Functions | Variables
testCalibratedCamera.cpp File Reference

test CalibratedCamera class More...

#include <gtsam/geometry/CalibratedCamera.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <CppUnitLite/TestHarness.h>
#include <iostream>
Include dependency graph for testCalibratedCamera.cpp:

Go to the source code of this file.

Functions

static Point3 backproject (const Pose3 &pose, const Point2 &point, const double &depth)
 
static Point3 BackprojectFromCamera (const CalibratedCamera &camera, const Point2 &point, const double &depth)
 
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 Project1 (const Point3 &point)
 
static Point2 Project2 (const Unit3 &point)
 
static Point2 project2 (const CalibratedCamera &camera, const Point3 &point)
 
static Point2 projectAtInfinity (const CalibratedCamera &camera, const Unit3 &point)
 
 TEST (CalibratedCamera, constructor)
 
 TEST (CalibratedCamera, Create)
 
 TEST (CalibratedCamera, level1)
 
 TEST (CalibratedCamera, level2)
 
 TEST (CalibratedCamera, project)
 
 TEST (CalibratedCamera, DProject1)
 
 TEST (CalibratedCamera, DProjectInfinity)
 
 TEST (CalibratedCamera, Dproject_point_pose)
 
 TEST (CalibratedCamera, Dproject_point_pose2)
 
 TEST (CalibratedCamera, Dproject_point_pose_infinity)
 
 TEST (CalibratedCamera, Dproject_point_pose2_infinity)
 
 TEST (CalibratedCamera, DBackprojectFromCamera)
 
 TEST (PinholePose, DbackprojectCalibCamera)
 

Variables

static const CalibratedCamera camera (kDefaultPose)
 
static const Pose3 kDefaultPose (Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5))
 
Unit3 pointAtInfinity (0, 0, -1000)
 

Detailed Description

test CalibratedCamera class

Author
Frank Dellaert

Definition in file testCalibratedCamera.cpp.

Function Documentation

◆ backproject()

static Point3 backproject ( const Pose3 pose,
const Point2 point,
const double &  depth 
)
static

Definition at line 207 of file testCalibratedCamera.cpp.

◆ BackprojectFromCamera()

static Point3 BackprojectFromCamera ( const CalibratedCamera camera,
const Point2 point,
const double &  depth 
)
static

Definition at line 188 of file testCalibratedCamera.cpp.

◆ main()

int main ( void  )

Definition at line 231 of file testCalibratedCamera.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

◆ Project1()

static Point2 Project1 ( const Point3 point)
static

Definition at line 100 of file testCalibratedCamera.cpp.

◆ Project2()

static Point2 Project2 ( const Unit3 point)
static

Definition at line 113 of file testCalibratedCamera.cpp.

◆ project2()

static Point2 project2 ( const CalibratedCamera camera,
const Point3 point 
)
static

Definition at line 127 of file testCalibratedCamera.cpp.

◆ projectAtInfinity()

static Point2 projectAtInfinity ( const CalibratedCamera camera,
const Unit3 point 
)
static

Definition at line 159 of file testCalibratedCamera.cpp.

◆ TEST() [1/13]

TEST ( CalibratedCamera  ,
constructor   
)

Definition at line 45 of file testCalibratedCamera.cpp.

◆ TEST() [2/13]

TEST ( CalibratedCamera  ,
Create   
)

Definition at line 51 of file testCalibratedCamera.cpp.

◆ TEST() [3/13]

TEST ( CalibratedCamera  ,
level1   
)

Definition at line 63 of file testCalibratedCamera.cpp.

◆ TEST() [4/13]

TEST ( CalibratedCamera  ,
level2   
)

Definition at line 77 of file testCalibratedCamera.cpp.

◆ TEST() [5/13]

TEST ( CalibratedCamera  ,
project   
)

Definition at line 91 of file testCalibratedCamera.cpp.

◆ TEST() [6/13]

TEST ( CalibratedCamera  ,
DProject1   
)

Definition at line 104 of file testCalibratedCamera.cpp.

◆ TEST() [7/13]

TEST ( CalibratedCamera  ,
DProjectInfinity   
)

Definition at line 118 of file testCalibratedCamera.cpp.

◆ TEST() [8/13]

TEST ( CalibratedCamera  ,
Dproject_point_pose   
)

Definition at line 132 of file testCalibratedCamera.cpp.

◆ TEST() [9/13]

TEST ( CalibratedCamera  ,
Dproject_point_pose2   
)

Definition at line 146 of file testCalibratedCamera.cpp.

◆ TEST() [10/13]

TEST ( CalibratedCamera  ,
Dproject_point_pose_infinity   
)

Definition at line 163 of file testCalibratedCamera.cpp.

◆ TEST() [11/13]

TEST ( CalibratedCamera  ,
Dproject_point_pose2_infinity   
)

Definition at line 176 of file testCalibratedCamera.cpp.

◆ TEST() [12/13]

TEST ( CalibratedCamera  ,
DBackprojectFromCamera   
)

Definition at line 192 of file testCalibratedCamera.cpp.

◆ TEST() [13/13]

TEST ( PinholePose  ,
DbackprojectCalibCamera   
)

Definition at line 210 of file testCalibratedCamera.cpp.

Variable Documentation

◆ camera

const CalibratedCamera camera(kDefaultPose)
static

◆ kDefaultPose

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

◆ pointAtInfinity

Unit3 pointAtInfinity(0, 0, -1000)


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Author(s):
autogenerated on Tue Jul 4 2023 02:40:55