example1 Namespace Reference

Functions
PinholeCamera< Cal3_S2 >	camera2 (data.cameras[1].pose(), trueK)
Point2	pA (size_t i)
Point2	pB (size_t i)
	TEST (EssentialMatrixFactor, testData)
	TEST (EssentialMatrixFactor, factor)
	TEST (EssentialMatrixFactor, ExpressionFactor)
	TEST (EssentialMatrixFactor, ExpressionFactorRotationOnly)
	TEST (EssentialMatrixFactor, minimization)
	TEST (EssentialMatrixFactor2, factor)
	TEST (EssentialMatrixFactor2, minimization)
	TEST (EssentialMatrixFactor3, factor)
	TEST (EssentialMatrixFactor3, minimization)
	TEST (EssentialMatrixFactor4, factor)
	TEST (EssentialMatrixFactor4, evaluateErrorJacobiansCal3S2)
	TEST (EssentialMatrixFactor4, evaluateErrorJacobiansCal3Bundler)
	TEST (EssentialMatrixFactor4, minimizationWithStrongCal3S2Prior)
	TEST (EssentialMatrixFactor4, minimizationWithWeakCal3S2Prior)
	TEST (EssentialMatrixFactor4, minimizationWithStrongCal3BundlerPrior)
Vector	vA (size_t i)
Vector	vB (size_t i)

Variables
double	baseline = 0.1
EssentialMatrix	bodyE = cRb.inverse() * trueE
Rot3	c1Rc2 = data.cameras[1].pose().rotation()
Point3	c1Tc2 = data.cameras[1].pose().translation()
SfmData	data = SfmData::FromBalFile(filename)
const string	filename = findExampleDataFile("18pointExample1.txt")
Unit3	trueDirection (c1Tc2)
EssentialMatrix	trueE (trueRotation, trueDirection)
Cal3_S2	trueK = Cal3_S2()
Rot3	trueRotation (c1Rc2)

Function Documentation

camera2()

PinholeCamera<Cal3_S2> example1::camera2	(	data.cameras.	pose()[1],
		trueK
	)

pA()

Point2 example1::pA

(

size_t

i

)

Definition at line 49 of file testEssentialMatrixFactor.cpp.

pB()

Point2 example1::pB

(

size_t

i

)

Definition at line 50 of file testEssentialMatrixFactor.cpp.

TEST() [1/15]

example1::TEST	(	EssentialMatrixFactor	,
		testData
	)

Definition at line 55 of file testEssentialMatrixFactor.cpp.

TEST() [2/15]

example1::TEST	(	EssentialMatrixFactor	,
		factor
	)

Definition at line 82 of file testEssentialMatrixFactor.cpp.

TEST() [3/15]

example1::TEST	(	EssentialMatrixFactor	,
		ExpressionFactor
	)

Definition at line 100 of file testEssentialMatrixFactor.cpp.

TEST() [4/15]

example1::TEST	(	EssentialMatrixFactor	,
		ExpressionFactorRotationOnly
	)

Definition at line 126 of file testEssentialMatrixFactor.cpp.

TEST() [5/15]

example1::TEST	(	EssentialMatrixFactor	,
		minimization
	)

Definition at line 159 of file testEssentialMatrixFactor.cpp.

TEST() [6/15]

example1::TEST	(	EssentialMatrixFactor2	,
		factor
	)

Definition at line 205 of file testEssentialMatrixFactor.cpp.

TEST() [7/15]

example1::TEST	(	EssentialMatrixFactor2	,
		minimization
	)

Definition at line 227 of file testEssentialMatrixFactor.cpp.

TEST() [8/15]

example1::TEST	(	EssentialMatrixFactor3	,
		factor
	)

Definition at line 270 of file testEssentialMatrixFactor.cpp.

TEST() [9/15]

example1::TEST	(	EssentialMatrixFactor3	,
		minimization
	)

Definition at line 292 of file testEssentialMatrixFactor.cpp.

TEST() [10/15]

example1::TEST	(	EssentialMatrixFactor4	,
		factor
	)

Definition at line 326 of file testEssentialMatrixFactor.cpp.

TEST() [11/15]

example1::TEST	(	EssentialMatrixFactor4	,
		evaluateErrorJacobiansCal3S2
	)

Definition at line 346 of file testEssentialMatrixFactor.cpp.

TEST() [12/15]

example1::TEST	(	EssentialMatrixFactor4	,
		evaluateErrorJacobiansCal3Bundler
	)

Definition at line 366 of file testEssentialMatrixFactor.cpp.

TEST() [13/15]

example1::TEST	(	EssentialMatrixFactor4	,
		minimizationWithStrongCal3S2Prior
	)

Definition at line 386 of file testEssentialMatrixFactor.cpp.

TEST() [14/15]

example1::TEST	(	EssentialMatrixFactor4	,
		minimizationWithWeakCal3S2Prior
	)

Definition at line 433 of file testEssentialMatrixFactor.cpp.

TEST() [15/15]

example1::TEST	(	EssentialMatrixFactor4	,
		minimizationWithStrongCal3BundlerPrior
	)

Definition at line 485 of file testEssentialMatrixFactor.cpp.

vA()

Vector example1::vA

(

size_t

i

)

Definition at line 51 of file testEssentialMatrixFactor.cpp.

vB()

Vector example1::vB

(

size_t

i

)

Definition at line 52 of file testEssentialMatrixFactor.cpp.

Variable Documentation

baseline

double example1::baseline = 0.1

Definition at line 47 of file testEssentialMatrixFactor.cpp.

bodyE

EssentialMatrix example1::bodyE = cRb.inverse() * trueE

Definition at line 267 of file testEssentialMatrixFactor.cpp.

c1Rc2

Rot3 example1::c1Rc2 = data.cameras[1].pose().rotation()

Definition at line 39 of file testEssentialMatrixFactor.cpp.

c1Tc2

Point3 example1::c1Tc2 = data.cameras[1].pose().translation()

Definition at line 40 of file testEssentialMatrixFactor.cpp.

data

SfmData example1::data = SfmData::FromBalFile(filename)

Definition at line 38 of file testEssentialMatrixFactor.cpp.

filename

const string example1::filename = findExampleDataFile("18pointExample1.txt")

Definition at line 37 of file testEssentialMatrixFactor.cpp.

trueDirection

Unit3 example1::trueDirection(c1Tc2)

trueE

EssentialMatrix example1::trueE(trueRotation, trueDirection)

trueK

Cal3_S2 example1::trueK = Cal3_S2()

Definition at line 42 of file testEssentialMatrixFactor.cpp.

trueRotation

Rot3 example1::trueRotation(c1Rc2)