Package com.irurueta.ar.sfm

Class EssentialMatrixInitialCamerasEstimatorTest

java.lang.Object

com.irurueta.ar.sfm.EssentialMatrixInitialCamerasEstimatorTest

All Implemented Interfaces:

InitialCamerasEstimatorListener

class EssentialMatrixInitialCamerasEstimatorTest
extends Object
implements InitialCamerasEstimatorListener

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private static final double	LARGE_ABSOLUTE_ERROR
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_LAMBDA
private static final int	MAX_POINTS
private static final int	MAX_TRIES
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_LAMBDA
private static final int	MIN_POINTS
private static final int	TIMES

Constructor Summary

Constructors

Constructor	Description
EssentialMatrixInitialCamerasEstimatorTest()

Method Summary

Modifier and Type	Method	Description
private static void	checkLocked(EssentialMatrixInitialCamerasEstimator estimator)
void	onFail(InitialCamerasEstimator estimator, InitialCamerasEstimationFailedException e)
void	onFinish(InitialCamerasEstimator estimator, com.irurueta.geometry.PinholeCamera estimatedLeftCamera, com.irurueta.geometry.PinholeCamera estimatedRightCamera)
void	onStart(InitialCamerasEstimator estimator)
(package private) void	testAreSetPointsTriangulated()
(package private) void	testAreValidTriangulatedPointsMarked()
(package private) void	testConstructor()
(package private) void	testEstimate()
(package private) void	testGenerateInitialMetricCamerasFromEssentialMatrix1()
(package private) void	testGenerateInitialMetricCamerasFromEssentialMatrix2()
(package private) void	testGenerateInitialMetricCamerasFromEssentialMatrix3()
(package private) void	testGenerateInitialMetricCamerasFromEssentialMatrix4()
(package private) void	testGetSetCorrectorType()
(package private) void	testGetSetFundamentalMatrix()
(package private) void	testGetSetLeftIntrinsic()
(package private) void	testGetSetLeftPoints()
(package private) void	testGetSetListener()
(package private) void	testGetSetRightIntrinsic()
(package private) void	testGetSetRightPoints()
(package private) void	testSetIntrinsicsForBoth()
(package private) void	testSetLeftAndRightIntrinsics()
(package private) void	testSetLeftAndRightPoints()

Methods inherited from class java.lang.Object

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

Field Details

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_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

ABSOLUTE_ERROR

private static final double ABSOLUTE_ERROR

See Also:

• Constant Field Values

LARGE_ABSOLUTE_ERROR

private static final double LARGE_ABSOLUTE_ERROR

See Also:

• Constant Field Values

MIN_POINTS

private static final int MIN_POINTS

See Also:

• Constant Field Values

MAX_POINTS

private static final int MAX_POINTS

See Also:

• Constant Field Values

MIN_LAMBDA

private static final double MIN_LAMBDA

See Also:

• Constant Field Values

MAX_LAMBDA

private static final double MAX_LAMBDA

See Also:

• Constant Field Values

TIMES

private static final int TIMES

See Also:

• Constant Field Values

MAX_TRIES

private static final int MAX_TRIES

See Also:

• Constant Field Values

Constructor Details

EssentialMatrixInitialCamerasEstimatorTest

EssentialMatrixInitialCamerasEstimatorTest()

Method Details

testConstructor

@Test
void testConstructor()

testGetSetFundamentalMatrix

@Test
void testGetSetFundamentalMatrix()
                          throws com.irurueta.geometry.estimators.LockedException

Throws:

com.irurueta.geometry.estimators.LockedException

testGetSetListener

@Test
void testGetSetListener()

testGetSetLeftIntrinsic

@Test
void testGetSetLeftIntrinsic()
                      throws com.irurueta.geometry.estimators.LockedException

Throws:

com.irurueta.geometry.estimators.LockedException

testGetSetRightIntrinsic

@Test
void testGetSetRightIntrinsic()
                       throws com.irurueta.geometry.estimators.LockedException

Throws:

com.irurueta.geometry.estimators.LockedException

testSetLeftAndRightIntrinsics

@Test
void testSetLeftAndRightIntrinsics()
                            throws com.irurueta.geometry.estimators.LockedException

Throws:

com.irurueta.geometry.estimators.LockedException

testSetIntrinsicsForBoth

@Test
void testSetIntrinsicsForBoth()
                       throws com.irurueta.geometry.estimators.LockedException

Throws:

com.irurueta.geometry.estimators.LockedException

testGetSetLeftPoints

@Test
void testGetSetLeftPoints()
                   throws com.irurueta.geometry.estimators.LockedException

Throws:

com.irurueta.geometry.estimators.LockedException

testGetSetRightPoints

@Test
void testGetSetRightPoints()
                    throws com.irurueta.geometry.estimators.LockedException

Throws:

com.irurueta.geometry.estimators.LockedException

testSetLeftAndRightPoints

@Test
void testSetLeftAndRightPoints()
                        throws com.irurueta.geometry.estimators.LockedException

Throws:

com.irurueta.geometry.estimators.LockedException

testGetSetCorrectorType

@Test
void testGetSetCorrectorType()
                      throws com.irurueta.geometry.estimators.LockedException

