testTriangulation.cpp File Reference

triangulation utilities More...

#include <CppUnitLite/TestHarness.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/geometry/Cal3DS2.h>
#include <gtsam/geometry/CameraSet.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/SphericalCamera.h>
#include <gtsam/geometry/StereoCamera.h>
#include <gtsam/geometry/triangulation.h>
#include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/slam/StereoFactor.h>

Include dependency graph for testTriangulation.cpp:

Go to the source code of this file.

Functions
static const PinholeCamera< Cal3_S2 >	kCamera1 (kPose1, *kSharedCal)
static const PinholeCamera< Cal3_S2 >	kCamera2 (kPose2, *kSharedCal)
static const Point3	kLandmark (5, 0.5, 1.2)
int	main ()
	TEST (triangulation, fourPoses)
	TEST (triangulation, fourPoses_distinct_Ks)
	TEST (triangulation, fourPoses_distinct_Ks_distortion)
	TEST (triangulation, fourPoses_robustNoiseModel)
	TEST (triangulation, onePose)
	TEST (triangulation, outliersAndFarLandmarks)
	TEST (triangulation, reprojectionError_cameraComparison)
	TEST (triangulation, StereoTriangulateNonlinear)
	TEST (triangulation, threePoses_robustNoiseModel)
	TEST (triangulation, twoCamerasLOSTvsDLT)
	TEST (triangulation, twoCamerasUsingLOST)
	TEST (triangulation, twoIdenticalPoses)
	TEST (triangulation, twoPoses)
	TEST (triangulation, twoPoses_sphericalCamera)
	TEST (triangulation, twoPoses_sphericalCamera_extremeFOV)
	TEST (triangulation, twoPosesBundler)
	TEST (triangulation, twoPosesCal3DS2)
	TEST (triangulation, twoPosesFisheye)

Variables
static const Point2Vector	kMeasurements {kZ1, kZ2}
static const Pose3	kPose1 = Pose3(upright, gtsam::Point3(0, 0, 1))
static const Pose3	kPose2 = kPose1 * Pose3(Rot3(), Point3(1, 0, 0))
static const std::vector< Pose3 >	kPoses = {kPose1, kPose2}
static const std::shared_ptr< Cal3_S2 >	kSharedCal
static const Point2	kZ1 = kCamera1.project(kLandmark)
static const Point2	kZ2 = kCamera2.project(kLandmark)
static const Rot3	upright = Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2)

Detailed Description

triangulation utilities

Date

July 30th, 2013

Author

Chris Beall (cbeall3)

Luca Carlone

Akshay Krishnan

Definition in file testTriangulation.cpp.

Function Documentation

kCamera1()

static const PinholeCamera<Cal3_S2> kCamera1 ( kPose1  , *  kSharedCal  )

static

kCamera2()

static const PinholeCamera<Cal3_S2> kCamera2 ( kPose2  , *  kSharedCal  )

static

kLandmark()

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

static

main()

int main

(

)

Definition at line 857 of file testTriangulation.cpp.

TEST() [1/18]

TEST	(	triangulation	,
		fourPoses
	)

Definition at line 296 of file testTriangulation.cpp.

TEST() [2/18]

TEST	(	triangulation	,
		fourPoses_distinct_Ks
	)

Definition at line 430 of file testTriangulation.cpp.

TEST() [3/18]

TEST	(	triangulation	,
		fourPoses_distinct_Ks_distortion
	)

Definition at line 493 of file testTriangulation.cpp.

TEST() [4/18]

TEST	(	triangulation	,
		fourPoses_robustNoiseModel
	)

Definition at line 385 of file testTriangulation.cpp.

TEST() [5/18]

TEST	(	triangulation	,
		onePose
	)

Definition at line 587 of file testTriangulation.cpp.

TEST() [6/18]

TEST	(	triangulation	,
		outliersAndFarLandmarks
	)

Definition at line 515 of file testTriangulation.cpp.

TEST() [7/18]

TEST	(	triangulation	,
		reprojectionError_cameraComparison
	)

Definition at line 821 of file testTriangulation.cpp.

TEST() [8/18]

TEST	(	triangulation	,
		StereoTriangulateNonlinear
	)

Definition at line 599 of file testTriangulation.cpp.

TEST() [9/18]

TEST	(	triangulation	,
		threePoses_robustNoiseModel
	)

Definition at line 345 of file testTriangulation.cpp.

TEST() [10/18]

TEST	(	triangulation	,
		twoCamerasLOSTvsDLT
	)

Definition at line 125 of file testTriangulation.cpp.

TEST() [11/18]

TEST	(	triangulation	,
		twoCamerasUsingLOST
	)

Definition at line 96 of file testTriangulation.cpp.

TEST() [12/18]

TEST	(	triangulation	,
		twoIdenticalPoses
	)

Definition at line 572 of file testTriangulation.cpp.

TEST() [13/18]

TEST	(	triangulation	,
		twoPoses
	)

Definition at line 63 of file testTriangulation.cpp.

TEST() [14/18]

TEST	(	triangulation	,
		twoPoses_sphericalCamera
	)

Definition at line 703 of file testTriangulation.cpp.

TEST() [15/18]

TEST	(	triangulation	,
		twoPoses_sphericalCamera_extremeFOV
	)

Definition at line 762 of file testTriangulation.cpp.

TEST() [16/18]

TEST	(	triangulation	,
		twoPosesBundler
	)

Definition at line 265 of file testTriangulation.cpp.

TEST() [17/18]

TEST	(	triangulation	,
		twoPosesCal3DS2
	)

Definition at line 161 of file testTriangulation.cpp.

TEST() [18/18]

TEST	(	triangulation	,
		twoPosesFisheye
	)

Definition at line 213 of file testTriangulation.cpp.

Variable Documentation

kMeasurements

const Point2Vector kMeasurements {kZ1, kZ2}

static

Definition at line 59 of file testTriangulation.cpp.

kPose1

const Pose3 kPose1 = Pose3(upright, gtsam::Point3(0, 0, 1))

static

Definition at line 43 of file testTriangulation.cpp.

kPose2

const Pose3 kPose2 = kPose1 * Pose3(Rot3(), Point3(1, 0, 0))

static

Definition at line 47 of file testTriangulation.cpp.

kPoses

const std::vector<Pose3> kPoses = {kPose1, kPose2}

static

Definition at line 50 of file testTriangulation.cpp.

kSharedCal

const std::shared_ptr<Cal3_S2> kSharedCal

static

Initial value:

=  
    std::make_shared<Cal3_S2>(1500, 1200, 0.1, 640, 480)

Definition at line 38 of file testTriangulation.cpp.

kZ1

const Point2 kZ1 = kCamera1.project(kLandmark)

static

Definition at line 57 of file testTriangulation.cpp.

kZ2

const Point2 kZ2 = kCamera2.project(kLandmark)

static

Definition at line 58 of file testTriangulation.cpp.

upright

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

static

Definition at line 42 of file testTriangulation.cpp.