#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/CalibratedCamera.h>
#include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/expressionTesting.h>
#include <gtsam/nonlinear/factorTesting.h>
#include <gtsam/slam/EssentialMatrixFactor.h>
#include <gtsam/sfm/SfmData.h>
#include <gtsam/slam/dataset.h>

Include dependency graph for testEssentialMatrixFactor.cpp:

Namespaces
	example1

	example2

Functions
gtsam::Point3	bX (1, 0, 0)

gtsam::Point3	bY (0, 1, 0)

gtsam::Point3	bZ (0, 0, 1)

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

PinholeCamera< Cal3Bundler >	example2::camera2 (data.cameras[1].pose(), trueK)

int	main ()

Point2	example1::pA (size_t i)

Point2	example2::pA (size_t i)

Point2	example1::pB (size_t i)

Point2	example2::pB (size_t i)

	example1::TEST (EssentialMatrixFactor, testData)

	example1::TEST (EssentialMatrixFactor, factor)

	example1::TEST (EssentialMatrixFactor, ExpressionFactor)

	example1::TEST (EssentialMatrixFactor, ExpressionFactorRotationOnly)

	example1::TEST (EssentialMatrixFactor, minimization)

	example1::TEST (EssentialMatrixFactor2, factor)

	example1::TEST (EssentialMatrixFactor2, minimization)

	example1::TEST (EssentialMatrixFactor3, factor)

	example1::TEST (EssentialMatrixFactor3, minimization)

	example1::TEST (EssentialMatrixFactor4, factor)

	example1::TEST (EssentialMatrixFactor4, evaluateErrorJacobiansCal3S2)

	example1::TEST (EssentialMatrixFactor4, evaluateErrorJacobiansCal3Bundler)

	example1::TEST (EssentialMatrixFactor4, minimizationWithStrongCal3S2Prior)

	example1::TEST (EssentialMatrixFactor4, minimizationWithWeakCal3S2Prior)

	example1::TEST (EssentialMatrixFactor4, minimizationWithStrongCal3BundlerPrior)

	example2::TEST (EssentialMatrixFactor, extraMinimization)

	example2::TEST (EssentialMatrixFactor2, extraTest)

	example2::TEST (EssentialMatrixFactor2, extraMinimization)

	example2::TEST (EssentialMatrixFactor3, extraTest)

Vector	example1::vA (size_t i)

Vector	example2::vA (size_t i)

Vector	example1::vB (size_t i)

Vector	example2::vB (size_t i)

Variables
Rot3	example2::aRb = data.cameras[1].pose().rotation()

Point3	example2::aTb = data.cameras[1].pose().translation()

double	example1::baseline = 0.1

double	example2::baseline = 10

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

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

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

gtsam::Rot3	cRb = gtsam::Rot3(bX, bZ, -bY).inverse()

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

SfmData	example2::data = SfmData::FromBalFile(filename)

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

const string	example2::filename = findExampleDataFile("5pointExample2.txt")

std::shared_ptr< Cal3Bundler >	example2::K = std::make_shared<Cal3Bundler>(trueK)

noiseModel::Isotropic::shared_ptr	model1

noiseModel::Unit::shared_ptr	model2 = noiseModel::Unit::Create(2)

Unit3	example1::trueDirection (c1Tc2)

EssentialMatrix	example1::trueE (trueRotation, trueDirection)

EssentialMatrix	example2::trueE (aRb, Unit3(aTb))

Cal3_S2	example1::trueK = Cal3_S2()

Cal3Bundler	example2::trueK = Cal3Bundler(500, 0, 0)

Rot3	example1::trueRotation (c1Rc2)