Typedefs | Functions | Variables
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_S2Camera
 
typedef PinholeCamera< Cal3BundlerCamera2
 

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

Definition at line 34 of file testPinholeCamera.cpp.

◆ 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


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autogenerated on Tue Jul 4 2023 02:40:56