From 5c1cf95d29b5e77ba1b9b0726e3ede567aeeeaf8 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Fri, 11 Jan 2019 11:55:59 +0100
Subject: [PATCH] cosmetics and documentation comments
---
src/test/gtest_trifocaltensor.cpp | 63 ++++++++++++++++++++-----------
1 file changed, 41 insertions(+), 22 deletions(-)
diff --git a/src/test/gtest_trifocaltensor.cpp b/src/test/gtest_trifocaltensor.cpp
index f504e11..682ad79 100644
--- a/src/test/gtest_trifocaltensor.cpp
+++ b/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;
--
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