12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

wrapped throw StereoCheiralityException inside #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION

release/4.3a0
Luca 2016-08-14 20:03:45 -04:00
parent 7e44a1776e
commit 7e3aa7aa9a
2 changed files with 18 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
gtsam/geometry/StereoCamera.cpp
View File

@ -39,7 +39,10 @@ namespace gtsam {
const Point3 q = leftCamPose_.transform_to(point); const Point3 q = leftCamPose_.transform_to(point);
if ( q.z() <= 0 ) throw StereoCheiralityException(); #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
if (q.z() <= 0)
throw StereoCheiralityException();
#endif
// get calibration // get calibration
const Cal3_S2Stereo& K = *K_; const Cal3_S2Stereo& K = *K_;

14
gtsam/geometry/tests/testStereoCamera.cpp
View File

@ -104,6 +104,20 @@ TEST( StereoCamera, Dproject)
CHECK(assert_equal(expected2,actual2,1e-7)); CHECK(assert_equal(expected2,actual2,1e-7));
} }
/* ************************************************************************* */
TEST( StereoCamera, projectCheirality)
{
// create a Stereo camera
Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(1500, 1500, 0, 320, 240, 0.5));
StereoCamera stereoCam(Pose3(), K);
// point behind the camera
Point3 p(0, 0, -5);
#ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
CHECK_EXCEPTION(stereoCam.project2(p), StereoCheiralityException);
#endif
}
/* ************************************************************************* */ /* ************************************************************************* */
TEST( StereoCamera, backproject_case1) TEST( StereoCamera, backproject_case1)
{ {