Inheritance diagram for test_Triangulation.TestTriangulationExample:
Public Member Functions | |
| Tuple[List[Point2], Union[CameraSetCal3Bundler, CameraSetCal3_S2, List[Cal3Bundler], List[Cal3_S2]]] | generate_measurements (self, Union[Cal3Bundler, Cal3_S2] calibration, Union[PinholeCameraCal3Bundler, PinholeCameraCal3_S2] camera_model, Iterable[Iterable[Union[int, float]]] cal_params, Optional[Union[CameraSetCal3Bundler, CameraSetCal3_S2]] camera_set=None) |
| def | setUp (self) |
| None | test_distinct_Ks (self) |
| None | test_distinct_Ks_Bundler (self) |
| None | test_outliers_and_far_landmarks (self) |
| None | test_triangulation_robust_three_poses (self) |
| None | test_TriangulationExample (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) |
Public Attributes | |
| landmark | |
| poses | |
Detailed Description
Tests for triangulation with shared and individual calibrations
Definition at line 27 of file test_Triangulation.py.
Member Function Documentation
◆ generate_measurements()
| Tuple[List[Point2], Union[CameraSetCal3Bundler, CameraSetCal3_S2, List[Cal3Bundler], List[Cal3_S2]]] test_Triangulation.TestTriangulationExample.generate_measurements | ( | self, | |
| Union[Cal3Bundler, Cal3_S2] | calibration, | ||
| Union[PinholeCameraCal3Bundler, PinholeCameraCal3_S2] | camera_model, | ||
| Iterable[Iterable[Union[int, float]]] | cal_params, | ||
| Optional[Union[CameraSetCal3Bundler, CameraSetCal3_S2]] | camera_set = None |
||
| ) |
Generate vector of measurements for given calibration and camera model.
Args:
calibration: Camera calibration e.g. Cal3_S2
camera_model: Camera model e.g. PinholeCameraCal3_S2
cal_params: Iterable of camera parameters for `calibration` e.g. [K1, K2]
camera_set: Cameraset object (for individual calibrations)
Returns:
list of measurements and list/CameraSet object for cameras
Definition at line 43 of file test_Triangulation.py.
◆ setUp()
| def test_Triangulation.TestTriangulationExample.setUp | ( | self | ) |
Set up two camera poses
Definition at line 30 of file test_Triangulation.py.
◆ test_distinct_Ks()
| None test_Triangulation.TestTriangulationExample.test_distinct_Ks | ( | self | ) |
Tests triangulation with individual Cal3_S2 calibrations
Definition at line 109 of file test_Triangulation.py.
◆ test_distinct_Ks_Bundler()
| None test_Triangulation.TestTriangulationExample.test_distinct_Ks_Bundler | ( | self | ) |
Tests triangulation with individual Cal3Bundler calibrations
Definition at line 127 of file test_Triangulation.py.
◆ test_outliers_and_far_landmarks()
| None test_Triangulation.TestTriangulationExample.test_outliers_and_far_landmarks | ( | self | ) |
Check safe triangulation function.
Definition at line 210 of file test_Triangulation.py.
◆ test_triangulation_robust_three_poses()
| None test_Triangulation.TestTriangulationExample.test_triangulation_robust_three_poses | ( | self | ) |
Ensure triangulation with a robust model works.
Definition at line 145 of file test_Triangulation.py.
◆ test_TriangulationExample()
| None test_Triangulation.TestTriangulationExample.test_TriangulationExample | ( | self | ) |
Tests triangulation with shared Cal3_S2 calibration
Definition at line 79 of file test_Triangulation.py.
Member Data Documentation
◆ landmark
| test_Triangulation.TestTriangulationExample.landmark |
Definition at line 41 of file test_Triangulation.py.
◆ poses
| test_Triangulation.TestTriangulationExample.poses |
Definition at line 38 of file test_Triangulation.py.
The documentation for this class was generated from the following file: