Public Member Functions | |
| def | setUpClass (cls) |
| def | test_Cal3Unified (self) |
| def | test_distortion (self) |
| def | test_generic_factor (self) |
| def | test_jacobian (self) |
| def | test_pinhole (self) |
| def | test_retract (self) |
| def | test_sfm_factor2 (self) |
| def | test_triangulation (self) |
| def | test_triangulation_rectify (self) |
 Public Member Functions inherited from gtsam.utils.test_case.GtsamTestCase | |
| def | assertDeepCopyEquality (self, obj) |
| None | assertEqualityOnPickleRoundtrip (self, object obj, tol=1e-9) |
| def | gtsamAssertEquals (self, actual, expected, tol=1e-9) |
Public Attributes | |
| cameras | |
| img_point | |
| measurements | |
| obj_point | |
| origin | |
| poses | |
| stereographic | |
Detailed Description
Definition at line 20 of file test_Cal3Unified.py.
Member Function Documentation
◆ setUpClass()
| def test_Cal3Unified.TestCal3Unified.setUpClass | ( | cls | ) |
Stereographic fisheye projection An equidistant fisheye projection with focal length f is defined as the relation r/f = 2*tan(theta/2), with r being the radius in the image plane and theta the incident angle of the object point.
Definition at line 23 of file test_Cal3Unified.py.
◆ test_Cal3Unified()
| def test_Cal3Unified.TestCal3Unified.test_Cal3Unified | ( | self | ) |
Definition at line 55 of file test_Cal3Unified.py.
◆ test_distortion()
| def test_Cal3Unified.TestCal3Unified.test_distortion | ( | self | ) |
Stereographic fisheye model of focal length f, defined as r/f = 2*tan(theta/2)
Definition at line 60 of file test_Cal3Unified.py.
◆ test_generic_factor()
| def test_Cal3Unified.TestCal3Unified.test_generic_factor | ( | self | ) |
Evaluate residual using pose and point as state variables
Definition at line 88 of file test_Cal3Unified.py.
◆ test_jacobian()
| def test_Cal3Unified.TestCal3Unified.test_jacobian | ( | self | ) |
Evaluate jacobian at optical axis
Definition at line 120 of file test_Cal3Unified.py.
◆ test_pinhole()
| def test_Cal3Unified.TestCal3Unified.test_pinhole | ( | self | ) |
Spatial stereographic camera projection
Definition at line 72 of file test_Cal3Unified.py.
◆ test_retract()
| def test_Cal3Unified.TestCal3Unified.test_retract | ( | self | ) |
Definition at line 166 of file test_Cal3Unified.py.
◆ test_sfm_factor2()
| def test_Cal3Unified.TestCal3Unified.test_sfm_factor2 | ( | self | ) |
Evaluate residual with camera, pose and point as state variables
Definition at line 103 of file test_Cal3Unified.py.
◆ test_triangulation()
| def test_Cal3Unified.TestCal3Unified.test_triangulation | ( | self | ) |
Estimate spatial point from image measurements
Definition at line 154 of file test_Cal3Unified.py.
◆ test_triangulation_rectify()
| def test_Cal3Unified.TestCal3Unified.test_triangulation_rectify | ( | self | ) |
Estimate spatial point from image measurements using rectification
Definition at line 159 of file test_Cal3Unified.py.
Member Data Documentation
◆ cameras
| test_Cal3Unified.TestCal3Unified.cameras |
Definition at line 52 of file test_Cal3Unified.py.
◆ img_point
| test_Cal3Unified.TestCal3Unified.img_point |
Definition at line 35 of file test_Cal3Unified.py.
◆ measurements
| test_Cal3Unified.TestCal3Unified.measurements |
Definition at line 53 of file test_Cal3Unified.py.
◆ obj_point
| test_Cal3Unified.TestCal3Unified.obj_point |
Definition at line 34 of file test_Cal3Unified.py.
◆ origin
| test_Cal3Unified.TestCal3Unified.origin |
Definition at line 50 of file test_Cal3Unified.py.
◆ poses
| test_Cal3Unified.TestCal3Unified.poses |
Definition at line 51 of file test_Cal3Unified.py.
◆ stereographic
| test_Cal3Unified.TestCal3Unified.stereographic |
Definition at line 40 of file test_Cal3Unified.py.
The documentation for this class was generated from the following file: