#include <gtsam/geometry/triangulation.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/StereoCamera.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/nonlinear/Expression.h>
#include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/base/numericalDerivative.h>
#include <CppUnitLite/TestHarness.h>
Go to the source code of this file.
Functions | |
PinholeCamera< Cal3_S2 > | camera1 (pose1, *sharedCal) |
static const Point3 | landmark (5, 0.5, 1.2) |
int | main () |
TEST (triangulation, TriangulationFactor) | |
TEST (triangulation, TriangulationFactorStereo) | |
Variables | |
static const Pose3 | pose1 = Pose3(upright, gtsam::Point3(0, 0, 1)) |
static const std::shared_ptr< Cal3_S2 > | sharedCal |
static const Rot3 | upright = Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2) |
Point2 | z1 = camera1.project(landmark) |
PinholeCamera<Cal3_S2> camera1 | ( | pose1 | , |
* | sharedCal | ||
) |
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static |
int main | ( | ) |
Definition at line 109 of file testTriangulationFactor.cpp.
TEST | ( | triangulation | , |
TriangulationFactor | |||
) |
Definition at line 48 of file testTriangulationFactor.cpp.
TEST | ( | triangulation | , |
TriangulationFactorStereo | |||
) |
Definition at line 67 of file testTriangulationFactor.cpp.
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static |
Definition at line 38 of file testTriangulationFactor.cpp.
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static |
Definition at line 33 of file testTriangulationFactor.cpp.
Definition at line 37 of file testTriangulationFactor.cpp.
Point2 z1 = camera1.project(landmark) |
Definition at line 45 of file testTriangulationFactor.cpp.