testPinholeCamera.cpp File Reference

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

Camera

typedef PinholeCamera<Cal3_S2> Camera

Definition at line 34 of file testPinholeCamera.cpp.

Camera2

typedef PinholeCamera<Cal3Bundler> Camera2

Definition at line 306 of file testPinholeCamera.cpp.

Function Documentation

main()

int main

(

void

)

Definition at line 351 of file testPinholeCamera.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 Point2 project3 ( const Pose3 &  pose, const Point3 &  point, const Cal3_S2 &  cal  )

static

Definition at line 198 of file testPinholeCamera.cpp.

project4()

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

static

Definition at line 242 of file testPinholeCamera.cpp.

projectInfinity3()

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

static

Definition at line 217 of file testPinholeCamera.cpp.

range0()

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

static

Definition at line 273 of file testPinholeCamera.cpp.

range1()

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

static

Definition at line 290 of file testPinholeCamera.cpp.

range2()

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

static

Definition at line 309 of file testPinholeCamera.cpp.

range3()

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

static

Definition at line 326 of file testPinholeCamera.cpp.

TEST() [1/20]

TEST	(	PinholeCamera	,
		constructor
	)

Definition at line 55 of file testPinholeCamera.cpp.

TEST() [2/20]

TEST	(	PinholeCamera	,
		Create
	)

Definition at line 62 of file testPinholeCamera.cpp.

TEST() [3/20]

TEST	(	PinholeCamera	,
		Pose
	)

Definition at line 78 of file testPinholeCamera.cpp.

TEST() [4/20]

TEST	(	PinholeCamera	,
		level2
	)

Definition at line 91 of file testPinholeCamera.cpp.

TEST() [5/20]

TEST	(	PinholeCamera	,
		lookat
	)

Definition at line 105 of file testPinholeCamera.cpp.

TEST() [6/20]

TEST	(	PinholeCamera	,
		project
	)

Definition at line 125 of file testPinholeCamera.cpp.

TEST() [7/20]

TEST	(	PinholeCamera	,
		backproject
	)

Definition at line 134 of file testPinholeCamera.cpp.

TEST() [8/20]

TEST	(	PinholeCamera	,
		backprojectInfinity
	)

Definition at line 143 of file testPinholeCamera.cpp.

TEST() [9/20]

TEST	(	PinholeCamera	,
		backproject2
	)

Definition at line 152 of file testPinholeCamera.cpp.

TEST() [10/20]

TEST	(	PinholeCamera	,
		backprojectInfinity2
	)

Definition at line 168 of file testPinholeCamera.cpp.

TEST() [11/20]

TEST	(	PinholeCamera	,
		backprojectInfinity3
	)

Definition at line 183 of file testPinholeCamera.cpp.

TEST() [12/20]

TEST	(	PinholeCamera	,
		Dproject
	)

Definition at line 203 of file testPinholeCamera.cpp.

TEST() [13/20]

TEST	(	PinholeCamera	,
		Dproject_Infinity
	)

Definition at line 221 of file testPinholeCamera.cpp.

TEST() [14/20]

TEST	(	PinholeCamera	,
		Dproject2
	)

Definition at line 247 of file testPinholeCamera.cpp.

TEST() [15/20]

TEST	(	PinholeCamera	,
		Dproject3
	)

Definition at line 260 of file testPinholeCamera.cpp.

TEST() [16/20]

TEST	(	PinholeCamera	,
		range0
	)

Definition at line 278 of file testPinholeCamera.cpp.

TEST() [17/20]

TEST	(	PinholeCamera	,
		range1
	)

Definition at line 295 of file testPinholeCamera.cpp.

TEST() [18/20]

TEST	(	PinholeCamera	,
		range2
	)

Definition at line 314 of file testPinholeCamera.cpp.

TEST() [19/20]

TEST	(	PinholeCamera	,
		range3
	)

Definition at line 331 of file testPinholeCamera.cpp.

TEST() [20/20]

TEST	(	PinholeCamera	,
		Cal3Bundler
	)

Definition at line 342 of file testPinholeCamera.cpp.

Variable Documentation

camera

const Camera camera(pose, K)

static

camera1

const Camera camera1(pose1, K)

static

camera2

const Camera2 camera2(pose1, K2)

static

camera3

const CalibratedCamera camera3(pose1)

static

K

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

static

K2

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

static

point1_inf

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

static

point2_inf

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

static

point3_inf

const Unit3 point3_inf(0.16, 0.16, -1.0)

static

point4_inf

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

static

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