Function TEST

src/colmap/geometry/essential_matrix_test.cc:43–59

namespace {

TEST(DecomposeEssentialMatrix, Nominal) {
  const Rigid3d cam2_from_cam1(Eigen::Quaterniond::UnitRandom(),
                               Eigen::Vector3d(0.5, 1, 1).normalized());
  const Eigen::Matrix3d cam2_from_cam1_rot_mat =
      cam2_from_cam1.rotation().toRotationMatrix();
  const Eigen::Matrix3d E = EssentialMatrixFromPose(cam2_from_cam1);

  Eigen::Matrix3d R1;
  Eigen::Matrix3d R2;
  Eigen::Vector3d t;
  DecomposeEssentialMatrix(E, &R1, &R2, &t);

  EXPECT_TRUE((R1 - cam2_from_cam1_rot_mat).norm() < 1e-10 ||
              (R2 - cam2_from_cam1_rot_mat).norm() < 1e-10);
  EXPECT_TRUE((t - cam2_from_cam1.translation()).norm() < 1e-10 ||
              (t + cam2_from_cam1.translation()).norm() < 1e-10);
}

TEST(EssentialMatrixFromPose, Nominal) {
  EXPECT_EQ(EssentialMatrixFromPose(Rigid3d(Eigen::Quaterniond::Identity(),