example1 Namespace Reference

Functions
PinholeCamera< Cal3_S2 >	camera2 (data.cameras[1].pose(), Cal3_S2())
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)
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
const string	filename = findExampleDataFile("5pointExample1.txt")
bool	readOK = readBAL(filename, data)
Unit3	trueDirection (c1Tc2)
EssentialMatrix	trueE (trueRotation, trueDirection)
Rot3	trueRotation (c1Rc2)

Function Documentation

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

Point2 example1::pA

(

size_t

i

)

Definition at line 48 of file testEssentialMatrixFactor.cpp.

Point2 example1::pB

(

size_t

i

)

Definition at line 51 of file testEssentialMatrixFactor.cpp.

example1::TEST	(	EssentialMatrixFactor	,
		testData
	)

Definition at line 62 of file testEssentialMatrixFactor.cpp.

example1::TEST	(	EssentialMatrixFactor	,
		factor
	)

Definition at line 91 of file testEssentialMatrixFactor.cpp.

example1::TEST	(	EssentialMatrixFactor	,
		ExpressionFactor
	)

Definition at line 116 of file testEssentialMatrixFactor.cpp.

example1::TEST	(	EssentialMatrixFactor	,
		ExpressionFactorRotationOnly
	)

Definition at line 142 of file testEssentialMatrixFactor.cpp.

example1::TEST	(	EssentialMatrixFactor	,
		minimization
	)

Definition at line 172 of file testEssentialMatrixFactor.cpp.

example1::TEST	(	EssentialMatrixFactor2	,
		factor
	)

Definition at line 219 of file testEssentialMatrixFactor.cpp.

example1::TEST	(	EssentialMatrixFactor2	,
		minimization
	)

Definition at line 248 of file testEssentialMatrixFactor.cpp.

example1::TEST	(	EssentialMatrixFactor3	,
		factor
	)

Definition at line 291 of file testEssentialMatrixFactor.cpp.

example1::TEST	(	EssentialMatrixFactor3	,
		minimization
	)

Definition at line 321 of file testEssentialMatrixFactor.cpp.

Vector example1::vA

(

size_t

i

)

Definition at line 54 of file testEssentialMatrixFactor.cpp.

Vector example1::vB

(

size_t

i

)

Definition at line 57 of file testEssentialMatrixFactor.cpp.

Variable Documentation

double example1::baseline = 0.1

Definition at line 46 of file testEssentialMatrixFactor.cpp.

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

Definition at line 288 of file testEssentialMatrixFactor.cpp.

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

Definition at line 40 of file testEssentialMatrixFactor.cpp.

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

Definition at line 41 of file testEssentialMatrixFactor.cpp.

SfmData example1::data

Definition at line 38 of file testEssentialMatrixFactor.cpp.

const string example1::filename = findExampleDataFile("5pointExample1.txt")

Definition at line 37 of file testEssentialMatrixFactor.cpp.

bool example1::readOK = readBAL(filename, data)

Definition at line 39 of file testEssentialMatrixFactor.cpp.

Unit3 example1::trueDirection(c1Tc2)

EssentialMatrix example1::trueE(trueRotation, trueDirection)

Rot3 example1::trueRotation(c1Rc2)