pose_test.cc File Reference

#include "util/testing.h"
#include <Eigen/Core>
#include "base/pose.h"
#include "base/projection.h"
#include "util/math.h"

Include dependency graph for pose_test.cc:

Go to the source code of this file.

Macros
#define	TEST_NAME   "base/pose"

Functions
	BOOST_AUTO_TEST_CASE (TestCrossProductMatrix)
	BOOST_AUTO_TEST_CASE (TestEulerAnglesX)
	BOOST_AUTO_TEST_CASE (TestEulerAnglesY)
	BOOST_AUTO_TEST_CASE (TestEulerAnglesZ)
	BOOST_AUTO_TEST_CASE (TestEulerAnglesXYZ)
	BOOST_AUTO_TEST_CASE (TestQuaternionToRotationMatrix)
	BOOST_AUTO_TEST_CASE (TestComposeIdentityQuaternion)
	BOOST_AUTO_TEST_CASE (TestNormalizeQuaternion)
	BOOST_AUTO_TEST_CASE (TestInvertQuaternion)
	BOOST_AUTO_TEST_CASE (TestConcatenateQuaternions)
	BOOST_AUTO_TEST_CASE (TestQuaternionRotatePoint)
	BOOST_AUTO_TEST_CASE (TestAverageQuaternions)
	BOOST_AUTO_TEST_CASE (TestRotationFromUnitVectors)
	BOOST_AUTO_TEST_CASE (TestPoseFromProjectionMatrix)
	BOOST_AUTO_TEST_CASE (TestPoseFromProjectionParameters)
	BOOST_AUTO_TEST_CASE (TestComputeRelativePose)
	BOOST_AUTO_TEST_CASE (TestConcatenatePoses)
	BOOST_AUTO_TEST_CASE (TestInvertPose)
	BOOST_AUTO_TEST_CASE (TestInterpolatePose)
	BOOST_AUTO_TEST_CASE (TestCalculateBaseline)
	BOOST_AUTO_TEST_CASE (TestCheckCheirality)

Macro Definition Documentation

TEST_NAME

#define TEST_NAME   "base/pose"

Definition at line 32 of file pose_test.cc.

Function Documentation

BOOST_AUTO_TEST_CASE() [1/21]

BOOST_AUTO_TEST_CASE

(

TestAverageQuaternions

)

Definition at line 188 of file pose_test.cc.

References colmap::AverageQuaternions(), colmap::ComposeIdentityQuaternion(), and e.

BOOST_AUTO_TEST_CASE() [2/21]

BOOST_AUTO_TEST_CASE

(

TestCalculateBaseline

)

Definition at line 382 of file pose_test.cc.

References colmap::CalculateBaseline(), and e.

BOOST_AUTO_TEST_CASE() [3/21]

BOOST_AUTO_TEST_CASE

(

TestCheckCheirality

)

Definition at line 398 of file pose_test.cc.

References colmap::CheckCheirality().

BOOST_AUTO_TEST_CASE() [4/21]

BOOST_AUTO_TEST_CASE

(

TestComposeIdentityQuaternion

)

Definition at line 117 of file pose_test.cc.

References colmap::ComposeIdentityQuaternion().

BOOST_AUTO_TEST_CASE() [5/21]

BOOST_AUTO_TEST_CASE

(

TestComputeRelativePose

)

Definition at line 272 of file pose_test.cc.

References colmap::ComposeIdentityQuaternion(), colmap::ComputeRelativePose(), and e.

BOOST_AUTO_TEST_CASE() [6/21]

BOOST_AUTO_TEST_CASE

(

TestConcatenatePoses

)

Definition at line 313 of file pose_test.cc.

References colmap::ComposeIdentityQuaternion(), colmap::ComputeRelativePose(), colmap::ConcatenatePoses(), and colmap::NormalizeQuaternion().

BOOST_AUTO_TEST_CASE() [7/21]

BOOST_AUTO_TEST_CASE

(

TestConcatenateQuaternions

)

Definition at line 148 of file pose_test.cc.

References colmap::ComposeIdentityQuaternion(), colmap::ConcatenateQuaternions(), and colmap::InvertQuaternion().

