test PinholeCamera class More...

#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <CppUnitLite/TestHarness.h>
#include <cmath>
#include <iostream>

Include dependency graph for testPinholeCamera.cpp:

Go to the source code of this file.

Typedefs
typedef PinholeCamera< Cal3_S2 >	Camera

typedef PinholeCamera< Cal3Bundler >	Camera2

Functions
int	main ()

static const Point3	point1 (-0.08,-0.08, 0.0)

static const Point3	point2 (-0.08, 0.08, 0.0)

static const Point3	point3 (0.08, 0.08, 0.0)

static const Point3	point4 (0.08,-0.08, 0.0)

static Point2	project3 (const Pose3 &pose, const Point3 &point, const Cal3_S2 &cal)

static Point2	project4 (const Camera &camera, const Point3 &point)

static Point2	projectInfinity3 (const Pose3 &pose, const Unit3 &point3D, const Cal3_S2 &cal)

static double	range0 (const Camera &camera, const Point3 &point)

static double	range1 (const Camera &camera, const Pose3 &pose)

static double	range2 (const Camera &camera, const Camera2 &camera2)

static double	range3 (const Camera &camera, const CalibratedCamera &camera3)

	TEST (PinholeCamera, constructor)

	TEST (PinholeCamera, Create)

	TEST (PinholeCamera, Pose)

	TEST (PinholeCamera, level2)

	TEST (PinholeCamera, lookat)

	TEST (PinholeCamera, project)

	TEST (PinholeCamera, backproject)

	TEST (PinholeCamera, backprojectInfinity)

	TEST (PinholeCamera, backproject2)

	TEST (PinholeCamera, backprojectInfinity2)

	TEST (PinholeCamera, backprojectInfinity3)

	TEST (PinholeCamera, Dproject)

	TEST (PinholeCamera, Dproject_Infinity)

	TEST (PinholeCamera, Dproject2)

	TEST (PinholeCamera, Dproject3)

	TEST (PinholeCamera, range0)

	TEST (PinholeCamera, range1)

	TEST (PinholeCamera, range2)

	TEST (PinholeCamera, range3)

	TEST (PinholeCamera, Cal3Bundler)

Variables
static const Camera	camera (pose, K)

static const Camera	camera1 (pose1, K)

static const Camera2	camera2 (pose1, K2)

static const CalibratedCamera	camera3 (pose1)

static const Cal3_S2	K (625, 625, 0, 0, 0)

static const Cal3Bundler	K2 (625, 1e-3, 1e-3)

static const Unit3	point1_inf (-0.16,-0.16,-1.0)

static const Unit3	point2_inf (-0.16, 0.16,-1.0)

static const Unit3	point3_inf (0.16, 0.16,-1.0)

static const Unit3	point4_inf (0.16,-0.16,-1.0)

static const Pose3	pose (Rot3(Vector3(1,-1,-1).asDiagonal()), Point3(0, 0, 0.5))

static const Pose3	pose1 (Rot3(), Point3(0, 1, 0.5))

Detailed Description

test PinholeCamera class

Author: Frank Dellaert

Definition in file testPinholeCamera.cpp.

Typedef Documentation

typedef PinholeCamera<Cal3_S2> Camera

Definition at line 33 of file testPinholeCamera.cpp.

typedef PinholeCamera<Cal3Bundler> Camera2

Definition at line 304 of file testPinholeCamera.cpp.

Function Documentation

int main ( void )

Definition at line 349 of file testPinholeCamera.cpp.

static const Point3 point1	(	-0.	08,
		-0.	08,
		0.	0
	)

static

static const Point3 point2	(	-0.	08,
		0.	08,
		0.	0
	)

static

static const Point3 point3	(	0.	08,
		0.	08,
		0.	0
	)

static

static const Point3 point4	(	0.	08,
		-0.	08,
		0.	0
	)

static

static Point2 project3	(	const Pose3 &	pose,
		const Point3 &	point,
		const Cal3_S2 &	cal
	)

static

Definition at line 196 of file testPinholeCamera.cpp.

static Point2 project4	(	const Camera &	camera,
		const Point3 &	point
	)

static

Definition at line 240 of file testPinholeCamera.cpp.

