Package com.irurueta.ar.epipolar

Class EssentialMatrixTest

java.lang.Object

com.irurueta.ar.epipolar.EssentialMatrixTest

class EssentialMatrixTest
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private static final int	ESSENTIAL_MATRIX_COLS
private static final int	ESSENTIAL_MATRIX_ROWS
private static final double	MAX_ANGLE_DEGREES
private static final double	MAX_CAMERA_SEPARATION
private static final double	MAX_FOCAL_LENGTH
private static final double	MAX_PRINCIPAL_POINT
private static final double	MAX_RANDOM_VALUE
private static final double	MAX_SKEWNESS
private static final double	MIN_ANGLE_DEGREES
private static final double	MIN_CAMERA_SEPARATION
private static final double	MIN_FOCAL_LENGTH
private static final double	MIN_PRINCIPAL_POINT
private static final double	MIN_RANDOM_VALUE
private static final double	MIN_SKEWNESS
private static final int	TIMES

Constructor Summary

Constructors

Constructor	Description
EssentialMatrixTest()

Method Summary

Modifier and Type	Method	Description
(package private) void	testComputePossibleRotationsAndTranslations()
(package private) void	testConstructorWithFundamentalMatrixAndIntrinsicParameters()
(package private) void	testConstructorWithInternalMatrix()
(package private) void	testConstructorWithRotationAndCameraCenter()
(package private) void	testConstructorWithTranslationAndRotation()
(package private) void	testConstructorWithTwoPinholeCameras()
(package private) void	testEmptyConstructor()
(package private) void	testIsValidInternalMatrix()
(package private) void	testSerializeDeserialize()
(package private) void	testSetFromFundamentalMatrixAndIntrinsics()
(package private) void	testSetFromFundamentalMatrixAndIntrinsicsInvalid()
(package private) void	testSetFromPairOfCameras()
(package private) void	testSetFromPairOfCamerasAndCameraSignFixed()
(package private) void	testSetFromPairOfCamerasAndIntrinsicsNotAvailable()
(package private) void	testSetFromPairOfCamerasWhenNumericallyUnstable()
(package private) void	testSetFromRotationAndCameraCenter()
(package private) void	testSetFromRotationAndCameraCenterInvalid()
(package private) void	testSetFromRotationAndTranslation()
(package private) void	testSetFromRotationAndTranslationInvalid()
(package private) void	testSetInternalMatrix()
(package private) void	testToFundamentalMatrix()
(package private) void	testToFundamentalMatrixInvalid()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

ESSENTIAL_MATRIX_ROWS

private static final int ESSENTIAL_MATRIX_ROWS

See Also:

• Constant Field Values

ESSENTIAL_MATRIX_COLS

private static final int ESSENTIAL_MATRIX_COLS

See Also:

• Constant Field Values

ABSOLUTE_ERROR

private static final double ABSOLUTE_ERROR

See Also:

• Constant Field Values

MIN_RANDOM_VALUE

private static final double MIN_RANDOM_VALUE

See Also:

• Constant Field Values

MAX_RANDOM_VALUE

private static final double MAX_RANDOM_VALUE

See Also:

• Constant Field Values

MIN_FOCAL_LENGTH

private static final double MIN_FOCAL_LENGTH

See Also:

• Constant Field Values

MAX_FOCAL_LENGTH

private static final double MAX_FOCAL_LENGTH

See Also:

• Constant Field Values

MIN_SKEWNESS

private static final double MIN_SKEWNESS

See Also:

• Constant Field Values

MAX_SKEWNESS

private static final double MAX_SKEWNESS

See Also:

• Constant Field Values

MIN_PRINCIPAL_POINT

private static final double MIN_PRINCIPAL_POINT

See Also:

• Constant Field Values

MAX_PRINCIPAL_POINT

private static final double MAX_PRINCIPAL_POINT

See Also:

• Constant Field Values

MIN_ANGLE_DEGREES

private static final double MIN_ANGLE_DEGREES

See Also:

• Constant Field Values

MAX_ANGLE_DEGREES

private static final double MAX_ANGLE_DEGREES

See Also:

• Constant Field Values

MIN_CAMERA_SEPARATION

private static final double MIN_CAMERA_SEPARATION

See Also:

