test PinholePose class More...
#include <gtsam/geometry/PinholePose.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <CppUnitLite/TestHarness.h>
#include <cmath>
#include <iostream>
Go to the source code of this file.
Typedefs | |
typedef PinholePose< Cal3_S2 > | Camera |
typedef PinholePose< Cal3Bundler > | Camera2 |
Functions | |
static Point3 | backproject (const Pose3 &pose, const Cal3_S2 &cal, const Point2 &p, 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 | project (const Pose3 &pose, const Unit3 &pointAtInfinity, const Cal3_S2::shared_ptr &cal) |
static Point2 | project3 (const Pose3 &pose, const Point3 &point, const Cal3_S2::shared_ptr &cal) |
static Point2 | project4 (const Camera &camera, const Point3 &point) |
static double | range0 (const Camera &camera, const Point3 &point) |
static double | range1 (const Camera &camera, const Pose3 &pose) |
static double | range2 (const Camera &camera, const Camera2 &camera2) |
static double | range3 (const Camera &camera, const CalibratedCamera &camera3) |
TEST (CalibratedCamera, Dproject3) | |
TEST (PinholePose, backproject) | |
TEST (PinholePose, backproject2) | |
TEST (PinholePose, backprojectInfinity) | |
TEST (PinholePose, constructor) | |
TEST (PinholePose, DbackprojectRegCamera) | |
TEST (PinholePose, Dproject) | |
TEST (PinholePose, Dproject2) | |
TEST (PinholePose, DprojectAtInfinity2) | |
TEST (PinholePose, lookat) | |
TEST (PinholePose, project) | |
TEST (PinholePose, range0) | |
TEST (PinholePose, range1) | |
TEST (PinholePose, range2) | |
TEST (PinholePose, range3) | |
Variables | |
static const Camera | camera (pose, K) |
static const Camera | camera1 (pose1, K) |
static const Camera2 | camera2 (pose1, K2) |
static const CalibratedCamera | camera3 (pose1) |
static const Cal3_S2::shared_ptr | K = std::make_shared<Cal3_S2>(625, 625, 0, 0, 0) |
static const std::shared_ptr< Cal3Bundler > | K2 |
static const Unit3 | point1_inf (-0.16,-0.16, -1.0) |
static const Unit3 | point2_inf (-0.16, 0.16, -1.0) |
static const Unit3 | point3_inf (0.16, 0.16, -1.0) |
static const Unit3 | point4_inf (0.16,-0.16, -1.0) |
static const Pose3 | pose (Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5)) |
static const Pose3 | pose1 (Rot3(), Point3(0, 1, 0.5)) |
typedef PinholePose<Cal3_S2> Camera |
Definition at line 34 of file testPinholePose.cpp.
typedef PinholePose<Cal3Bundler> Camera2 |
Definition at line 265 of file testPinholePose.cpp.
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Definition at line 207 of file testPinholePose.cpp.
int main | ( | ) |
Definition at line 302 of file testPinholePose.cpp.
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Definition at line 188 of file testPinholePose.cpp.
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Definition at line 139 of file testPinholePose.cpp.
Definition at line 157 of file testPinholePose.cpp.
Definition at line 233 of file testPinholePose.cpp.
Definition at line 249 of file testPinholePose.cpp.
Definition at line 269 of file testPinholePose.cpp.
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Definition at line 286 of file testPinholePose.cpp.
TEST | ( | CalibratedCamera | , |
Dproject3 | |||
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Definition at line 175 of file testPinholePose.cpp.
TEST | ( | PinholePose | , |
backproject | |||
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Definition at line 105 of file testPinholePose.cpp.
TEST | ( | PinholePose | , |
backproject2 | |||
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Definition at line 123 of file testPinholePose.cpp.
TEST | ( | PinholePose | , |
backprojectInfinity | |||
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Definition at line 114 of file testPinholePose.cpp.
TEST | ( | PinholePose | , |
constructor | |||
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Definition at line 55 of file testPinholePose.cpp.
TEST | ( | PinholePose | , |
DbackprojectRegCamera | |||
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Definition at line 212 of file testPinholePose.cpp.
TEST | ( | PinholePose | , |
Dproject | |||
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Definition at line 145 of file testPinholePose.cpp.
TEST | ( | PinholePose | , |
Dproject2 | |||
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Definition at line 162 of file testPinholePose.cpp.
TEST | ( | PinholePose | , |
DprojectAtInfinity2 | |||
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Definition at line 194 of file testPinholePose.cpp.
TEST | ( | PinholePose | , |
lookat | |||
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Definition at line 76 of file testPinholePose.cpp.
TEST | ( | PinholePose | , |
project | |||
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Definition at line 96 of file testPinholePose.cpp.
TEST | ( | PinholePose | , |
range0 | |||
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Definition at line 238 of file testPinholePose.cpp.
TEST | ( | PinholePose | , |
range1 | |||
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Definition at line 254 of file testPinholePose.cpp.
TEST | ( | PinholePose | , |
range2 | |||
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Definition at line 274 of file testPinholePose.cpp.
TEST | ( | PinholePose | , |
range3 | |||
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Definition at line 291 of file testPinholePose.cpp.
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Definition at line 36 of file testPinholePose.cpp.
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Definition at line 266 of file testPinholePose.cpp.
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