testTriangulation.cpp File Reference

#include <gtsam/geometry/triangulation.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/StereoCamera.h>
#include <gtsam/geometry/CameraSet.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/slam/StereoFactor.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/ExpressionFactor.h>
#include <CppUnitLite/TestHarness.h>
#include <boost/assign.hpp>
#include <boost/assign/std/vector.hpp>

Include dependency graph for testTriangulation.cpp:

Go to the source code of this file.

Functions
PinholeCamera< Cal3_S2 >	camera1 (pose1,*sharedCal)
PinholeCamera< Cal3_S2 >	camera2 (pose2,*sharedCal)
static const Point3	landmark (5, 0.5, 1.2)
int	main ()
	TEST (triangulation, twoPoses)
	TEST (triangulation, twoPosesBundler)
	TEST (triangulation, fourPoses)
	TEST (triangulation, fourPoses_distinct_Ks)
	TEST (triangulation, outliersAndFarLandmarks)
	TEST (triangulation, twoIdenticalPoses)
	TEST (triangulation, onePose)
	TEST (triangulation, StereotriangulateNonlinear)

Variables
static const Pose3	pose1 = Pose3(upright, gtsam::Point3(0, 0, 1))
static const Pose3	pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0))
static const boost::shared_ptr< Cal3_S2 >	sharedCal
static const Rot3	upright = Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2)
Point2	z1 = camera1.project(landmark)
Point2	z2 = camera2.project(landmark)

Function Documentation

PinholeCamera<Cal3_S2> camera1	(	pose1	,
		*	sharedCal
	)

PinholeCamera<Cal3_S2> camera2	(	pose2	,
		*	sharedCal
	)

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

static

int main

(

void

)

Definition at line 436 of file testTriangulation.cpp.

TEST	(	triangulation	,
		twoPoses
	)

Definition at line 60 of file testTriangulation.cpp.

TEST	(	triangulation	,
		twoPosesBundler
	)

Definition at line 99 of file testTriangulation.cpp.

TEST	(	triangulation	,
		fourPoses
	)

Definition at line 133 of file testTriangulation.cpp.

TEST	(	triangulation	,
		fourPoses_distinct_Ks
	)

Definition at line 185 of file testTriangulation.cpp.

TEST	(	triangulation	,
		outliersAndFarLandmarks
	)

Definition at line 250 of file testTriangulation.cpp.

TEST	(	triangulation	,
		twoIdenticalPoses
	)

Definition at line 303 of file testTriangulation.cpp.

TEST	(	triangulation	,
		onePose
	)

Definition at line 321 of file testTriangulation.cpp.

TEST	(	triangulation	,
		StereotriangulateNonlinear
	)

Definition at line 336 of file testTriangulation.cpp.

Variable Documentation

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

static

Definition at line 44 of file testTriangulation.cpp.

const Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0))

static

Definition at line 48 of file testTriangulation.cpp.

const boost::shared_ptr<Cal3_S2> sharedCal

static

Initial value:

= 
    boost::make_shared<Cal3_S2>(1500, 1200, 0, 640, 480)

Definition at line 39 of file testTriangulation.cpp.

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

static

Definition at line 43 of file testTriangulation.cpp.

Point2 z1 = camera1.project(landmark)

Definition at line 55 of file testTriangulation.cpp.

Point2 z2 = camera2.project(landmark)

Definition at line 56 of file testTriangulation.cpp.