• Constant Field Values

MAX_CAMERA_SEPARATION

private static final double MAX_CAMERA_SEPARATION

See Also:

• Constant Field Values

TIMES

private static final int TIMES

See Also:

• Constant Field Values

Constructor Details

EssentialMatrixTest

EssentialMatrixTest()

Method Details

testEmptyConstructor

@Test
void testEmptyConstructor()

testConstructorWithInternalMatrix

@Test
void testConstructorWithInternalMatrix()
                                throws com.irurueta.algebra.WrongSizeException,
com.irurueta.algebra.NotReadyException,
com.irurueta.algebra.LockedException,
com.irurueta.algebra.DecomposerException,
com.irurueta.algebra.NotAvailableException,
InvalidEssentialMatrixException,
com.irurueta.geometry.NotAvailableException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.algebra.NotReadyException

com.irurueta.algebra.LockedException

com.irurueta.algebra.DecomposerException

com.irurueta.algebra.NotAvailableException

InvalidEssentialMatrixException

com.irurueta.geometry.NotAvailableException

testConstructorWithTwoPinholeCameras

@Test
void testConstructorWithTwoPinholeCameras()
                                   throws InvalidPairOfCamerasException,
com.irurueta.algebra.WrongSizeException,
com.irurueta.algebra.RankDeficientMatrixException,
com.irurueta.algebra.DecomposerException,
com.irurueta.geometry.estimators.NotReadyException,
com.irurueta.geometry.NotAvailableException

Throws:

InvalidPairOfCamerasException

com.irurueta.algebra.WrongSizeException

com.irurueta.algebra.RankDeficientMatrixException

com.irurueta.algebra.DecomposerException

com.irurueta.geometry.estimators.NotReadyException

com.irurueta.geometry.NotAvailableException

testConstructorWithTranslationAndRotation

@Test
void testConstructorWithTranslationAndRotation()
                                        throws InvalidRotationAndTranslationException,
com.irurueta.geometry.NotAvailableException,
com.irurueta.algebra.NotReadyException,
com.irurueta.algebra.LockedException,
com.irurueta.algebra.DecomposerException,
com.irurueta.algebra.NotAvailableException,
com.irurueta.algebra.WrongSizeException,
com.irurueta.geometry.InvalidRotationMatrixException

Throws:

InvalidRotationAndTranslationException

com.irurueta.geometry.NotAvailableException

com.irurueta.algebra.NotReadyException

com.irurueta.algebra.LockedException

com.irurueta.algebra.DecomposerException

com.irurueta.algebra.NotAvailableException

com.irurueta.algebra.WrongSizeException

com.irurueta.geometry.InvalidRotationMatrixException

testConstructorWithRotationAndCameraCenter

@Test
void testConstructorWithRotationAndCameraCenter()
                                         throws InvalidRotationAndTranslationException,
InvalidEssentialMatrixException,
com.irurueta.geometry.NotAvailableException,
com.irurueta.algebra.WrongSizeException

Throws:

InvalidRotationAndTranslationException

InvalidEssentialMatrixException

com.irurueta.geometry.NotAvailableException

com.irurueta.algebra.WrongSizeException

testConstructorWithFundamentalMatrixAndIntrinsicParameters

@Test
void testConstructorWithFundamentalMatrixAndIntrinsicParameters()
                                                         throws com.irurueta.algebra.WrongSizeException,
com.irurueta.algebra.NotReadyException,
com.irurueta.algebra.LockedException,
com.irurueta.algebra.DecomposerException,
com.irurueta.algebra.NotAvailableException,
InvalidFundamentalMatrixException,
InvalidPairOfIntrinsicParametersException,
com.irurueta.geometry.NotAvailableException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.algebra.NotReadyException

com.irurueta.algebra.LockedException

com.irurueta.algebra.DecomposerException

com.irurueta.algebra.NotAvailableException

InvalidFundamentalMatrixException

InvalidPairOfIntrinsicParametersException

com.irurueta.geometry.NotAvailableException

testSetInternalMatrix

@Test
void testSetInternalMatrix()
                    throws com.irurueta.algebra.WrongSizeException,
com.irurueta.algebra.NotReadyException,
com.irurueta.algebra.LockedException,
com.irurueta.algebra.DecomposerException,
com.irurueta.algebra.NotAvailableException,
InvalidEssentialMatrixException,
com.irurueta.geometry.NotAvailableException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.algebra.NotReadyException

