testStereoCamera.cpp File Reference

Unit test for StereoCamera single camera. More...

#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/StereoCamera.h>

Include dependency graph for testStereoCamera.cpp:

Go to the source code of this file.

Functions
static Point3	backproject3 (const Pose3 &pose, const StereoPoint2 &point, const Cal3_S2Stereo &K)
static Cal3_S2Stereo::shared_ptr	K (new Cal3_S2Stereo(1500, 1500, 0, 320, 240, 0.5))
static Point3	landmark (0, 0, 5)
int	main ()
static StereoPoint2	project3 (const Pose3 &pose, const Point3 &point, const Cal3_S2Stereo &K)
	TEST (StereoCamera, operators)
	TEST (StereoCamera, project)
	TEST (StereoCamera, Dproject)
	TEST (StereoCamera, projectCheirality)
	TEST (StereoCamera, backproject_case1)
	TEST (StereoCamera, backproject_case2)
	TEST (StereoCamera, backproject2_case1)
	TEST (StereoCamera, backproject2_case2)

Variables
static Pose3	camPose (Rot3((Matrix3()<< 1., 0., 0., 0.,-1., 0., 0., 0.,-1.).finished()), Point3(0, 0, 6.25))
static StereoCamera	stereoCam (camPose, K)

Detailed Description

Unit test for StereoCamera single camera.

Author

Chris Beall

Definition in file testStereoCamera.cpp.

Function Documentation

backproject3()

static Point3 backproject3 ( const Pose3 &  pose, const StereoPoint2 &  point, const Cal3_S2Stereo &  K  )

static

Definition at line 152 of file testStereoCamera.cpp.

K()

static Cal3_S2Stereo::shared_ptr K ( new   Cal3_S2Stereo1500, 1500, 0, 320, 240, 0.5 )

static

landmark()

static Point3 landmark ( 0  , 0  , 5    )

static

main()

int main

(

void

)

Definition at line 200 of file testStereoCamera.cpp.

project3()

static StereoPoint2 project3 ( const Pose3 &  pose, const Point3 &  point, const Cal3_S2Stereo &  K  )

static

Definition at line 91 of file testStereoCamera.cpp.

TEST() [1/8]

TEST	(	StereoCamera	,
		operators
	)

Definition at line 31 of file testStereoCamera.cpp.

TEST() [2/8]

TEST	(	StereoCamera	,
		project
	)

Definition at line 39 of file testStereoCamera.cpp.

TEST() [3/8]

TEST	(	StereoCamera	,
		Dproject
	)

Definition at line 96 of file testStereoCamera.cpp.

TEST() [4/8]

TEST	(	StereoCamera	,
		projectCheirality
	)

Definition at line 108 of file testStereoCamera.cpp.

TEST() [5/8]

TEST	(	StereoCamera	,
		backproject_case1
	)

Definition at line 125 of file testStereoCamera.cpp.

TEST() [6/8]

TEST	(	StereoCamera	,
		backproject_case2
	)

Definition at line 137 of file testStereoCamera.cpp.

TEST() [7/8]

TEST	(	StereoCamera	,
		backproject2_case1
	)

Definition at line 157 of file testStereoCamera.cpp.

TEST() [8/8]

TEST	(	StereoCamera	,
		backproject2_case2
	)

Definition at line 176 of file testStereoCamera.cpp.

Variable Documentation

camPose

Pose3 camPose(Rot3((Matrix3()<< 1., 0., 0., 0.,-1., 0., 0., 0.,-1.).finished()), Point3(0, 0, 6.25))

static

stereoCam

StereoCamera stereoCam(camPose, K)

static