/* ************************************************************************* */ TEST( CalibratedCamera, level2) { // Create a level camera, looking in Y-direction Pose2 pose2(0.4,0.3,M_PI/2.0); CalibratedCamera camera = CalibratedCamera::Level(pose2, 0.1); // expected Point3 x(1,0,0),y(0,0,-1),z(0,1,0); Rot3 wRc(x,y,z); Pose3 expected(wRc,Point3(0.4,0.3,0.1)); CHECK(assert_equal( camera.pose(), expected)); }
/* ************************************************************************* */ Vector CalibratedCamera::localCoordinates(const CalibratedCamera& T2) const { return pose().localCoordinates(T2.pose()) ; }
/* ************************************************************************* */ static Point2 projectAtInfinity(const CalibratedCamera& camera, const Unit3& point) { return camera.project2(point); }
/* ************************************************************************* */ static Point2 project2(const CalibratedCamera& camera, const Point3& point) { return camera.project(point); }