testTriangulation.cpp File Reference

triangulation utilities More...

#include <CppUnitLite/TestHarness.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/geometry/Cal3DS2.h>
#include <gtsam/geometry/CameraSet.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/SphericalCamera.h>
#include <gtsam/geometry/StereoCamera.h>
#include <gtsam/geometry/triangulation.h>
#include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/slam/StereoFactor.h>

Include dependency graph for testTriangulation.cpp:

Go to the source code of this file.

Functions
static const PinholeCamera< Cal3_S2 >	kCamera1 (kPose1, *kSharedCal)
static const PinholeCamera< Cal3_S2 >	kCamera2 (kPose2, *kSharedCal)
static const Point3	kLandmark (5, 0.5, 1.2)
int	main ()
	TEST (triangulation, twoPoses)
	TEST (triangulation, twoCamerasUsingLOST)
	TEST (triangulation, twoCamerasLOSTvsDLT)
	TEST (triangulation, twoPosesCal3DS2)
	TEST (triangulation, twoPosesFisheye)
	TEST (triangulation, twoPosesBundler)
	TEST (triangulation, fourPoses)
	TEST (triangulation, threePoses_robustNoiseModel)
	TEST (triangulation, fourPoses_robustNoiseModel)
	TEST (triangulation, fourPoses_distinct_Ks)
	TEST (triangulation, fourPoses_distinct_Ks_distortion)
	TEST (triangulation, outliersAndFarLandmarks)
	TEST (triangulation, twoIdenticalPoses)
	TEST (triangulation, onePose)
	TEST (triangulation, StereoTriangulateNonlinear)
	TEST (triangulation, twoPoses_sphericalCamera)
	TEST (triangulation, twoPoses_sphericalCamera_extremeFOV)
	TEST (triangulation, reprojectionError_cameraComparison)

Variables
static const Point2Vector	kMeasurements {kZ1, kZ2}
static const Pose3	kPose1 = Pose3(upright, gtsam::Point3(0, 0, 1))
static const Pose3	kPose2 = kPose1 * Pose3(Rot3(), Point3(1, 0, 0))
static const std::vector< Pose3 >	kPoses = {kPose1, kPose2}
static const std::shared_ptr< Cal3_S2 >	kSharedCal
static const Point2	kZ1 = kCamera1.project(kLandmark)
static const Point2	kZ2 = kCamera2.project(kLandmark)
static const Rot3	upright = Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2)

Detailed Description

triangulation utilities

Date

July 30th, 2013

Author

Chris Beall (cbeall3)

Luca Carlone

Akshay Krishnan

Definition in file testTriangulation.cpp.

Function Documentation

kCamera1()

static const PinholeCamera<Cal3_S2> kCamera1 ( kPose1  , *  kSharedCal  )

static

kCamera2()

static const PinholeCamera<Cal3_S2> kCamera2 ( kPose2  , *  kSharedCal  )

static

kLandmark()

static const Point3 kLandmark ( 5  , 0.  5, 1.  2  )

static

main()

int main

(

void

)

Definition at line 857 of file testTriangulation.cpp.

TEST() [1/18]

TEST	(	triangulation	,
		twoPoses
	)

Definition at line 63 of file testTriangulation.cpp.

TEST() [2/18]

TEST	(	triangulation	,
		twoCamerasUsingLOST
	)

Definition at line 96 of file testTriangulation.cpp.

TEST() [3/18]

TEST	(	triangulation	,
		twoCamerasLOSTvsDLT
	)

Definition at line 125 of file testTriangulation.cpp.

TEST() [4/18]

TEST	(	triangulation	,
		twoPosesCal3DS2
	)

Definition at line 161 of file testTriangulation.cpp.

TEST() [5/18]

TEST	(	triangulation	,
		twoPosesFisheye
	)

Definition at line 213 of file testTriangulation.cpp.

TEST() [6/18]

TEST	(	triangulation	,
		twoPosesBundler
	)

Definition at line 265 of file testTriangulation.cpp.

TEST() [7/18]

TEST	(	triangulation	,
		fourPoses
	)

Definition at line 296 of file testTriangulation.cpp.

TEST() [8/18]

TEST	(	triangulation	,
		threePoses_robustNoiseModel
	)

Definition at line 345 of file testTriangulation.cpp.

TEST() [9/18]

TEST	(	triangulation	,
		fourPoses_robustNoiseModel
	)

Definition at line 385 of file testTriangulation.cpp.

TEST() [10/18]

TEST	(	triangulation	,
		fourPoses_distinct_Ks
	)

Definition at line 430 of file testTriangulation.cpp.

TEST() [11/18]

TEST	(	triangulation	,
		fourPoses_distinct_Ks_distortion
	)

Definition at line 493 of file testTriangulation.cpp.

TEST() [12/18]

TEST	(	triangulation	,
		outliersAndFarLandmarks
	)

Definition at line 515 of file testTriangulation.cpp.

TEST() [13/18]

TEST	(	triangulation	,
		twoIdenticalPoses
	)

Definition at line 572 of file testTriangulation.cpp.

TEST() [14/18]

TEST	(	triangulation	,
		onePose
	)

Definition at line 587 of file testTriangulation.cpp.

TEST() [15/18]

TEST	(	triangulation	,
		StereoTriangulateNonlinear
	)

Definition at line 599 of file testTriangulation.cpp.

TEST() [16/18]

TEST	(	triangulation	,
		twoPoses_sphericalCamera
	)

Definition at line 703 of file testTriangulation.cpp.

TEST() [17/18]

TEST	(	triangulation	,
		twoPoses_sphericalCamera_extremeFOV
	)

Definition at line 762 of file testTriangulation.cpp.

TEST() [18/18]

TEST	(	triangulation	,
		reprojectionError_cameraComparison
	)

Definition at line 821 of file testTriangulation.cpp.

Variable Documentation

kMeasurements

const Point2Vector kMeasurements {kZ1, kZ2}

static

Definition at line 59 of file testTriangulation.cpp.

kPose1

const Pose3 kPose1 = Pose3(upright, gtsam::Point3(0, 0, 1))

static

Definition at line 43 of file testTriangulation.cpp.

kPose2

const Pose3 kPose2 = kPose1 * Pose3(Rot3(), Point3(1, 0, 0))

static

Definition at line 47 of file testTriangulation.cpp.

kPoses

const std::vector<Pose3> kPoses = {kPose1, kPose2}

static

Definition at line 50 of file testTriangulation.cpp.

kSharedCal

const std::shared_ptr<Cal3_S2> kSharedCal

static

Initial value:

=  
    std::make_shared<Cal3_S2>(1500, 1200, 0.1, 640, 480)

Definition at line 38 of file testTriangulation.cpp.

kZ1

const Point2 kZ1 = kCamera1.project(kLandmark)

static

Definition at line 57 of file testTriangulation.cpp.

kZ2

const Point2 kZ2 = kCamera2.project(kLandmark)

static

Definition at line 58 of file testTriangulation.cpp.

upright

const Rot3 upright = Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2)

static

Definition at line 42 of file testTriangulation.cpp.