com.irurueta.algebra.LockedException

com.irurueta.algebra.DecomposerException

com.irurueta.algebra.NotAvailableException

InvalidEssentialMatrixException

com.irurueta.geometry.NotAvailableException

testSetFromPairOfCameras

@Test
void testSetFromPairOfCameras()
                       throws InvalidPairOfCamerasException,
com.irurueta.algebra.WrongSizeException,
com.irurueta.algebra.RankDeficientMatrixException,
com.irurueta.algebra.DecomposerException,
com.irurueta.geometry.estimators.NotReadyException,
com.irurueta.geometry.NotAvailableException

Throws:

InvalidPairOfCamerasException

com.irurueta.algebra.WrongSizeException

com.irurueta.algebra.RankDeficientMatrixException

com.irurueta.algebra.DecomposerException

com.irurueta.geometry.estimators.NotReadyException

com.irurueta.geometry.NotAvailableException

testSetFromPairOfCamerasAndIntrinsicsNotAvailable

@Test
void testSetFromPairOfCamerasAndIntrinsicsNotAvailable()
                                                throws InvalidPairOfCamerasException,
com.irurueta.algebra.WrongSizeException,
com.irurueta.algebra.RankDeficientMatrixException,
com.irurueta.algebra.DecomposerException,
com.irurueta.geometry.estimators.NotReadyException,
com.irurueta.geometry.NotAvailableException

Throws:

InvalidPairOfCamerasException

com.irurueta.algebra.WrongSizeException

com.irurueta.algebra.RankDeficientMatrixException

com.irurueta.algebra.DecomposerException

com.irurueta.geometry.estimators.NotReadyException

com.irurueta.geometry.NotAvailableException

testSetFromPairOfCamerasAndCameraSignFixed

@Test
void testSetFromPairOfCamerasAndCameraSignFixed()
                                         throws InvalidPairOfCamerasException,
com.irurueta.algebra.WrongSizeException,
com.irurueta.algebra.RankDeficientMatrixException,
com.irurueta.algebra.DecomposerException,
com.irurueta.geometry.estimators.NotReadyException,
com.irurueta.geometry.NotAvailableException,
com.irurueta.geometry.CameraException

Throws:

InvalidPairOfCamerasException

com.irurueta.algebra.WrongSizeException

com.irurueta.algebra.RankDeficientMatrixException

com.irurueta.algebra.DecomposerException

com.irurueta.geometry.estimators.NotReadyException

com.irurueta.geometry.NotAvailableException

com.irurueta.geometry.CameraException

testSetFromPairOfCamerasWhenNumericallyUnstable

@Test
void testSetFromPairOfCamerasWhenNumericallyUnstable()
                                              throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testSetFromRotationAndTranslation

@Test
void testSetFromRotationAndTranslation()
                                throws InvalidRotationAndTranslationException,
com.irurueta.geometry.NotAvailableException,
com.irurueta.algebra.NotReadyException,
com.irurueta.algebra.LockedException,
com.irurueta.algebra.DecomposerException,
com.irurueta.algebra.NotAvailableException,
com.irurueta.algebra.WrongSizeException,
com.irurueta.geometry.InvalidRotationMatrixException

Throws:

InvalidRotationAndTranslationException

com.irurueta.geometry.NotAvailableException

com.irurueta.algebra.NotReadyException

com.irurueta.algebra.LockedException

com.irurueta.algebra.DecomposerException

com.irurueta.algebra.NotAvailableException

com.irurueta.algebra.WrongSizeException

com.irurueta.geometry.InvalidRotationMatrixException

testSetFromRotationAndTranslationInvalid

@Test
void testSetFromRotationAndTranslationInvalid()

