cosmetics and documentation comments

src/test/gtest_trifocaltensor.cpp

@@ -629,32 +629,40 @@ TEST(TrifocalTensor, errorTrifocalPLP)
 {
     typedef vision_utils::Scalar Scalar;
 
+    // Ground truth ---------------------------------------------------
+
     // Point in three images (normalized 3D coordinates, not projected)
     Eigen::Vector3s c1p_can, c2p_can, c3p_can;
-    c1p_can << 0.0,-0.088388347648318,1.0;
-    c2p_can << 0.139866460329444, 0.078845527832412, 1.0;
-    c3p_can << -0.115385095362789,-0.267742935981736,1.0;
+    c1p_can <<  0.0,
+               -0.088388347648318,
+                1.0;
+    c2p_can <<  0.139866460329444,
+                0.078845527832412,
+                1.0;
+    c3p_can << -0.115385095362789,
+               -0.267742935981736,
+                1.0;
 
     // trifocal tensor
     Eigen::Matrix<Scalar, 3, 4> P2, P3;
 
-    P2 << 0.397131,  0.34202,  0.851651, -4.07309,
-         -0.144544, 0.939693, -0.309976,  2.54666,
-         -0.906308,        0,  0.422618,   1.7101;
+    P2 << 0.397131,  0.34202 ,  0.851651, -4.07309,
+         -0.144544,  0.939693, -0.309976,  2.54666,
+         -0.906308,  0.0     ,  0.422618,  1.7101 ;
 
-    P3 <<  0,  -0.34202,  0.939693, -6.30261,
-           0,  0.939693,   0.34202, -3.35814,
-          -1,         0,         0,  7.07107;
+    P3 <<  0.0    , -0.34202 ,  0.939693, -6.30261,
+           0.0    ,  0.939693,  0.34202 , -3.35814,
+          -1.0    ,  0.0     ,  0.0     ,  7.07107;
 
     vision_utils::TrifocalTensor tensor(P2,P3);
 
     // Epipolar line c1->c2
     Eigen::Matrix3s c2Ec1;
-    c2Ec1 <<  2.06087,   1.60697, -1.60636,
-              3.01234, -0.584889, -3.17777,
-             0.422618,   4.69846, 0.906308;
+    c2Ec1 <<  2.06087,   1.60697,  -1.60636,
+              3.01234,  -0.584889, -3.17777,
+              0.422618,  4.69846,   0.906308;
 
-    // Ground truth
+    // Jacobians
     Eigen::Vector2s _e = Eigen::Vector2s::Zero();
     Eigen::Matrix<Scalar, 2, 3> _J_e_m1, _J_e_m2, _J_e_m3;
 
@@ -664,8 +672,10 @@ TEST(TrifocalTensor, errorTrifocalPLP)
     _J_e_m2 << -0.562064,   0.31436,  0.053828,
                -0.150067, 0.0839316, 0.0143717;
 
-    _J_e_m3 << 1, 0, 0.115385,
-               0, 1, 0.267743;
+    _J_e_m3 <<  1.0  , 0.0  , 0.115385,
+                0.0  , 1.0  , 0.267743;
+
+    // Vision_utils computations -----------------------------------------
 
     Eigen::Vector2s e;
     Eigen::Matrix<Scalar, 2, 3> J_e_m1, J_e_m2, J_e_m3;
@@ -687,19 +697,26 @@ TEST(TrifocalTensor, errorEpipolar)
 {
     typedef vision_utils::Scalar Scalar;
 
+    // Ground truth ------------------------------------------------------
+
     // Point in three images (normalized 3D coordinates, not projected)
     Eigen::Vector3s c1p_can, c2p_can, c3p_can;
-    c1p_can << 0.0,-0.088388347648318,1.0;
-    c2p_can << 0.139866460329444, 0.078845527832412, 1.0;
-    c3p_can << -0.115385095362789,-0.267742935981736,1.0;
+    c1p_can <<  0.0,
+               -0.088388347648318,
+                1.0;
+    c2p_can <<  0.139866460329444,
+                0.078845527832412,
+                1.0;
+    c3p_can << -0.115385095362789,
+               -0.267742935981736,
+                1.0;
 
     // Epipolar line c1->c2
     Eigen::Matrix3s c2Ec1;
-    c2Ec1 <<  2.06087,   1.60697, -1.60636,
-              3.01234, -0.584889, -3.17777,
-             0.422618,   4.69846, 0.906308;
+    c2Ec1 <<  2.06087,   1.60697,  -1.60636,
+              3.01234,  -0.584889, -3.17777,
+              0.422618,  4.69846,   0.906308;
 
-    // Ground truth
     Scalar _err = 0;
 
     Eigen::Matrix<Scalar,1,3> _J_e_m1, _J_e_m2;
@@ -708,6 +725,8 @@ TEST(TrifocalTensor, errorEpipolar)
     _J_e_m2 << -0.488135, -0.872768, 0.137088;
 
 
+    // Vision_utils computations -----------------------------------------
+
     // Without JACS
 
     Scalar err;