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30 using namespace std::placeholders;
32 using namespace gtsam;
36 static const Cal3_S2 K(625, 625, 0, 0, 0);
69 std::bind(Camera::Create, std::placeholders::_1, std::placeholders::_2,
71 Matrix numericalH1 = numericalDerivative21<Camera,Pose3,Cal3_S2>(
f,
pose,
K);
73 Matrix numericalH2 = numericalDerivative22<Camera,Pose3,Cal3_S2>(
f,
pose,
K);
86 Matrix numericalH = numericalDerivative11<Pose3,Camera>(
f,
camera);
112 Point3 xc(0,1,0),yc(0,0,-1),zc(-1,0,0);
155 Rot3 rot(1., 0., 0., 0., 0., 1., 0., -1., 0.);
171 Rot3 rot(1., 0., 0., 0., 0., 1., 0., -1., 0.);
186 Rot3 rot(1., 0., 0., 0., 1., 0., 0., 0., 1.);
205 Matrix Dpose, Dpoint, Dcal;
223 Matrix Dpose, Dpoint, Dcal;
227 Point2 actual =
camera.project(point3D, Dpose, Dpoint, Dcal);
234 Matrix numerical_point2x2 = Hexpected2.block(0,0,2,2);
static int runAllTests(TestResult &result)
internal::FixedSizeMatrix< Y, X3 >::type numericalDerivative33(std::function< Y(const X1 &, const X2 &, const X3 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5)
static const Pose3 pose(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5))
Array< double, 1, 3 > e(1./3., 0.5, 2.)
static const Camera camera1(pose1, K)
Concept check for values that can be used in unit tests.
#define EXPECT(condition)
The most common 5DOF 3D->2D calibration.
static double range2(const Camera &camera, const Camera2 &camera2)
static const CalibratedCamera camera3(pose1)
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static const Unit3 point1_inf(-0.16,-0.16, -1.0)
internal::FixedSizeMatrix< Y, X2 >::type numericalDerivative22(std::function< Y(const X1 &, const X2 &)> h, const X1 &x1, const X2 &x2, double delta=1e-5)
static const Unit3 point2_inf(-0.16, 0.16, -1.0)
static Point2 projectInfinity3(const Pose3 &pose, const Unit3 &point3D, const Cal3_S2 &cal)
static Point3 backproject(const Pose3 &pose, const Point2 &point, const double &depth)
static const Cal3Bundler K2(625, 1e-3, 1e-3)
int EIGEN_BLAS_FUNC() rot(int *n, RealScalar *px, int *incx, RealScalar *py, int *incy, RealScalar *pc, RealScalar *ps)
static const Unit3 point3_inf(0.16, 0.16, -1.0)
Some functions to compute numerical derivatives.
static Point2 project3(const Pose3 &pose, const Point3 &point, const Cal3_S2 &cal)
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
internal::FixedSizeMatrix< Y, X2 >::type numericalDerivative32(std::function< Y(const X1 &, const X2 &, const X3 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5)
internal::FixedSizeMatrix< Y, X1 >::type numericalDerivative31(std::function< Y(const X1 &, const X2 &, const X3 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5)
static double range0(const Camera &camera, const Point3 &point)
const Pose3 & pose() const
return pose
Base class for all pinhole cameras.
Calibration used by Bundler.
PinholeCamera< Cal3_S2 > Camera
TEST(PinholeCamera, constructor)
static const Point3 point3(0.08, 0.08, 0.0)
PinholeCamera< Cal3Bundler > Camera2
#define EXPECT_DOUBLES_EQUAL(expected, actual, threshold)
static const Cal3_S2 K(625, 625, 0, 0, 0)
static const Point3 point1(-0.08,-0.08, 0.0)
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
Pose3_ getPose(const Expression< PinholeCamera< CALIBRATION > > &cam)
const Rot3 & rotation(OptionalJacobian< 3, 6 > Hself={}) const
get rotation
Matrix< Scalar, Dynamic, Dynamic > C
static const Pose3 pose1(Rot3(), Point3(0, 1, 0.5))
static Point2 project(const Pose3 &pose, const Unit3 &pointAtInfinity, const Cal3_S2::shared_ptr &cal)
internal::FixedSizeMatrix< Y, X1 >::type numericalDerivative21(const std::function< Y(const X1 &, const X2 &)> &h, const X1 &x1, const X2 &x2, double delta=1e-5)
static const Camera camera(pose, K)
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bool assert_equal(const Matrix &expected, const Matrix &actual, double tol)
static Point2 project4(const Camera &camera, const Point3 &point)
static const Point3 point2(-0.08, 0.08, 0.0)
The most common 5DOF 3D->2D calibration.
static double range3(const Camera &camera, const CalibratedCamera &camera3)
Represents a 3D point on a unit sphere.
static double range1(const Camera &camera, const Pose3 &pose)
static const Unit3 point4_inf(0.16,-0.16, -1.0)
static const Camera2 camera2(pose1, K2)
double distance3(const Point3 &p1, const Point3 &q, OptionalJacobian< 1, 3 > H1, OptionalJacobian< 1, 3 > H2)
distance between two points
static const Point3 point4(0.08,-0.08, 0.0)
Calibration used by Bundler.
Rot2 R(Rot2::fromAngle(0.1))
gtsam
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autogenerated on Fri Nov 1 2024 03:40:53