testSetFromFundamentalMatrixAndIntrinsics

@Test
void testSetFromFundamentalMatrixAndIntrinsics()
                                        throws com.irurueta.algebra.WrongSizeException,
com.irurueta.algebra.NotReadyException,
com.irurueta.algebra.LockedException,
com.irurueta.algebra.DecomposerException,
com.irurueta.algebra.NotAvailableException,
InvalidFundamentalMatrixException,
InvalidPairOfIntrinsicParametersException,
com.irurueta.geometry.NotAvailableException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.algebra.NotReadyException

com.irurueta.algebra.LockedException

com.irurueta.algebra.DecomposerException

com.irurueta.algebra.NotAvailableException

InvalidFundamentalMatrixException

InvalidPairOfIntrinsicParametersException

com.irurueta.geometry.NotAvailableException

testSetFromFundamentalMatrixAndIntrinsicsInvalid

@Test
void testSetFromFundamentalMatrixAndIntrinsicsInvalid()

testToFundamentalMatrix

@Test
void testToFundamentalMatrix()
                      throws EpipolarException,
com.irurueta.geometry.estimators.NotReadyException,
com.irurueta.geometry.NotAvailableException,
com.irurueta.algebra.WrongSizeException,
com.irurueta.algebra.NotReadyException,
com.irurueta.algebra.LockedException,
com.irurueta.algebra.DecomposerException,
com.irurueta.algebra.NotAvailableException

Throws:

EpipolarException

com.irurueta.geometry.estimators.NotReadyException

com.irurueta.geometry.NotAvailableException

com.irurueta.algebra.WrongSizeException

com.irurueta.algebra.NotReadyException

com.irurueta.algebra.LockedException

com.irurueta.algebra.DecomposerException

com.irurueta.algebra.NotAvailableException

testToFundamentalMatrixInvalid

@Test
void testToFundamentalMatrixInvalid()
                             throws EpipolarException,
com.irurueta.algebra.WrongSizeException,
com.irurueta.algebra.NotReadyException,
com.irurueta.algebra.LockedException,
com.irurueta.algebra.DecomposerException,
com.irurueta.algebra.NotAvailableException

Throws:

EpipolarException

com.irurueta.algebra.WrongSizeException

com.irurueta.algebra.NotReadyException

com.irurueta.algebra.LockedException

com.irurueta.algebra.DecomposerException

com.irurueta.algebra.NotAvailableException

testSetFromRotationAndCameraCenter

@Test
void testSetFromRotationAndCameraCenter()
                                 throws InvalidRotationAndTranslationException,
InvalidEssentialMatrixException,
com.irurueta.geometry.NotAvailableException,
com.irurueta.algebra.WrongSizeException

Throws:

InvalidRotationAndTranslationException

InvalidEssentialMatrixException

com.irurueta.geometry.NotAvailableException

com.irurueta.algebra.WrongSizeException

testSetFromRotationAndCameraCenterInvalid

@Test
void testSetFromRotationAndCameraCenterInvalid()

testComputePossibleRotationsAndTranslations

@Test
void testComputePossibleRotationsAndTranslations()
                                          throws InvalidRotationAndTranslationException,
InvalidEssentialMatrixException,
com.irurueta.geometry.NotAvailableException,
InvalidPairOfIntrinsicParametersException,
com.irurueta.algebra.WrongSizeException

Throws:

InvalidRotationAndTranslationException

InvalidEssentialMatrixException

com.irurueta.geometry.NotAvailableException

InvalidPairOfIntrinsicParametersException

com.irurueta.algebra.WrongSizeException

testIsValidInternalMatrix

@Test
void testIsValidInternalMatrix()
                        throws com.irurueta.algebra.WrongSizeException,
com.irurueta.algebra.NotReadyException,
com.irurueta.algebra.LockedException,
com.irurueta.algebra.DecomposerException,
com.irurueta.algebra.NotAvailableException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.algebra.NotReadyException

com.irurueta.algebra.LockedException

com.irurueta.algebra.DecomposerException

com.irurueta.algebra.NotAvailableException

testSerializeDeserialize

@Test
void testSerializeDeserialize()
                       throws InvalidPairOfCamerasException,
IOException,
ClassNotFoundException,
InvalidEssentialMatrixException,
com.irurueta.geometry.NotAvailableException

Throws:

InvalidPairOfCamerasException

IOException

ClassNotFoundException

InvalidEssentialMatrixException

com.irurueta.geometry.NotAvailableException