#include <CppUnitLite/TestHarness.h>#include <gtsam/base/Matrix.h>#include <gtsam/base/Testable.h>#include <gtsam/geometry/FundamentalMatrix.h>#include <gtsam/geometry/Rot3.h>#include <gtsam/geometry/SimpleCamera.h>#include <gtsam/geometry/Unit3.h>#include <cmath>
Go to the source code of this file.
Functions | |
| std::array< Pose3, 3 > | generateCameraPoses () |
| Generate three cameras on a circle, looking in. More... | |
| TripleF< SimpleFundamentalMatrix > | generateTripleF (const std::array< Pose3, 3 > &cameraPoses) |
| Function to generate a TripleF from camera poses. More... | |
| int | main () |
| Point2 | principalPoint (640/2, 480/2) |
| TEST (FundamentalMatrix, Conversion) | |
| TEST (FundamentalMatrix, LocalCoordinates) | |
| TEST (FundamentalMatrix, Retract) | |
| TEST (FundamentalMatrix, RoundTrip) | |
| TEST (PixelStereo, Conversion) | |
| TEST (PixelStereo, PointInBToHorizontalLineInA) | |
| TEST (RotatedPixelStereo, Conversion) | |
| TEST (RotatedPixelStereo, PointInBToHorizontalLineInA) | |
| TEST (SimpleStereo, Conversion) | |
| TEST (SimpleStereo, EpipolarLine) | |
| TEST (SimpleStereo, LocalCoordinates) | |
| TEST (SimpleStereo, Retract) | |
| TEST (SimpleStereo, RoundTrip) | |
| TEST (stereoWithPrincipalPoints, Conversion) | |
| TEST (TripleF, Transfer) | |
| FundamentalMatrix | trueF (trueU.matrix(), trueS, trueV.matrix()) |
| Point2 | zero (0.0, 0.0) |
Variables | |
| Rot3 | aRb = Rot3::Rz(M_PI_2) |
| EssentialMatrix | defaultE (Rot3(), Unit3(1, 0, 0)) |
| double | focalLength = 1000 |
| SimpleFundamentalMatrix | pixelStereo (defaultE, focalLength, focalLength, zero, zero) |
| EssentialMatrix | rotatedE (aRb, Unit3(1, 0, 0)) |
| SimpleFundamentalMatrix | rotatedPixelStereo (rotatedE, focalLength, focalLength, zero, zero) |
| SimpleFundamentalMatrix | stereoF (defaultE, 1.0, 1.0, zero, zero) |
| SimpleFundamentalMatrix | stereoWithPrincipalPoints (rotatedE, focalLength, focalLength, principalPoint, principalPoint) |
| double | trueS = 0.5 |
| Rot3 | trueU = Rot3::Yaw(M_PI_2) |
| Rot3 | trueV = Rot3::Yaw(M_PI_4) |
Function Documentation
◆ generateCameraPoses()
| std::array<Pose3, 3> generateCameraPoses | ( | ) |
Generate three cameras on a circle, looking in.
Definition at line 194 of file testFundamentalMatrix.cpp.
◆ generateTripleF()
| TripleF<SimpleFundamentalMatrix> generateTripleF | ( | const std::array< Pose3, 3 > & | cameraPoses | ) |
Function to generate a TripleF from camera poses.
Definition at line 208 of file testFundamentalMatrix.cpp.
◆ main()
| int main | ( | ) |
Definition at line 250 of file testFundamentalMatrix.cpp.
◆ principalPoint()
| Point2 principalPoint | ( | 640/ | 2, |
| 480/ | 2 | ||
| ) |
◆ TEST() [1/15]
| TEST | ( | FundamentalMatrix | , |
| Conversion | |||
| ) |
Definition at line 47 of file testFundamentalMatrix.cpp.
◆ TEST() [2/15]
| TEST | ( | FundamentalMatrix | , |
| LocalCoordinates | |||
| ) |
Definition at line 33 of file testFundamentalMatrix.cpp.