Throws:

com.irurueta.geometry.estimators.LockedException

testAreSetPointsTriangulated

@Test
void testAreSetPointsTriangulated()
                           throws com.irurueta.geometry.estimators.LockedException

Throws:

com.irurueta.geometry.estimators.LockedException

testAreValidTriangulatedPointsMarked

@Test
void testAreValidTriangulatedPointsMarked()
                                   throws com.irurueta.geometry.estimators.LockedException

Throws:

com.irurueta.geometry.estimators.LockedException

testEstimate

@Test
void testEstimate()
           throws InvalidPairOfCamerasException,
com.irurueta.geometry.CameraException,
com.irurueta.geometry.estimators.LockedException,
com.irurueta.geometry.estimators.NotReadyException,
InitialCamerasEstimationFailedException,
com.irurueta.geometry.NotAvailableException,
InvalidFundamentalMatrixException,
com.irurueta.algebra.AlgebraException

Throws:

InvalidPairOfCamerasException

com.irurueta.geometry.CameraException

com.irurueta.geometry.estimators.LockedException

com.irurueta.geometry.estimators.NotReadyException

InitialCamerasEstimationFailedException

com.irurueta.geometry.NotAvailableException

InvalidFundamentalMatrixException

com.irurueta.algebra.AlgebraException

testGenerateInitialMetricCamerasFromEssentialMatrix1

@Test
void testGenerateInitialMetricCamerasFromEssentialMatrix1()
                                                   throws InvalidPairOfCamerasException,
com.irurueta.geometry.CameraException,
InitialCamerasEstimationFailedException,
com.irurueta.geometry.NotAvailableException,
com.irurueta.geometry.estimators.NotReadyException,
InvalidFundamentalMatrixException,
com.irurueta.algebra.AlgebraException

Throws:

InvalidPairOfCamerasException

com.irurueta.geometry.CameraException

InitialCamerasEstimationFailedException

com.irurueta.geometry.NotAvailableException

com.irurueta.geometry.estimators.NotReadyException

InvalidFundamentalMatrixException

com.irurueta.algebra.AlgebraException

testGenerateInitialMetricCamerasFromEssentialMatrix2

@Test
void testGenerateInitialMetricCamerasFromEssentialMatrix2()
                                                   throws InvalidPairOfCamerasException,
com.irurueta.geometry.CameraException,
InitialCamerasEstimationFailedException,
com.irurueta.geometry.NotAvailableException,
com.irurueta.geometry.estimators.NotReadyException,
InvalidFundamentalMatrixException,
com.irurueta.algebra.AlgebraException

Throws:

InvalidPairOfCamerasException

com.irurueta.geometry.CameraException

InitialCamerasEstimationFailedException

com.irurueta.geometry.NotAvailableException

com.irurueta.geometry.estimators.NotReadyException

InvalidFundamentalMatrixException

com.irurueta.algebra.AlgebraException

testGenerateInitialMetricCamerasFromEssentialMatrix3

@Test
void testGenerateInitialMetricCamerasFromEssentialMatrix3()
                                                   throws InvalidPairOfCamerasException,
com.irurueta.geometry.CameraException,
InitialCamerasEstimationFailedException,
com.irurueta.geometry.NotAvailableException,
com.irurueta.geometry.estimators.NotReadyException,
InvalidFundamentalMatrixException,
com.irurueta.algebra.AlgebraException

Throws:

InvalidPairOfCamerasException

com.irurueta.geometry.CameraException

InitialCamerasEstimationFailedException

com.irurueta.geometry.NotAvailableException

com.irurueta.geometry.estimators.NotReadyException

InvalidFundamentalMatrixException

com.irurueta.algebra.AlgebraException

testGenerateInitialMetricCamerasFromEssentialMatrix4

@Test
void testGenerateInitialMetricCamerasFromEssentialMatrix4()
                                                   throws InvalidPairOfCamerasException,
com.irurueta.geometry.CameraException,
InitialCamerasEstimationFailedException,
com.irurueta.geometry.NotAvailableException,
com.irurueta.geometry.estimators.NotReadyException,
InvalidFundamentalMatrixException,
com.irurueta.algebra.AlgebraException

Throws:

InvalidPairOfCamerasException

com.irurueta.geometry.CameraException

InitialCamerasEstimationFailedException

com.irurueta.geometry.NotAvailableException

com.irurueta.geometry.estimators.NotReadyException

InvalidFundamentalMatrixException

com.irurueta.algebra.AlgebraException

onStart

public void onStart(InitialCamerasEstimator estimator)

Specified by:

onStart in interface InitialCamerasEstimatorListener

onFinish

public void onFinish(InitialCamerasEstimator estimator,
 com.irurueta.geometry.PinholeCamera estimatedLeftCamera,
 com.irurueta.geometry.PinholeCamera estimatedRightCamera)

Specified by:

onFinish in interface InitialCamerasEstimatorListener

onFail

public void onFail(InitialCamerasEstimator estimator,
 InitialCamerasEstimationFailedException e)

Specified by:

onFail in interface InitialCamerasEstimatorListener

checkLocked

private static void checkLocked(EssentialMatrixInitialCamerasEstimator estimator)