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_S2 >	Camera

typedef PinholePose< Cal3Bundler >	Camera2

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< Cal3Bundler >	K2

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

typedef PinholePose<Cal3_S2> Camera

Definition at line 34 of file testPinholePose.cpp.

◆ Camera2

typedef PinholePose<Cal3Bundler> 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)

e

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

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

◆ Camera

◆ Camera2

Function Documentation

◆ backproject()

◆ main()

◆ point1()

◆ point2()

◆ point3()

◆ point4()

◆ project()

◆ project3()

◆ project4()

◆ range0()

◆ range1()

◆ range2()

◆ range3()

◆ TEST() [1/15]

◆ TEST() [2/15]

◆ TEST() [3/15]

◆ TEST() [4/15]

◆ TEST() [5/15]

◆ TEST() [6/15]

◆ TEST() [7/15]

◆ TEST() [8/15]

◆ TEST() [9/15]

◆ TEST() [10/15]

◆ TEST() [11/15]

◆ TEST() [12/15]

◆ TEST() [13/15]

◆ TEST() [14/15]

◆ TEST() [15/15]

Variable Documentation

◆ camera

◆ camera1

◆ camera2

◆ camera3

◆ K

◆ K2

◆ point1_inf

◆ point2_inf

◆ point3_inf

◆ point4_inf

◆ pose

◆ pose1