Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
test_Cal3Fisheye.TestCal3Fisheye Class Reference
Inheritance diagram for test_Cal3Fisheye.TestCal3Fisheye:
Inheritance graph
[legend]

Public Member Functions

def setUpClass (cls)
 
def test_Cal3Fisheye (self)
 
def test_distortion (self)
 
def test_generic_factor (self)
 
def test_jacobian_convergence (self)
 
def test_jacobian_on_axis (self)
 
def test_pinhole (self)
 
def test_retract (self)
 
def test_scaling_factor (self)
 
def test_sfm_factor2 (self)
 
def test_triangulation_rectify (self)
 
def test_triangulation_skipped (self)
 
- Public Member Functions inherited from gtsam.utils.test_case.GtsamTestCase
def assertEqualityOnPickleRoundtrip
 
def gtsamAssertEquals (self, actual, expected, tol=1e-9)
 

Static Public Member Functions

def evaluate_jacobian (obj_point, img_point)
 
def scaling_factor (r, z)
 

Public Attributes

 cameras
 
 img_point
 
 measurements
 
 obj_point
 
 origin
 
 poses
 

Detailed Description

Definition at line 29 of file test_Cal3Fisheye.py.

Member Function Documentation

◆ evaluate_jacobian()

def test_Cal3Fisheye.TestCal3Fisheye.evaluate_jacobian (   obj_point,
  img_point 
)
static
Evaluate jacobian at given object point

Definition at line 165 of file test_Cal3Fisheye.py.

◆ scaling_factor()

def test_Cal3Fisheye.TestCal3Fisheye.scaling_factor (   r,
  z 
)
static
Projection factor theta/r for equidistant fisheye lens model

Definition at line 160 of file test_Cal3Fisheye.py.

◆ setUpClass()

def test_Cal3Fisheye.TestCal3Fisheye.setUpClass (   cls)
Equidistant fisheye projection

An equidistant fisheye projection with focal length f is defined
as the relation r/f = tan(theta), with r being the radius in the 
image plane and theta the incident angle of the object point.

Definition at line 32 of file test_Cal3Fisheye.py.

◆ test_Cal3Fisheye()

def test_Cal3Fisheye.TestCal3Fisheye.test_Cal3Fisheye (   self)

Definition at line 58 of file test_Cal3Fisheye.py.

◆ test_distortion()

def test_Cal3Fisheye.TestCal3Fisheye.test_distortion (   self)
Fisheye distortion and rectification

Definition at line 63 of file test_Cal3Fisheye.py.

◆ test_generic_factor()

def test_Cal3Fisheye.TestCal3Fisheye.test_generic_factor (   self)
Evaluate residual using pose and point as state variables

Definition at line 86 of file test_Cal3Fisheye.py.

◆ test_jacobian_convergence()

def test_Cal3Fisheye.TestCal3Fisheye.test_jacobian_convergence (   self)
Test stability of jacobian close to optical axis

Definition at line 126 of file test_Cal3Fisheye.py.

◆ test_jacobian_on_axis()

def test_Cal3Fisheye.TestCal3Fisheye.test_jacobian_on_axis (   self)
Check of jacobian at optical axis

Definition at line 117 of file test_Cal3Fisheye.py.

◆ test_pinhole()

def test_Cal3Fisheye.TestCal3Fisheye.test_pinhole (   self)
Spatial equidistant camera projection

Definition at line 72 of file test_Cal3Fisheye.py.

◆ test_retract()

def test_Cal3Fisheye.TestCal3Fisheye.test_retract (   self)

Definition at line 195 of file test_Cal3Fisheye.py.

◆ test_scaling_factor()

def test_Cal3Fisheye.TestCal3Fisheye.test_scaling_factor (   self)
Check convergence of atan2(r, z)/r ~ 1/z for small r

Definition at line 145 of file test_Cal3Fisheye.py.

◆ test_sfm_factor2()

def test_Cal3Fisheye.TestCal3Fisheye.test_sfm_factor2 (   self)
Evaluate residual with camera, pose and point as state variables

Definition at line 101 of file test_Cal3Fisheye.py.

◆ test_triangulation_rectify()

def test_Cal3Fisheye.TestCal3Fisheye.test_triangulation_rectify (   self)
Estimate spatial point from image measurements using rectification

Definition at line 188 of file test_Cal3Fisheye.py.

◆ test_triangulation_skipped()

def test_Cal3Fisheye.TestCal3Fisheye.test_triangulation_skipped (   self)
Estimate spatial point from image measurements

Definition at line 183 of file test_Cal3Fisheye.py.

Member Data Documentation

◆ cameras

test_Cal3Fisheye.TestCal3Fisheye.cameras

Definition at line 55 of file test_Cal3Fisheye.py.

◆ img_point

test_Cal3Fisheye.TestCal3Fisheye.img_point

Definition at line 43 of file test_Cal3Fisheye.py.

◆ measurements

test_Cal3Fisheye.TestCal3Fisheye.measurements

Definition at line 56 of file test_Cal3Fisheye.py.

◆ obj_point

test_Cal3Fisheye.TestCal3Fisheye.obj_point

Definition at line 42 of file test_Cal3Fisheye.py.

◆ origin

test_Cal3Fisheye.TestCal3Fisheye.origin

Definition at line 53 of file test_Cal3Fisheye.py.

◆ poses

test_Cal3Fisheye.TestCal3Fisheye.poses

Definition at line 54 of file test_Cal3Fisheye.py.


The documentation for this class was generated from the following file:


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:47:31