Functions | Variables
testStereoCamera.cpp File Reference

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>
Include dependency graph for testStereoCamera.cpp:

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)
 

Detailed Description

Unit test for StereoCamera single camera.

Author
Chris Beall

Definition in file testStereoCamera.cpp.

Function Documentation

◆ backproject3()

static Point3 backproject3 ( const Pose3 pose,
const StereoPoint2 point,
const Cal3_S2Stereo K 
)
static

Definition at line 152 of file testStereoCamera.cpp.

◆ K()

static Cal3_S2Stereo::shared_ptr K ( new   Cal3_S2Stereo1500, 1500, 0, 320, 240, 0.5)
static

◆ landmark()

static Point3 landmark ( ,
,
 
)
static

◆ main()

int main ( )

Definition at line 200 of file testStereoCamera.cpp.

◆ project3()

static StereoPoint2 project3 ( const Pose3 pose,
const Point3 point,
const Cal3_S2Stereo K 
)
static

Definition at line 91 of file testStereoCamera.cpp.

◆ TEST() [1/8]

TEST ( StereoCamera  ,
backproject2_case1   
)

Definition at line 157 of file testStereoCamera.cpp.

◆ TEST() [2/8]

TEST ( StereoCamera  ,
backproject2_case2   
)

Definition at line 176 of file testStereoCamera.cpp.

◆ TEST() [3/8]

TEST ( StereoCamera  ,
backproject_case1   
)

Definition at line 125 of file testStereoCamera.cpp.

◆ TEST() [4/8]

TEST ( StereoCamera  ,
backproject_case2   
)

Definition at line 137 of file testStereoCamera.cpp.

◆ TEST() [5/8]

TEST ( StereoCamera  ,
Dproject   
)

Definition at line 96 of file testStereoCamera.cpp.

◆ TEST() [6/8]

TEST ( StereoCamera  ,
operators   
)

Definition at line 31 of file testStereoCamera.cpp.

◆ TEST() [7/8]

TEST ( StereoCamera  ,
project   
)

Definition at line 39 of file testStereoCamera.cpp.

◆ TEST() [8/8]

TEST ( StereoCamera  ,
projectCheirality   
)

Definition at line 108 of file testStereoCamera.cpp.

Variable Documentation

◆ camPose

Pose3 camPose(Rot3((Matrix3()<< 1., 0., 0., 0.,-1., 0., 0., 0.,-1.).finished()), Point3(0, 0, 6.25))
static

◆ stereoCam

StereoCamera stereoCam(camPose, K)
static


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autogenerated on Sat Nov 16 2024 04:09:54