Unit test for StereoCamera single camera. More...
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/StereoCamera.h>
Go to the source code of this file.
Functions | |
static Point3 | backproject3 (const Pose3 &pose, const StereoPoint2 &point, const Cal3_S2Stereo &K) |
static Cal3_S2Stereo::shared_ptr | K (new Cal3_S2Stereo(1500, 1500, 0, 320, 240, 0.5)) |
static Point3 | landmark (0, 0, 5) |
int | main () |
static StereoPoint2 | project3 (const Pose3 &pose, const Point3 &point, const Cal3_S2Stereo &K) |
TEST (StereoCamera, backproject2_case1) | |
TEST (StereoCamera, backproject2_case2) | |
TEST (StereoCamera, backproject_case1) | |
TEST (StereoCamera, backproject_case2) | |
TEST (StereoCamera, Dproject) | |
TEST (StereoCamera, operators) | |
TEST (StereoCamera, project) | |
TEST (StereoCamera, projectCheirality) | |
Variables | |
static Pose3 | camPose (Rot3((Matrix3()<< 1., 0., 0., 0.,-1., 0., 0., 0.,-1.).finished()), Point3(0, 0, 6.25)) |
static StereoCamera | stereoCam (camPose, K) |
Unit test for StereoCamera single camera.
Definition in file testStereoCamera.cpp.
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Definition at line 152 of file testStereoCamera.cpp.
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int main | ( | ) |
Definition at line 200 of file testStereoCamera.cpp.
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Definition at line 91 of file testStereoCamera.cpp.
TEST | ( | StereoCamera | , |
backproject2_case1 | |||
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Definition at line 157 of file testStereoCamera.cpp.
TEST | ( | StereoCamera | , |
backproject2_case2 | |||
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Definition at line 176 of file testStereoCamera.cpp.
TEST | ( | StereoCamera | , |
backproject_case1 | |||
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Definition at line 125 of file testStereoCamera.cpp.
TEST | ( | StereoCamera | , |
backproject_case2 | |||
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Definition at line 137 of file testStereoCamera.cpp.
TEST | ( | StereoCamera | , |
Dproject | |||
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Definition at line 96 of file testStereoCamera.cpp.
TEST | ( | StereoCamera | , |
operators | |||
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Definition at line 31 of file testStereoCamera.cpp.
TEST | ( | StereoCamera | , |
project | |||
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Definition at line 39 of file testStereoCamera.cpp.
TEST | ( | StereoCamera | , |
projectCheirality | |||
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Definition at line 108 of file testStereoCamera.cpp.
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