testCalibratedCamera.cpp File Reference

test CalibratedCamera class More...

#include <gtsam/geometry/CalibratedCamera.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <CppUnitLite/TestHarness.h>
#include <iostream>

Include dependency graph for testCalibratedCamera.cpp:

Go to the source code of this file.

Functions
static Point3	backproject (const Pose3 &pose, const Point2 &point, const double &depth)
static Point3	BackprojectFromCamera (const CalibratedCamera &camera, const Point2 &point, 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	Project1 (const Point3 &point)
static Point2	project2 (const CalibratedCamera &camera, const Point3 &point)
static Point2	Project2 (const Unit3 &point)
static Point2	projectAtInfinity (const CalibratedCamera &camera, const Unit3 &point)
	TEST (CalibratedCamera, constructor)
	TEST (CalibratedCamera, Create)
	TEST (CalibratedCamera, DBackprojectFromCamera)
	TEST (CalibratedCamera, DProject1)
	TEST (CalibratedCamera, Dproject_point_pose)
	TEST (CalibratedCamera, Dproject_point_pose2)
	TEST (CalibratedCamera, Dproject_point_pose2_infinity)
	TEST (CalibratedCamera, Dproject_point_pose_infinity)
	TEST (CalibratedCamera, DProjectInfinity)
	TEST (CalibratedCamera, level1)
	TEST (CalibratedCamera, level2)
	TEST (CalibratedCamera, project)
	TEST (PinholePose, DbackprojectCalibCamera)

Variables
static const CalibratedCamera	camera (kDefaultPose)
static const Pose3	kDefaultPose (Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5))
Unit3	pointAtInfinity (0, 0, -1000)

Detailed Description

test CalibratedCamera class

Author

Frank Dellaert

Definition in file testCalibratedCamera.cpp.

Function Documentation

backproject()

static Point3 backproject ( const Pose3 &  pose, const Point2 &  point, const double &  depth  )

static

Definition at line 207 of file testCalibratedCamera.cpp.

BackprojectFromCamera()

static Point3 BackprojectFromCamera ( const CalibratedCamera &  camera, const Point2 &  point, const double &  depth  )

static

Definition at line 188 of file testCalibratedCamera.cpp.

main()

int main

(

)

Definition at line 231 of file testCalibratedCamera.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

Project1()

static Point2 Project1 ( const Point3 &  point )

static

Definition at line 100 of file testCalibratedCamera.cpp.

project2()

static Point2 project2 ( const CalibratedCamera &  camera, const Point3 &  point  )

static

Definition at line 127 of file testCalibratedCamera.cpp.

Project2()

static Point2 Project2 ( const Unit3 &  point )

static

Definition at line 113 of file testCalibratedCamera.cpp.

projectAtInfinity()

static Point2 projectAtInfinity ( const CalibratedCamera &  camera, const Unit3 &  point  )

static

Definition at line 159 of file testCalibratedCamera.cpp.

TEST() [1/13]

TEST	(	CalibratedCamera	,
		constructor
	)

Definition at line 45 of file testCalibratedCamera.cpp.

TEST() [2/13]

TEST	(	CalibratedCamera	,
		Create
	)

Definition at line 51 of file testCalibratedCamera.cpp.

TEST() [3/13]

TEST	(	CalibratedCamera	,
		DBackprojectFromCamera
	)

Definition at line 192 of file testCalibratedCamera.cpp.

TEST() [4/13]

TEST	(	CalibratedCamera	,
		DProject1
	)

Definition at line 104 of file testCalibratedCamera.cpp.

TEST() [5/13]

TEST	(	CalibratedCamera	,
		Dproject_point_pose
	)

Definition at line 132 of file testCalibratedCamera.cpp.

TEST() [6/13]

TEST	(	CalibratedCamera	,
		Dproject_point_pose2
	)

Definition at line 146 of file testCalibratedCamera.cpp.

TEST() [7/13]

TEST	(	CalibratedCamera	,
		Dproject_point_pose2_infinity
	)

Definition at line 176 of file testCalibratedCamera.cpp.

TEST() [8/13]

TEST	(	CalibratedCamera	,
		Dproject_point_pose_infinity
	)

Definition at line 163 of file testCalibratedCamera.cpp.

TEST() [9/13]

TEST	(	CalibratedCamera	,
		DProjectInfinity
	)

Definition at line 118 of file testCalibratedCamera.cpp.

TEST() [10/13]

TEST	(	CalibratedCamera	,
		level1
	)

Definition at line 63 of file testCalibratedCamera.cpp.

TEST() [11/13]

TEST	(	CalibratedCamera	,
		level2
	)

Definition at line 77 of file testCalibratedCamera.cpp.

TEST() [12/13]

TEST	(	CalibratedCamera	,
		project
	)

Definition at line 91 of file testCalibratedCamera.cpp.

TEST() [13/13]

TEST	(	PinholePose	,
		DbackprojectCalibCamera
	)

Definition at line 210 of file testCalibratedCamera.cpp.

Variable Documentation

camera

const CalibratedCamera camera(kDefaultPose)

static

kDefaultPose

const Pose3 kDefaultPose(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5))

static

pointAtInfinity

Unit3 pointAtInfinity(0, 0, -1000)