Typedefs | Functions | Variables
testPinholePose.cpp File Reference

test PinholePose class More...

#include <gtsam/geometry/PinholePose.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <CppUnitLite/TestHarness.h>
#include <cmath>
#include <iostream>
Include dependency graph for testPinholePose.cpp:

Go to the source code of this file.

Typedefs

typedef PinholePose< Cal3_S2Camera
 
typedef PinholePose< Cal3BundlerCamera2
 

Functions

static Point3 backproject (const Pose3 &pose, const Cal3_S2 &cal, const Point2 &p, 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 project (const Pose3 &pose, const Unit3 &pointAtInfinity, const Cal3_S2::shared_ptr &cal)
 
static Point2 project3 (const Pose3 &pose, const Point3 &point, const Cal3_S2::shared_ptr &cal)
 
static Point2 project4 (const Camera &camera, const Point3 &point)
 
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 (PinholePose, constructor)
 
 TEST (PinholePose, lookat)
 
 TEST (PinholePose, project)
 
 TEST (PinholePose, backproject)
 
 TEST (PinholePose, backprojectInfinity)
 
 TEST (PinholePose, backproject2)
 
 TEST (PinholePose, Dproject)
 
 TEST (PinholePose, Dproject2)
 
 TEST (CalibratedCamera, Dproject3)
 
 TEST (PinholePose, DprojectAtInfinity2)
 
 TEST (PinholePose, DbackprojectRegCamera)
 
 TEST (PinholePose, range0)
 
 TEST (PinholePose, range1)
 
 TEST (PinholePose, range2)
 
 TEST (PinholePose, range3)
 

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::shared_ptr K = std::make_shared<Cal3_S2>(625, 625, 0, 0, 0)
 
static const std::shared_ptr< Cal3BundlerK2
 
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 PinholePose class

Author
Frank Dellaert
Date
Feb 20, 2015

Definition in file testPinholePose.cpp.

Typedef Documentation

◆ Camera

Definition at line 34 of file testPinholePose.cpp.

◆ Camera2

Definition at line 265 of file testPinholePose.cpp.

Function Documentation

◆ backproject()

static Point3 backproject ( const Pose3 pose,
const Cal3_S2 cal,
const Point2 p,
const double &  depth 
)
static

Definition at line 207 of file testPinholePose.cpp.

◆ main()

int main ( void  )

Definition at line 302 of file testPinholePose.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

◆ project()

static Point2 project ( const Pose3 pose,
const Unit3 pointAtInfinity,
const Cal3_S2::shared_ptr cal 
)
static

Definition at line 188 of file testPinholePose.cpp.

◆ project3()

static Point2 project3 ( const Pose3 pose,
const Point3 point,
const Cal3_S2::shared_ptr cal 
)
static

Definition at line 139 of file testPinholePose.cpp.

◆ project4()

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

Definition at line 157 of file testPinholePose.cpp.

◆ range0()

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

Definition at line 233 of file testPinholePose.cpp.

◆ range1()

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

Definition at line 249 of file testPinholePose.cpp.

◆ range2()

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

Definition at line 269 of file testPinholePose.cpp.

◆ range3()

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

Definition at line 286 of file testPinholePose.cpp.

◆ TEST() [1/15]

TEST ( PinholePose  ,
constructor   
)

Definition at line 55 of file testPinholePose.cpp.

◆ TEST() [2/15]

TEST ( PinholePose  ,
lookat   
)

Definition at line 76 of file testPinholePose.cpp.

◆ TEST() [3/15]

TEST ( PinholePose  ,
project   
)

Definition at line 96 of file testPinholePose.cpp.

◆ TEST() [4/15]

TEST ( PinholePose  ,
backproject   
)

Definition at line 105 of file testPinholePose.cpp.

◆ TEST() [5/15]

TEST ( PinholePose  ,
backprojectInfinity   
)

Definition at line 114 of file testPinholePose.cpp.

◆ TEST() [6/15]

TEST ( PinholePose  ,
backproject2   
)

Definition at line 123 of file testPinholePose.cpp.

◆ TEST() [7/15]

TEST ( PinholePose  ,
Dproject   
)

Definition at line 145 of file testPinholePose.cpp.

◆ TEST() [8/15]

TEST ( PinholePose  ,
Dproject2   
)

Definition at line 162 of file testPinholePose.cpp.

◆ TEST() [9/15]

TEST ( CalibratedCamera  ,
Dproject3   
)

Definition at line 175 of file testPinholePose.cpp.

◆ TEST() [10/15]

TEST ( PinholePose  ,
DprojectAtInfinity2   
)

Definition at line 194 of file testPinholePose.cpp.

◆ TEST() [11/15]

TEST ( PinholePose  ,
DbackprojectRegCamera   
)

Definition at line 212 of file testPinholePose.cpp.

◆ TEST() [12/15]

TEST ( PinholePose  ,
range0   
)

Definition at line 238 of file testPinholePose.cpp.

◆ TEST() [13/15]

TEST ( PinholePose  ,
range1   
)

Definition at line 254 of file testPinholePose.cpp.

◆ TEST() [14/15]

TEST ( PinholePose  ,
range2   
)

Definition at line 274 of file testPinholePose.cpp.

◆ TEST() [15/15]

TEST ( PinholePose  ,
range3   
)

Definition at line 291 of file testPinholePose.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::shared_ptr K = std::make_shared<Cal3_S2>(625, 625, 0, 0, 0)
static

Definition at line 36 of file testPinholePose.cpp.

◆ K2

const std::shared_ptr<Cal3Bundler> K2
static
Initial value:
=
std::make_shared<Cal3Bundler>(625, 1e-3, 1e-3)
Array< double, 1, 3 > e(1./3., 0.5, 2.)

Definition at line 266 of file testPinholePose.cpp.

◆ 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