Functions | Variables
testInvDepthCamera3.cpp File Reference
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/Testable.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam_unstable/geometry/InvDepthCamera3.h>
Include dependency graph for testInvDepthCamera3.cpp:

Go to the source code of this file.

Functions

static Cal3_S2::shared_ptr K (new Cal3_S2(1500, 1200, 0, 640, 480))
 
PinholeCamera< Cal3_S2level_camera (level_pose, *K)
 
int main ()
 
Point2 project_ (const Pose3 &pose, const Vector5 &landmark, const double &inv_depth)
 
 TEST (InvDepthFactor, Project1)
 
 TEST (InvDepthFactor, Project2)
 
 TEST (InvDepthFactor, Project3)
 
 TEST (InvDepthFactor, Project4)
 
 TEST (InvDepthFactor, Dproject_pose)
 
 TEST (InvDepthFactor, Dproject_landmark)
 
 TEST (InvDepthFactor, Dproject_inv_depth)
 
 TEST (InvDepthFactor, backproject)
 
 TEST (InvDepthFactor, backproject2)
 

Variables

Pose3 level_pose = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1))
 

Function Documentation

◆ K()

static Cal3_S2::shared_ptr K ( new   Cal3_S21500, 1200, 0, 640, 480)
static

◆ level_camera()

PinholeCamera<Cal3_S2> level_camera ( level_pose  ,
K 
)

◆ main()

int main ( void  )

Definition at line 153 of file testInvDepthCamera3.cpp.

◆ project_()

Point2 project_ ( const Pose3 pose,
const Vector5 &  landmark,
const double &  inv_depth 
)

Definition at line 87 of file testInvDepthCamera3.cpp.

◆ TEST() [1/9]

TEST ( InvDepthFactor  ,
Project1   
)

Definition at line 25 of file testInvDepthCamera3.cpp.

◆ TEST() [2/9]

TEST ( InvDepthFactor  ,
Project2   
)

Definition at line 41 of file testInvDepthCamera3.cpp.

◆ TEST() [3/9]

TEST ( InvDepthFactor  ,
Project3   
)

Definition at line 56 of file testInvDepthCamera3.cpp.

◆ TEST() [4/9]

TEST ( InvDepthFactor  ,
Project4   
)

Definition at line 71 of file testInvDepthCamera3.cpp.

◆ TEST() [5/9]

TEST ( InvDepthFactor  ,
Dproject_pose   
)

Definition at line 90 of file testInvDepthCamera3.cpp.

◆ TEST() [6/9]

TEST ( InvDepthFactor  ,
Dproject_landmark   
)

Definition at line 102 of file testInvDepthCamera3.cpp.

◆ TEST() [7/9]

TEST ( InvDepthFactor  ,
Dproject_inv_depth   
)

Definition at line 114 of file testInvDepthCamera3.cpp.

◆ TEST() [8/9]

TEST ( InvDepthFactor  ,
backproject   
)

Definition at line 126 of file testInvDepthCamera3.cpp.

◆ TEST() [9/9]

TEST ( InvDepthFactor  ,
backproject2   
)

Definition at line 139 of file testInvDepthCamera3.cpp.

Variable Documentation

◆ level_pose

Pose3 level_pose = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1))

Definition at line 21 of file testInvDepthCamera3.cpp.



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autogenerated on Tue Jul 4 2023 02:40:55