25 using namespace gtsam;
33 set.push_back(camera);
34 set.push_back(camera);
41 ZZ
z =
set.project2(p);
57 set.project2(p, Fs, E);
77 set.push_back(camera);
78 set.push_back(camera);
82 set2.push_back(camera);
87 ZZ
z =
set.project2(p);
96 camera.project2(p, F1, E1);
105 set.project2(p, Fs, E);
114 measured.push_back(
Point2(1, 2));
115 measured.push_back(
Point2(3, 4));
119 expectedV << -1, -2, -3, -4;
120 Vector actualV =
set.reprojectionError(p, measured);
127 camera.project2(pointAtInfinity, F1, E1);
128 actualE.resize(4, 2);
133 camera.backprojectPointAtInfinity(
Point2(0,0))));
137 actualV =
set.reprojectionError(pointAtInfinity, measured, Fs, E);
static int runAllTests(TestResult &result)
bool assert_equal(const Matrix &expected, const Matrix &actual, double tol)
Some functions to compute numerical derivatives.
static const SmartProjectionParams params
Represents a 3D point on a unit sphere.
Base class for all pinhole cameras.
#define EXPECT(condition)
A CameraSet of either CalibratedCamera, PinholePose, or PinholeCamera.
Calibrated camera for which only pose is unknown.
#define LONGS_EQUAL(expected, actual)
#define EXPECT_LONGS_EQUAL(expected, actual)
Unit3 pointAtInfinity(0, 0, -1000)
Point2 project2(const Point3 &point, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 3 > Dpoint={}) const
std::vector< Point2, Eigen::aligned_allocator< Point2 > > Point2Vector
PinholePose< Cal3_S2 > Camera
static const CalibratedCamera camera(kDefaultPose)
Calibration used by Bundler.