testCal3DFisheye.cpp File Reference

#include <gtsam/base/Testable.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Cal3Fisheye.h>
#include <gtsam/geometry/Point3.h>
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testCal3DFisheye.cpp:

Go to the source code of this file.

Functions
Point2	calibrate_ (const Cal3Fisheye &k, const Point2 &pt)
Point2	f (const Cal3Fisheye &k, const Point2 &pt)
static Point2	kTestPoint2 (2, 3)
int	main ()
	TEST (Cal3Fisheye, assert_equal)
	TEST (Cal3Fisheye, calibrate1)
	TEST (Cal3Fisheye, calibrate2)
	TEST (Cal3Fisheye, calibrate3)
	TEST (Cal3Fisheye, Dcalibrate)
	TEST (Cal3Fisheye, Derivatives)
	TEST (Cal3Fisheye, Print)
	TEST (Cal3Fisheye, retract)
	TEST (Cal3Fisheye, uncalibrate1)
	TEST (Cal3Fisheye, uncalibrate2)
	TEST (Cal3Fisheye, uncalibrate3)

Variables
static const double	fx = 250
static const double	fy = 260
static Cal3Fisheye	K (fx, fy, s, u0, v0, -0.013721808247486035, 0.020727425669427896, -0.012786476702685545, 0.0025242267320687625)
static const double	s = 0.1
static const double	u0 = 320
static const double	v0 = 240

Function Documentation

calibrate_()

Point2 calibrate_	(	const Cal3Fisheye &	k,
		const Point2 &	pt
	)

Definition at line 189 of file testCal3DFisheye.cpp.

f()

Point2 f	(	const Cal3Fisheye &	k,
		const Point2 &	pt
	)

Definition at line 76 of file testCal3DFisheye.cpp.

kTestPoint2()

static Point2 kTestPoint2 ( 2  , 3    )

static

main()

int main

(

)

Definition at line 217 of file testCal3DFisheye.cpp.

TEST() [1/11]

TEST	(	Cal3Fisheye	,
		assert_equal
	)

Definition at line 38 of file testCal3DFisheye.cpp.

TEST() [2/11]

TEST	(	Cal3Fisheye	,
		calibrate1
	)

Definition at line 141 of file testCal3DFisheye.cpp.

TEST() [3/11]

TEST	(	Cal3Fisheye	,
		calibrate2
	)

Definition at line 170 of file testCal3DFisheye.cpp.

TEST() [4/11]

TEST	(	Cal3Fisheye	,
		calibrate3
	)

Definition at line 181 of file testCal3DFisheye.cpp.

TEST() [5/11]

TEST	(	Cal3Fisheye	,
		Dcalibrate
	)

Definition at line 194 of file testCal3DFisheye.cpp.

TEST() [6/11]

TEST	(	Cal3Fisheye	,
		Derivatives
	)

Definition at line 79 of file testCal3DFisheye.cpp.

TEST() [7/11]

TEST	(	Cal3Fisheye	,
		Print
	)

Definition at line 206 of file testCal3DFisheye.cpp.

TEST() [8/11]

TEST	(	Cal3Fisheye	,
		retract
	)

Definition at line 41 of file testCal3DFisheye.cpp.

TEST() [9/11]

TEST	(	Cal3Fisheye	,
		uncalibrate1
	)

Definition at line 57 of file testCal3DFisheye.cpp.

TEST() [10/11]

TEST	(	Cal3Fisheye	,
		uncalibrate2
	)

Definition at line 88 of file testCal3DFisheye.cpp.

TEST() [11/11]

TEST	(	Cal3Fisheye	,
		uncalibrate3
	)

Definition at line 133 of file testCal3DFisheye.cpp.

Variable Documentation

fx

const double fx = 250

static

Definition at line 31 of file testCal3DFisheye.cpp.

fy

const double fy = 260

static

Definition at line 31 of file testCal3DFisheye.cpp.

K

Cal3Fisheye K(fx, fy, s, u0, v0, -0.013721808247486035, 0.020727425669427896, -0.012786476702685545, 0.0025242267320687625)

static

s

const double s = 0.1

static

Definition at line 31 of file testCal3DFisheye.cpp.

u0

const double u0 = 320

static

Definition at line 31 of file testCal3DFisheye.cpp.

v0

const double v0 = 240

static

Definition at line 31 of file testCal3DFisheye.cpp.