static Point2 projectInfinity3	(	const Pose3 &	pose,
		const Unit3 &	point3D,
		const Cal3_S2 &	cal
	)

static

Definition at line 215 of file testPinholeCamera.cpp.

static double range0	(	const Camera &	camera,
		const Point3 &	point
	)

static

Definition at line 271 of file testPinholeCamera.cpp.

static double range1	(	const Camera &	camera,
		const Pose3 &	pose
	)

static

Definition at line 288 of file testPinholeCamera.cpp.

static double range2	(	const Camera &	camera,
		const Camera2 &	camera2
	)

static

Definition at line 307 of file testPinholeCamera.cpp.

static double range3	(	const Camera &	camera,
		const CalibratedCamera &	camera3
	)

static

Definition at line 324 of file testPinholeCamera.cpp.

TEST	(	PinholeCamera	,
		constructor
	)

Definition at line 54 of file testPinholeCamera.cpp.

TEST	(	PinholeCamera	,
		Create
	)

Definition at line 61 of file testPinholeCamera.cpp.

TEST	(	PinholeCamera	,
		Pose
	)

Definition at line 76 of file testPinholeCamera.cpp.

TEST	(	PinholeCamera	,
		level2
	)

Definition at line 89 of file testPinholeCamera.cpp.

TEST	(	PinholeCamera	,
		lookat
	)

Definition at line 103 of file testPinholeCamera.cpp.

TEST	(	PinholeCamera	,
		project
	)

Definition at line 123 of file testPinholeCamera.cpp.

TEST	(	PinholeCamera	,
		backproject
	)

Definition at line 132 of file testPinholeCamera.cpp.

TEST	(	PinholeCamera	,
		backprojectInfinity
	)

Definition at line 141 of file testPinholeCamera.cpp.

TEST	(	PinholeCamera	,
		backproject2
	)

Definition at line 150 of file testPinholeCamera.cpp.

TEST	(	PinholeCamera	,
		backprojectInfinity2
	)

Definition at line 166 of file testPinholeCamera.cpp.

TEST	(	PinholeCamera	,
		backprojectInfinity3
	)

Definition at line 181 of file testPinholeCamera.cpp.

TEST	(	PinholeCamera	,
		Dproject
	)

Definition at line 201 of file testPinholeCamera.cpp.

TEST	(	PinholeCamera	,
		Dproject_Infinity
	)

Definition at line 219 of file testPinholeCamera.cpp.

TEST	(	PinholeCamera	,
		Dproject2
	)

Definition at line 245 of file testPinholeCamera.cpp.

TEST	(	PinholeCamera	,
		Dproject3
	)

Definition at line 258 of file testPinholeCamera.cpp.

TEST	(	PinholeCamera	,
		range0
	)

Definition at line 276 of file testPinholeCamera.cpp.

TEST	(	PinholeCamera	,
		range1
	)

Definition at line 293 of file testPinholeCamera.cpp.

TEST	(	PinholeCamera	,
		range2
	)

Definition at line 312 of file testPinholeCamera.cpp.

TEST	(	PinholeCamera	,
		range3
	)

Definition at line 329 of file testPinholeCamera.cpp.

TEST	(	PinholeCamera	,
		Cal3Bundler
	)

Definition at line 340 of file testPinholeCamera.cpp.

Variable Documentation

const Camera camera(pose, K)

static

const Camera camera1(pose1, K)

static

const Camera2 camera2(pose1, K2)

static

const CalibratedCamera camera3(pose1)

static

const Cal3_S2 K(625, 625, 0, 0, 0)

static

const Cal3Bundler K2(625, 1e-3, 1e-3)

static

const Unit3 point1_inf(-0.16,-0.16,-1.0)

static

const Unit3 point2_inf(-0.16, 0.16,-1.0)

static

const Unit3 point3_inf(0.16, 0.16,-1.0)

static

const Unit3 point4_inf(0.16,-0.16,-1.0)

static

const Pose3 pose(Rot3(Vector3(1,-1,-1).asDiagonal()), Point3(0, 0, 0.5))

static

const Pose3 pose1(Rot3(), Point3(0, 1, 0.5))

static

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

Function Documentation

Variable Documentation