#include <CppUnitLite/TestHarness.h>#include <gtsam/base/Testable.h>#include <gtsam/base/numericalDerivative.h>#include <gtsam/geometry/CalibratedCamera.h>#include <gtsam/geometry/EssentialMatrix.h>#include <sstream>
Go to the source code of this file.
Functions | |
| int | main () |
| EssentialMatrix | rotate_ (const EssentialMatrix &E, const Rot3 &cRb) |
| TEST (EssentialMatrix, epipoles) | |
| TEST (EssentialMatrix, equality) | |
| TEST (EssentialMatrix, FromPose3) | |
| TEST (EssentialMatrix, FromPose3_a) | |
| TEST (EssentialMatrix, FromPose3_b) | |
| TEST (EssentialMatrix, FromRotationAndDirection) | |
| TEST (EssentialMatrix, localCoordinates) | |
| TEST (EssentialMatrix, localCoordinates0) | |
| TEST (EssentialMatrix, retract0) | |
| TEST (EssentialMatrix, retract1) | |
| TEST (EssentialMatrix, retract2) | |
| TEST (EssentialMatrix, rotate) | |
| TEST (EssentialMatrix, RoundTrip) | |
| TEST (EssentialMatrix, streaming) | |
| TEST (EssentialMatrix, transformTo) | |
| Point3 | transform_to_ (const EssentialMatrix &E, const Point3 &point) |
| Point3 | trueTranslation (0.1, 0, 0) |
Variables | |
| Unit3 | trueDirection (trueTranslation) |
| EssentialMatrix | trueE (trueRotation, trueDirection) |
| Rot3 | trueRotation = Rot3::Yaw(M_PI_2) |
Function Documentation
◆ main()
| int main | ( | ) |
Definition at line 255 of file testEssentialMatrix.cpp.
◆ rotate_()
| EssentialMatrix rotate_ | ( | const EssentialMatrix & | E, |
| const Rot3 & | cRb | ||
| ) |
Definition at line 143 of file testEssentialMatrix.cpp.
◆ TEST() [1/15]
| TEST | ( | EssentialMatrix | , |
| epipoles | |||
| ) |
Definition at line 213 of file testEssentialMatrix.cpp.
◆ TEST() [2/15]
| TEST | ( | EssentialMatrix | , |
| equality | |||
| ) |
Definition at line 31 of file testEssentialMatrix.cpp.
◆ TEST() [3/15]
| TEST | ( | EssentialMatrix | , |
| FromPose3 | |||
| ) |
Definition at line 61 of file testEssentialMatrix.cpp.
◆ TEST() [4/15]
| TEST | ( | EssentialMatrix | , |
| FromPose3_a | |||
| ) |
Definition at line 177 of file testEssentialMatrix.cpp.
◆ TEST() [5/15]
| TEST | ( | EssentialMatrix | , |
| FromPose3_b | |||
| ) |
Definition at line 189 of file testEssentialMatrix.cpp.
◆ TEST() [6/15]
| TEST | ( | EssentialMatrix | , |
| FromRotationAndDirection | |||
| ) |
Definition at line 37 of file testEssentialMatrix.cpp.
◆ TEST() [7/15]
| TEST | ( | EssentialMatrix | , |
| localCoordinates | |||
| ) |
Definition at line 77 of file testEssentialMatrix.cpp.
◆ TEST() [8/15]
| TEST | ( | EssentialMatrix | , |
| localCoordinates0 | |||
| ) |
Definition at line 69 of file testEssentialMatrix.cpp.
◆ TEST() [9/15]
| TEST | ( | EssentialMatrix | , |
| retract0 | |||
| ) |
Definition at line 93 of file testEssentialMatrix.cpp.
◆ TEST() [10/15]
| TEST | ( | EssentialMatrix | , |
| retract1 | |||
| ) |
Definition at line 99 of file testEssentialMatrix.cpp.
◆ TEST() [11/15]
| TEST | ( | EssentialMatrix | , |
| retract2 | |||
| ) |
Definition at line 106 of file testEssentialMatrix.cpp.
◆ TEST() [12/15]
| TEST | ( | EssentialMatrix | , |
| rotate | |||
| ) |
Definition at line 146 of file testEssentialMatrix.cpp.
◆ TEST() [13/15]
| TEST | ( | EssentialMatrix | , |
| RoundTrip | |||
| ) |
Definition at line 114 of file testEssentialMatrix.cpp.
◆ TEST() [14/15]
| TEST | ( | EssentialMatrix | , |
| streaming | |||
| ) |
Definition at line 204 of file testEssentialMatrix.cpp.
◆ TEST() [15/15]
| TEST | ( | EssentialMatrix | , |
| transformTo | |||
| ) |
Definition at line 126 of file testEssentialMatrix.cpp.
◆ transform_to_()
| Point3 transform_to_ | ( | const EssentialMatrix & | E, |
| const Point3 & | point | ||
| ) |
Definition at line 123 of file testEssentialMatrix.cpp.
◆ trueTranslation()
| Point3 trueTranslation | ( | 0. | 1, |
| 0 | , | ||
| 0 | |||
| ) |
Variable Documentation
◆ trueDirection
| Unit3 trueDirection(trueTranslation) |
◆ trueE
| EssentialMatrix trueE(trueRotation, trueDirection) |
◆ trueRotation
Definition at line 25 of file testEssentialMatrix.cpp.