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_S2 >	camera1 (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_S2 >	sharedCal
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 ( 5  , 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

Point2 z1 = camera1.project(landmark)

Definition at line 45 of file testTriangulationFactor.cpp.