_generic_factor

(

self

)

Evaluate residual using pose and point as state variables

Definition at line 86 of file test_Cal3Fisheye.py.

test_jacobian_convergence()

def test_Cal3Fisheye.TestCal3Fisheye.test_jacobian_convergence

(

self

)

Test stability of jacobian close to optical axis

Definition at line 126 of file test_Cal3Fisheye.py.

test_jacobian_on_axis()

def test_Cal3Fisheye.TestCal3Fisheye.test_jacobian_on_axis

(

self

)

Check of jacobian at optical axis

Definition at line 117 of file test_Cal3Fisheye.py.

test_pinhole()

def test_Cal3Fisheye.TestCal3Fisheye.test_pinhole

(

self

)

Spatial equidistant camera projection

Definition at line 72 of file test_Cal3Fisheye.py.

test_retract()

def test_Cal3Fisheye.TestCal3Fisheye.test_retract

(

self

)

Definition at line 195 of file test_Cal3Fisheye.py.

test_scaling_factor()

def test_Cal3Fisheye.TestCal3Fisheye.test_scaling_factor

(

self

)

Check convergence of atan2(r, z)/r ~ 1/z for small r

Definition at line 145 of file test_Cal3Fisheye.py.

test_sfm_factor2()

def test_Cal3Fisheye.TestCal3Fisheye.test_sfm_factor2

(

self

)

Evaluate residual with camera, pose and point as state variables

Definition at line 101 of file test_Cal3Fisheye.py.

test_triangulation_rectify()

def test_Cal3Fisheye.TestCal3Fisheye.test_triangulation_rectify

(

self

)

Estimate spatial point from image measurements using rectification

Definition at line 188 of file test_Cal3Fisheye.py.

test_triangulation_skipped()

def test_Cal3Fisheye.TestCal3Fisheye.test_triangulation_skipped

(

self

)

Estimate spatial point from image measurements

Definition at line 183 of file test_Cal3Fisheye.py.

Member Data Documentation

cameras

test_Cal3Fisheye.TestCal3Fisheye.cameras

Definition at line 55 of file test_Cal3Fisheye.py.

img_point

test_Cal3Fisheye.TestCal3Fisheye.img_point

Definition at line 43 of file test_Cal3Fisheye.py.

measurements

test_Cal3Fisheye.TestCal3Fisheye.measurements

Definition at line 56 of file test_Cal3Fisheye.py.

obj_point

test_Cal3Fisheye.TestCal3Fisheye.obj_point

Definition at line 42 of file test_Cal3Fisheye.py.

origin

test_Cal3Fisheye.TestCal3Fisheye.origin

Definition at line 53 of file test_Cal3Fisheye.py.

poses

test_Cal3Fisheye.TestCal3Fisheye.poses

Definition at line 54 of file test_Cal3Fisheye.py.

---

The documentation for this class was generated from the following file:

• test_Cal3Fisheye.py