◆ TEST() [3/15]
| TEST | ( | FundamentalMatrix | , |
| Retract | |||
| ) |
Definition at line 40 of file testFundamentalMatrix.cpp.
◆ TEST() [4/15]
| TEST | ( | FundamentalMatrix | , |
| RoundTrip | |||
| ) |
Definition at line 63 of file testFundamentalMatrix.cpp.
◆ TEST() [5/15]
| TEST | ( | PixelStereo | , |
| Conversion | |||
| ) |
Definition at line 123 of file testFundamentalMatrix.cpp.
◆ TEST() [6/15]
| TEST | ( | PixelStereo | , |
| PointInBToHorizontalLineInA | |||
| ) |
Definition at line 135 of file testFundamentalMatrix.cpp.
◆ TEST() [7/15]
| TEST | ( | RotatedPixelStereo | , |
| Conversion | |||
| ) |
Definition at line 152 of file testFundamentalMatrix.cpp.
◆ TEST() [8/15]
| TEST | ( | RotatedPixelStereo | , |
| PointInBToHorizontalLineInA | |||
| ) |
Definition at line 164 of file testFundamentalMatrix.cpp.
◆ TEST() [9/15]
| TEST | ( | SimpleStereo | , |
| Conversion | |||
| ) |
Definition at line 78 of file testFundamentalMatrix.cpp.
◆ TEST() [10/15]
| TEST | ( | SimpleStereo | , |
| EpipolarLine | |||
| ) |
Definition at line 106 of file testFundamentalMatrix.cpp.
◆ TEST() [11/15]
| TEST | ( | SimpleStereo | , |
| LocalCoordinates | |||
| ) |
Definition at line 84 of file testFundamentalMatrix.cpp.
◆ TEST() [12/15]
| TEST | ( | SimpleStereo | , |
| Retract | |||
| ) |
Definition at line 91 of file testFundamentalMatrix.cpp.
◆ TEST() [13/15]
| TEST | ( | SimpleStereo | , |
| RoundTrip | |||
| ) |
Definition at line 97 of file testFundamentalMatrix.cpp.
◆ TEST() [14/15]
| TEST | ( | stereoWithPrincipalPoints | , |
| Conversion | |||
| ) |
Definition at line 181 of file testFundamentalMatrix.cpp.
◆ TEST() [15/15]
| TEST | ( | TripleF | , |
| Transfer | |||
| ) |
Definition at line 221 of file testFundamentalMatrix.cpp.
◆ trueF()
| FundamentalMatrix trueF | ( | trueU. | matrix(), |
| trueS | , | ||
| trueV. | matrix() | ||
| ) |
◆ zero()
| Point2 zero | ( | 0. | 0, |
| 0. | 0 | ||
| ) |
Variable Documentation
◆ aRb
Definition at line 146 of file testFundamentalMatrix.cpp.
◆ defaultE
| EssentialMatrix defaultE(Rot3(), Unit3(1, 0, 0)) |
◆ focalLength
| double focalLength = 1000 |
Definition at line 118 of file testFundamentalMatrix.cpp.
◆ pixelStereo
| SimpleFundamentalMatrix pixelStereo(defaultE, focalLength, focalLength, zero, zero) |
◆ rotatedE
| EssentialMatrix rotatedE(aRb, Unit3(1, 0, 0)) |
◆ rotatedPixelStereo
| SimpleFundamentalMatrix rotatedPixelStereo(rotatedE, focalLength, focalLength, zero, zero) |
◆ stereoF
| SimpleFundamentalMatrix stereoF(defaultE, 1.0, 1.0, zero, zero) |
◆ stereoWithPrincipalPoints
| SimpleFundamentalMatrix stereoWithPrincipalPoints(rotatedE, focalLength, focalLength, principalPoint, principalPoint) |
◆ trueS
| double trueS = 0.5 |
Definition at line 29 of file testFundamentalMatrix.cpp.
◆ trueU
Definition at line 27 of file testFundamentalMatrix.cpp.
◆ trueV
Definition at line 28 of file testFundamentalMatrix.cpp.