Function TEST

src/colmap/geometry/pose_test.cc:43–47

namespace {

TEST(ComputeClosestRotationMatrix, Nominal) {
  const Eigen::Matrix3d A = Eigen::Matrix3d::Identity();
  EXPECT_THAT(ComputeClosestRotationMatrix(A), EigenMatrixNear(A, 1e-6));
  EXPECT_THAT(ComputeClosestRotationMatrix(2 * A), EigenMatrixNear(A, 1e-6));
}

TEST(DecomposeProjectionMatrix, Nominal) {
  for (int i = 1; i < 100; ++i) {