Inheritance diagram for test_Triangulation.TestTriangulationExample:

Public Member Functions
Tuple[List[Point2], Union[CameraSetCal3Bundler, CameraSetCal3_S2, List[Cal3Bundler], List[Cal3_S2]]]	generate_measurements (self, Union[Cal3Bundler, Cal3_S2] calibration, Union[PinholeCameraCal3Bundler, PinholeCameraCal3_S2] camera_model, Iterable[Iterable[Union[int, float]]] cal_params, Optional[Union[CameraSetCal3Bundler, CameraSetCal3_S2]] camera_set=None)

def	setUp (self)

None	test_distinct_Ks (self)

None	test_distinct_Ks_Bundler (self)

None	test_outliers_and_far_landmarks (self)

None	test_triangulation_robust_three_poses (self)

None	test_TriangulationExample (self)

Public Member Functions inherited from gtsam.utils.test_case.GtsamTestCase
def	assertDeepCopyEquality (self, obj)

None	assertEqualityOnPickleRoundtrip (self, object obj, tol=1e-9)

def	gtsamAssertEquals (self, actual, expected, tol=1e-9)

Public Attributes
	landmark

	poses

Detailed Description

Tests for triangulation with shared and individual calibrations

Definition at line 27 of file test_Triangulation.py.

Member Function Documentation

◆ generate_measurements()

Tuple[List[Point2], Union[CameraSetCal3Bundler, CameraSetCal3_S2, List[Cal3Bundler], List[Cal3_S2]]] test_Triangulation.TestTriangulationExample.generate_measurements	(		self,
		Union[Cal3Bundler, Cal3_S2]	calibration,
		Union[PinholeCameraCal3Bundler, PinholeCameraCal3_S2]	camera_model,
		Iterable[Iterable[Union[int, float]]]	cal_params,
		Optional[Union[CameraSetCal3Bundler, CameraSetCal3_S2]]	camera_set = `None`
	)

Generate vector of measurements for given calibration and camera model.

Args:
    calibration: Camera calibration e.g. Cal3_S2
    camera_model: Camera model e.g. PinholeCameraCal3_S2
    cal_params: Iterable of camera parameters for `calibration` e.g. [K1, K2]
    camera_set: Cameraset object (for individual calibrations)

Returns:
    list of measurements and list/CameraSet object for cameras

Definition at line 43 of file test_Triangulation.py.

◆ setUp()

def test_Triangulation.TestTriangulationExample.setUp ( self )

Set up two camera poses

Definition at line 30 of file test_Triangulation.py.

◆ test_distinct_Ks()

None test_Triangulation.TestTriangulationExample.test_distinct_Ks ( self )

Tests triangulation with individual Cal3_S2 calibrations

Definition at line 109 of file test_Triangulation.py.

◆ test_distinct_Ks_Bundler()

None test_Triangulation.TestTriangulationExample.test_distinct_Ks_Bundler ( self )

Tests triangulation with individual Cal3Bundler calibrations

Definition at line 127 of file test_Triangulation.py.

◆ test_outliers_and_far_landmarks()

None test_Triangulation.TestTriangulationExample.test_outliers_and_far_landmarks ( self )

Check safe triangulation function.

Definition at line 210 of file test_Triangulation.py.

◆ test_triangulation_robust_three_poses()

None test_Triangulation.TestTriangulationExample.test_triangulation_robust_three_poses ( self )

Ensure triangulation with a robust model works.

Definition at line 145 of file test_Triangulation.py.

◆ test_TriangulationExample()

None test_Triangulation.TestTriangulationExample.test_TriangulationExample ( self )

Tests triangulation with shared Cal3_S2 calibration

Definition at line 79 of file test_Triangulation.py.

Member Data Documentation

◆ landmark

test_Triangulation.TestTriangulationExample.landmark

Definition at line 41 of file test_Triangulation.py.

◆ poses

test_Triangulation.TestTriangulationExample.poses

Definition at line 38 of file test_Triangulation.py.

The documentation for this class was generated from the following file:

test_Triangulation.py

Public Member Functions

Public Attributes