Go to the documentation of this file.
32 using namespace gtsam;
83 Point3 xc(0,1,0),yc(0,0,-1),zc(-1,0,0);
126 Rot3 rot(1., 0., 0., 0., 0., 1., 0., -1., 0.);
219 const double depth(10);
266 static const std::shared_ptr<Cal3Bundler>
K2 =
267 std::make_shared<Cal3Bundler>(625, 1
e-3, 1
e-3);
static int runAllTests(TestResult &result)
static const Point3 point1(-0.08,-0.08, 0.0)
internal::FixedSizeMatrix< Y, X1 >::type numericalDerivative41(std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, double delta=1e-5)
static double range2(const Camera &camera, const Camera2 &camera2)
static Point3 backproject(const Pose3 &pose, const Cal3_S2 &cal, const Point2 &p, const double &depth)
Array< double, 1, 3 > e(1./3., 0.5, 2.)
Concept check for values that can be used in unit tests.
#define EXPECT(condition)
The most common 5DOF 3D->2D calibration.
static double range1(const Camera &camera, const Pose3 &pose)
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy x
internal::FixedSizeMatrix< Y, X2 >::type numericalDerivative22(std::function< Y(const X1 &, const X2 &)> h, const X1 &x1, const X2 &x2, double delta=1e-5)
PinholePose< Cal3Bundler > Camera2
PinholePose< Cal3_S2 > Camera
int EIGEN_BLAS_FUNC() rot(int *n, RealScalar *px, int *incx, RealScalar *py, int *incy, RealScalar *pc, RealScalar *ps)
const Cal3_S2 cal(focalLength, focalLength, 0.0, principalPoint.x(), principalPoint.y())
static Point2 project3(const Pose3 &pose, const Point3 &point, const Cal3_S2::shared_ptr &cal)
static const Unit3 point1_inf(-0.16,-0.16, -1.0)
static const Camera camera(pose, K)
static const Point3 point4(0.08,-0.08, 0.0)
Some functions to compute numerical derivatives.
static const Unit3 point3_inf(0.16, 0.16, -1.0)
static const CalibratedCamera camera3(pose1)
static const std::shared_ptr< Cal3Bundler > K2
static const Unit3 point4_inf(0.16,-0.16, -1.0)
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, X4 >::type numericalDerivative44(std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, 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)
const Pose3 & pose() const
return pose
Calibration used by Bundler.
static double range3(const Camera &camera, const CalibratedCamera &camera3)
TEST(PinholePose, constructor)
std::shared_ptr< Cal3_S2 > shared_ptr
static const Point3 point2(-0.08, 0.08, 0.0)
static const Camera camera1(pose1, K)
#define EXPECT_DOUBLES_EQUAL(expected, actual, threshold)
internal::FixedSizeMatrix< Y, X3 >::type numericalDerivative43(std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, double delta=1e-5)
static const Camera2 camera2(pose1, K2)
static const Unit3 point2_inf(-0.16, 0.16, -1.0)
const Rot3 & rotation(OptionalJacobian< 3, 6 > Hself={}) const
get rotation
Matrix< Scalar, Dynamic, Dynamic > C
static Point2 project(const Pose3 &pose, const Unit3 &pointAtInfinity, const Cal3_S2::shared_ptr &cal)
Vector5 vector() const
vectorized form (column-wise)
internal::FixedSizeMatrix< Y, X2 >::type numericalDerivative42(std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, double delta=1e-5)
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)
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy y set format x g set format y g set format x2 g set format y2 g set format z g set angles radians set nogrid set key title set key left top Right noreverse box linetype linewidth samplen spacing width set nolabel set noarrow set nologscale set logscale x set set pointsize set encoding default set nopolar set noparametric set set set set surface set nocontour set clabel set mapping cartesian set nohidden3d set cntrparam order set cntrparam linear set cntrparam levels auto set cntrparam points set size set origin
static const Pose3 pose(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5))
bool assert_equal(const Matrix &expected, const Matrix &actual, double tol)
The most common 5DOF 3D->2D calibration.
static const Cal3_S2::shared_ptr K
static const Pose3 pose1(Rot3(), Point3(0, 1, 0.5))
Represents a 3D point on a unit sphere.
static double range0(const Camera &camera, const Point3 &point)
double distance3(const Point3 &p1, const Point3 &q, OptionalJacobian< 1, 3 > H1, OptionalJacobian< 1, 3 > H2)
distance between two points
Unit3 pointAtInfinity(0, 0, -1000)
static Point2 project4(const Camera &camera, const Point3 &point)
Calibration used by Bundler.
Rot2 R(Rot2::fromAngle(0.1))
Pinhole camera with known calibration.
static const Point3 point3(0.08, 0.08, 0.0)
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:08:06