Functions | Variables
testTriangulationFactor.cpp File Reference
#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>
Include dependency graph for testTriangulationFactor.cpp:

Go to the source code of this file.

Functions

PinholeCamera< Cal3_S2camera1 (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_S2sharedCal
 
static const Rot3 upright = Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2)
 
Point2 z1 = camera1.project(landmark)
 

Function Documentation

◆ camera1()

PinholeCamera<Cal3_S2> camera1 ( pose1  ,
sharedCal 
)

◆ landmark()

static const Point3 landmark ( ,
0.  5,
1.  2 
)
static

◆ main()

int main ( )

Definition at line 109 of file testTriangulationFactor.cpp.

◆ TEST() [1/2]

TEST ( triangulation  ,
TriangulationFactor   
)

Definition at line 48 of file testTriangulationFactor.cpp.

◆ TEST() [2/2]

TEST ( triangulation  ,
TriangulationFactorStereo   
)

Definition at line 67 of file testTriangulationFactor.cpp.

Variable Documentation

◆ pose1

const Pose3 pose1 = Pose3(upright, gtsam::Point3(0, 0, 1))
static

Definition at line 38 of file testTriangulationFactor.cpp.

◆ sharedCal

const std::shared_ptr<Cal3_S2> sharedCal
static
Initial value:
=
std::make_shared<Cal3_S2>(1500, 1200, 0, 640, 480)

Definition at line 33 of file testTriangulationFactor.cpp.

◆ upright

const Rot3 upright = Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2)
static

Definition at line 37 of file testTriangulationFactor.cpp.

◆ z1

Definition at line 45 of file testTriangulationFactor.cpp.



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Author(s):
autogenerated on Sat Nov 16 2024 04:09:54