BOOST_AUTO_TEST_CASE() [8/21]

BOOST_AUTO_TEST_CASE

(

TestCrossProductMatrix

)

Definition at line 43 of file pose_test.cc.

References colmap::CrossProductMatrix().

BOOST_AUTO_TEST_CASE() [9/21]

BOOST_AUTO_TEST_CASE

(

TestEulerAnglesX

)

Definition at line 51 of file pose_test.cc.

References e, colmap::EulerAnglesToRotationMatrix(), and colmap::RotationMatrixToEulerAngles().

BOOST_AUTO_TEST_CASE() [10/21]

BOOST_AUTO_TEST_CASE

(

TestEulerAnglesXYZ

)

Definition at line 93 of file pose_test.cc.

References e, colmap::EulerAnglesToRotationMatrix(), and colmap::RotationMatrixToEulerAngles().

BOOST_AUTO_TEST_CASE() [11/21]

BOOST_AUTO_TEST_CASE

(

TestEulerAnglesY

)

Definition at line 65 of file pose_test.cc.

References e, colmap::EulerAnglesToRotationMatrix(), and colmap::RotationMatrixToEulerAngles().

BOOST_AUTO_TEST_CASE() [12/21]

BOOST_AUTO_TEST_CASE

(

TestEulerAnglesZ

)

Definition at line 79 of file pose_test.cc.

References e, colmap::EulerAnglesToRotationMatrix(), and colmap::RotationMatrixToEulerAngles().

BOOST_AUTO_TEST_CASE() [13/21]

BOOST_AUTO_TEST_CASE

(

TestInterpolatePose

)

Definition at line 363 of file pose_test.cc.

References colmap::InterpolatePose().

BOOST_AUTO_TEST_CASE() [14/21]

BOOST_AUTO_TEST_CASE

(

TestInvertPose

)

Definition at line 347 of file pose_test.cc.

References colmap::ComposeIdentityQuaternion(), and colmap::InvertPose().

BOOST_AUTO_TEST_CASE() [15/21]

BOOST_AUTO_TEST_CASE

(

TestInvertQuaternion

)

Definition at line 138 of file pose_test.cc.

References colmap::ComposeIdentityQuaternion(), and colmap::InvertQuaternion().

BOOST_AUTO_TEST_CASE() [16/21]

BOOST_AUTO_TEST_CASE

(

TestNormalizeQuaternion

)

Definition at line 121 of file pose_test.cc.

References colmap::ComposeIdentityQuaternion(), and colmap::NormalizeQuaternion().

BOOST_AUTO_TEST_CASE() [17/21]

BOOST_AUTO_TEST_CASE

(

TestPoseFromProjectionMatrix

)

Definition at line 254 of file pose_test.cc.

References colmap::ComposeProjectionMatrix(), e, colmap::InvertProjectionMatrix(), and colmap::ProjectionCenterFromMatrix().

BOOST_AUTO_TEST_CASE() [18/21]

BOOST_AUTO_TEST_CASE

(

TestPoseFromProjectionParameters

)

Definition at line 263 of file pose_test.cc.

References colmap::ComposeProjectionMatrix(), e, colmap::InvertProjectionMatrix(), and colmap::ProjectionCenterFromPose().

BOOST_AUTO_TEST_CASE() [19/21]

BOOST_AUTO_TEST_CASE

(

TestQuaternionRotatePoint

)

Definition at line 168 of file pose_test.cc.

References colmap::ComposeIdentityQuaternion(), colmap::EulerAnglesToRotationMatrix(), M_PI, colmap::QuaternionRotatePoint(), and colmap::RotationMatrixToQuaternion().

BOOST_AUTO_TEST_CASE() [20/21]

BOOST_AUTO_TEST_CASE

(

TestQuaternionToRotationMatrix

)

Definition at line 107 of file pose_test.cc.

References colmap::EulerAnglesToRotationMatrix(), colmap::QuaternionToRotationMatrix(), and colmap::RotationMatrixToQuaternion().

BOOST_AUTO_TEST_CASE() [21/21]

BOOST_AUTO_TEST_CASE

(

TestRotationFromUnitVectors

)

Definition at line 228 of file pose_test.cc.

References colmap::RotationFromUnitVectors().