#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>

Include dependency graph for testEssentialMatrix.cpp:

Functions
int	main ()

EssentialMatrix	rotate_ (const EssentialMatrix &E, const Rot3 &cRb)

	TEST (EssentialMatrix, equality)

	TEST (EssentialMatrix, FromRotationAndDirection)

	TEST (EssentialMatrix, FromPose3)

	TEST (EssentialMatrix, localCoordinates0)

	TEST (EssentialMatrix, localCoordinates)

	TEST (EssentialMatrix, retract0)

	TEST (EssentialMatrix, retract1)

	TEST (EssentialMatrix, retract2)

	TEST (EssentialMatrix, RoundTrip)

	TEST (EssentialMatrix, transformTo)

	TEST (EssentialMatrix, rotate)

	TEST (EssentialMatrix, FromPose3_a)

	TEST (EssentialMatrix, FromPose3_b)

	TEST (EssentialMatrix, streaming)

	TEST (EssentialMatrix, epipoles)

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 ( void )

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	,
		equality
	)

Definition at line 31 of file testEssentialMatrix.cpp.

◆ TEST() [2/15]

TEST	(	EssentialMatrix	,
		FromRotationAndDirection
	)

Definition at line 37 of file testEssentialMatrix.cpp.

◆ TEST() [3/15]

TEST	(	EssentialMatrix	,
		FromPose3
	)

Definition at line 61 of file testEssentialMatrix.cpp.

◆ TEST() [4/15]

TEST	(	EssentialMatrix	,
		localCoordinates0
	)

Definition at line 69 of file testEssentialMatrix.cpp.

◆ TEST() [5/15]

TEST	(	EssentialMatrix	,
		localCoordinates
	)

Definition at line 77 of file testEssentialMatrix.cpp.

◆ TEST() [6/15]

TEST	(	EssentialMatrix	,
		retract0
	)

Definition at line 93 of file testEssentialMatrix.cpp.

◆ TEST() [7/15]

TEST	(	EssentialMatrix	,
		retract1
	)

Definition at line 99 of file testEssentialMatrix.cpp.

◆ TEST() [8/15]

TEST	(	EssentialMatrix	,
		retract2
	)

Definition at line 106 of file testEssentialMatrix.cpp.

◆ TEST() [9/15]

TEST	(	EssentialMatrix	,
		RoundTrip
	)

Definition at line 114 of file testEssentialMatrix.cpp.

◆ TEST() [10/15]

TEST	(	EssentialMatrix	,
		transformTo
	)

Definition at line 126 of file testEssentialMatrix.cpp.

◆ TEST() [11/15]

TEST	(	EssentialMatrix	,
		rotate
	)

Definition at line 146 of file testEssentialMatrix.cpp.

◆ TEST() [12/15]

TEST	(	EssentialMatrix	,
		FromPose3_a
	)

Definition at line 177 of file testEssentialMatrix.cpp.

◆ TEST() [13/15]

TEST	(	EssentialMatrix	,
		FromPose3_b
	)

Definition at line 189 of file testEssentialMatrix.cpp.

◆ TEST() [14/15]

TEST	(	EssentialMatrix	,
		streaming
	)

Definition at line 204 of file testEssentialMatrix.cpp.

◆ TEST() [15/15]

TEST	(	EssentialMatrix	,
		epipoles
	)

Definition at line 213 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

Rot3 trueRotation = Rot3::Yaw(M_PI_2)

Definition at line 25 of file testEssentialMatrix.cpp.

Functions

Variables