testSphericalCamera.cpp File Reference

#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/SphericalCamera.h>
#include <cmath>
#include <iostream>

Include dependency graph for testSphericalCamera.cpp:

Go to the source code of this file.

Typedefs
typedef SphericalCamera	Camera

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 Unit3	project3 (const Pose3 &pose, const Point3 &point)
static Vector2	reprojectionError2 (const Pose3 &pose, const Point3 &point, const Unit3 &measured)
	TEST (SphericalCamera, backproject)
	TEST (SphericalCamera, backproject2)
	TEST (SphericalCamera, constructor)
	TEST (SphericalCamera, Dproject)
	TEST (SphericalCamera, Dproject2)
	TEST (SphericalCamera, project)
	TEST (SphericalCamera, reprojectionError)
	TEST (SphericalCamera, reprojectionError_noisy)

Variables
static const Unit3	bearing1 (-0.156054862928174, 0.156054862928174, 0.975342893301088)
static const Unit3	bearing2 (-0.156054862928174, -0.156054862928174, 0.975342893301088)
static const Unit3	bearing3 (0.156054862928174, -0.156054862928174, 0.975342893301088)
static const Unit3	bearing4 (0.156054862928174, 0.156054862928174, 0.975342893301088)
static const Camera	camera (pose)
static const Camera	camera1 (pose1)
static double	depth = 0.512640224719052
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))
constexpr double	TEST_THRESHOLD = 1e-7

Typedef Documentation

Camera

typedef SphericalCamera Camera

Definition at line 38 of file testSphericalCamera.cpp.

Function Documentation

main()

int main

(

)

Definition at line 166 of file testSphericalCamera.cpp.

point1()

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

static

point2()

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

static

point3()

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

static

point4()

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

static

project3()

static Unit3 project3 ( const Pose3 &  pose, const Point3 &  point  )

static

Definition at line 103 of file testSphericalCamera.cpp.

reprojectionError2()

static Vector2 reprojectionError2 ( const Pose3 &  pose, const Point3 &  point, const Unit3 &  measured  )

static

Definition at line 119 of file testSphericalCamera.cpp.

TEST() [1/8]

TEST	(	SphericalCamera	,
		backproject
	)

Definition at line 80 of file testSphericalCamera.cpp.

TEST() [2/8]

TEST	(	SphericalCamera	,
		backproject2
	)

Definition at line 88 of file testSphericalCamera.cpp.

TEST() [3/8]

TEST	(	SphericalCamera	,
		constructor
	)

Definition at line 66 of file testSphericalCamera.cpp.

TEST() [4/8]

TEST	(	SphericalCamera	,
		Dproject
	)

Definition at line 108 of file testSphericalCamera.cpp.

TEST() [5/8]

TEST	(	SphericalCamera	,
		Dproject2
	)

Definition at line 154 of file testSphericalCamera.cpp.

TEST() [6/8]

TEST	(	SphericalCamera	,
		project
	)

Definition at line 71 of file testSphericalCamera.cpp.

TEST() [7/8]

TEST	(	SphericalCamera	,
		reprojectionError
	)

Definition at line 125 of file testSphericalCamera.cpp.

TEST() [8/8]

TEST	(	SphericalCamera	,
		reprojectionError_noisy
	)

Definition at line 138 of file testSphericalCamera.cpp.

Variable Documentation

bearing1

const Unit3 bearing1(-0.156054862928174, 0.156054862928174, 0.975342893301088)

static

bearing2

const Unit3 bearing2(-0.156054862928174, -0.156054862928174, 0.975342893301088)

static

bearing3

const Unit3 bearing3(0.156054862928174, -0.156054862928174, 0.975342893301088)

static

bearing4

const Unit3 bearing4(0.156054862928174, 0.156054862928174, 0.975342893301088)

static

camera

const Camera camera(pose)

static

camera1

const Camera camera1(pose1)

static

depth

double depth = 0.512640224719052

static

Definition at line 64 of file testSphericalCamera.cpp.

pose

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

static

pose1

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

static

TEST_THRESHOLD

constexpr double TEST_THRESHOLD = 1e-7

constexpr

Definition at line 31 of file testSphericalCamera.cpp.