#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/Testable.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam_unstable/geometry/InvDepthCamera3.h>

Include dependency graph for testInvDepthCamera3.cpp:

Functions
static Cal3_S2::shared_ptr	K (new Cal3_S2(1500, 1200, 0, 640, 480))

PinholeCamera< Cal3_S2 >	level_camera (level_pose, *K)

int	main ()

Point2	project_ (const Pose3 &pose, const Vector5 &landmark, const double &inv_depth)

	TEST (InvDepthFactor, backproject)

	TEST (InvDepthFactor, backproject2)

	TEST (InvDepthFactor, Dproject_inv_depth)

	TEST (InvDepthFactor, Dproject_landmark)

	TEST (InvDepthFactor, Dproject_pose)

	TEST (InvDepthFactor, Project1)

	TEST (InvDepthFactor, Project2)

	TEST (InvDepthFactor, Project3)

	TEST (InvDepthFactor, Project4)

Variables
Pose3	level_pose = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1))

Function Documentation

◆ K()

static Cal3_S2::shared_ptr K ( new Cal3_S21500, 1200, 0, 640, 480 )

static

◆ level_camera()

PinholeCamera<Cal3_S2> level_camera	(	level_pose	,
		*	K
	)

◆ main()

int main ( )

Definition at line 153 of file testInvDepthCamera3.cpp.

◆ project_()

Point2 project_	(	const Pose3 &	pose,
		const Vector5 &	landmark,
		const double &	inv_depth
	)

Definition at line 87 of file testInvDepthCamera3.cpp.

◆ TEST() [1/9]

TEST	(	InvDepthFactor	,
		backproject
	)

Definition at line 126 of file testInvDepthCamera3.cpp.

◆ TEST() [2/9]

TEST	(	InvDepthFactor	,
		backproject2
	)

Definition at line 139 of file testInvDepthCamera3.cpp.

◆ TEST() [3/9]

TEST	(	InvDepthFactor	,
		Dproject_inv_depth
	)

Definition at line 114 of file testInvDepthCamera3.cpp.

◆ TEST() [4/9]

TEST	(	InvDepthFactor	,
		Dproject_landmark
	)

Definition at line 102 of file testInvDepthCamera3.cpp.

◆ TEST() [5/9]

TEST	(	InvDepthFactor	,
		Dproject_pose
	)

Definition at line 90 of file testInvDepthCamera3.cpp.

◆ TEST() [6/9]

TEST	(	InvDepthFactor	,
		Project1
	)

Definition at line 25 of file testInvDepthCamera3.cpp.

◆ TEST() [7/9]

TEST	(	InvDepthFactor	,
		Project2
	)

Definition at line 41 of file testInvDepthCamera3.cpp.

◆ TEST() [8/9]

TEST	(	InvDepthFactor	,
		Project3
	)

Definition at line 56 of file testInvDepthCamera3.cpp.

◆ TEST() [9/9]

TEST	(	InvDepthFactor	,
		Project4
	)

Definition at line 71 of file testInvDepthCamera3.cpp.

Variable Documentation

◆ level_pose

Pose3 level_pose = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1))

Definition at line 21 of file testInvDepthCamera3.cpp.

Functions

Variables