Global Namespace¶
Overview¶
// namespaces namespace Eigen; namespace ceres; namespace sophus; namespace sophus::detail; namespace sophus::jet_helpers; // typedefs using StdVector = std::vector<TT, Eigen::aligned_allocator<TT>> ; using StdVector = std::vector<TT, Eigen::aligned_allocator<TT>> ; using StdVector = std::vector<TT, Eigen::aligned_allocator<TT>> ; using StdVector = std::vector<TT, Eigen::aligned_allocator<TT>> ; using StdVector = std::vector<TT, Eigen::aligned_allocator<TT>> ; using StdVector = std::vector<TT, Eigen::aligned_allocator<TT>> ; using StdVector = std::vector<TScalar, Eigen::aligned_allocator<TScalar>> ; using StdVector = std::vector<TT, Eigen::aligned_allocator<TT>> ; // structs template <class TLieGroup> struct RotationalPart; template <> struct RotationalPart<sophus::Sim2d>; template <> struct RotationalPart<sophus::Sim3d>; template <> struct RotationalPart<sophus::SO2d>; template <> struct RotationalPart<sophus::SE3d>; template <> struct RotationalPart<sophus::RxSO3d>; template <> struct RotationalPart<sophus::Se2F64>; template <> struct RotationalPart<sophus::RxSO2d>; template <> struct RotationalPart<sophus::SO3d>; // global variables constexpr double kEps = 1e-5; // global functions sophus_calculus farm_ng_add_library(sophus_calculus NAMESPACE sophus INCLUDE_DIR ../../HEADERS num_diff.h region. h); sophus_ceres farm_ng_add_library(sophus_ceres NAMESPACE sophus INCLUDE_DIR ../../HEADERS jet_helpers.h manifold.h typetraits. h); find_package(Ceres 2.1.0 REQUIRED); sophus_geometry farm_ng_add_library(sophus_geometry NAMESPACE sophus INCLUDE_DIR ../../HEADERS fit_plane.h inverse_depth.h plane_conv.h point_transform.h projection.h unit_vector.h ray. h); foreach(test_basename fit_plane inverse_depth plane_conv point_transform projection unit_vector ray); sophus_image set(sophus_image_src_prefixes interpolation image image_size image_types image_view runtime_image); list(APPEND sophus_image_cpp ${x}. cpp); h endforeach(); sophus_lie farm_ng_add_library(sophus_lie NAMESPACE sophus INCLUDE_DIR ../../HEADERS cartesian.h rxso2.h rxso3.h se2.h se3.h sim2.h sim3.h so2.h so3.h details/sim_impl. h); foreach(test_basename cartesian2 cartesian3 common rxso2 rxso3 se2 se3 sim2 sim3 so2 so3); sophus_sensor set(sophus_sensor_src_prefixes camera_model clipping_planes imu_model camera_rig orthographic); list(APPEND sophus_sensor_cpp ${x}. cpp); h endforeach(); TEST( ScalarRegion, unit ); int main( int, char** ); int main(); int main( int, char** ); int main(); int main( int, char** ); int main(); int main( int, char** ); int main(); int main( int, char** ); int main(); int main( int, char** ); int main(); int main( int, char** ); int main(); int main( int, char** ); int main(); TEST( fit_plane, smoke ); TEST( inverse_depth, integrations ); int main(); TEST( inverse_depth, integrations ); TEST( point_transform, integrations ); TEST( ray, simple_ray3 ); TEST( unitvec, unit2 ); TEST( unitvec, unit3 ); TEST( unitvec, copy3 ); TEST( unitvec, testRotThroughPoints ); TEST( image_size, smoke ); TEST( MutImage, empty ); TEST( MutImage, create_copy_access ); TEST( MutImage, makeFromTransform ); TEST( Image, empty_and_non_empty ); TEST( Image, shared_ownership ); TEST( ImageBool, logic ); TEST( SOPHUS_ASSERT_IMAGE_EQ, death_test ); TEST( ImageView, empty ); TEST( ImageView, create_and_access ); TEST( MutImageView, empty ); TEST( MutImageView, create_and_access ); TEST( interpolation, unit ); TEST( AnyImage, create_access_and_extract ); TEST( IntensityImage, create_access_and_extract ); TEST( AnyImage, runtime_type_info ); float sum(ImageView<float> view); void plusOne(MutImageView<float> mut_view); TEST( IntensityImageView, subview ); TEST( ClassHierarchy, call_function ); TEST( IntensityImage, visitor ); int main(); int main(); int main(); CameraModel openCvCameraModel(); TEST( camera_model, projection_round_trip ); TEST( camera_model, scale_up_down_roundtrip ); TEST( camera_model, ortho_cam ); TEST( camera_rig, smoke ); TEST( imu_model, smoke ); // macros #define SOPHUS_ASSERT(...) #define SOPHUS_ASSERT_EQ(...) #define SOPHUS_ASSERT_GE(...) #define SOPHUS_ASSERT_GT(...) #define SOPHUS_ASSERT_IMAGE_EQ( \ left_image, \ right_image, \ ... \ ) #define SOPHUS_ASSERT_LE(...) #define SOPHUS_ASSERT_LT(...) #define SOPHUS_ASSERT_NE(...) #define SOPHUS_ASSERT_NEAR(...) #define SOPHUS_ASSERT_OR_ERROR(...) #define SOPHUS_ENUM(...) #define SOPHUS_FORMAT(...) #define SOPHUS_FUNC #define SOPHUS_FUNCTION #define SOPHUS_INFO(...) #define SOPHUS_PANIC(...) #define SOPHUS_STRINGIFY(x) #define SOPHUS_TEST( \ passed, \ condition, \ descr, \ ... \ ) #define SOPHUS_TEST_APPROX( \ passed, \ left, \ right, \ thr, \ descr, \ ... \ ) #define SOPHUS_TEST_EQUAL( \ passed, \ left, \ right, \ descr, \ ... \ ) #define SOPHUS_TEST_IMG_EQ( \ lhs, \ rhs \ ) #define SOPHUS_TEST_NEQ( \ passed, \ left, \ right, \ descr, \ ... \ ) #define SOPHUS_TEST_NOT_APPROX( \ passed, \ left, \ right, \ thr, \ descr, \ ... \ ) #define SOPHUS_TRY(...) #define SOPHUS_UNEXPECTED(...) #define SOPHUS_UNIMPLEMENTED(...) #define SOPHUS_UNWRAP(...)
Detailed Documentation¶
Macros¶
#define SOPHUS_ASSERT_IMAGE_EQ(left_image, right_image, ...)
If it is false that left_image
== right_image
, print formatted error message and then panic.
#define SOPHUS_TEST(passed, condition, descr, ...)
Tests whether condition is true. The in-out parameter passed will be set to false if test fails.
#define SOPHUS_TEST_APPROX(passed, left, right, thr, descr, ...)
Tests whether left is approximately equal to right given a threshold. The in-out parameter passed will be set to false if test fails.
#define SOPHUS_TEST_EQUAL(passed, left, right, descr, ...)
Tests whether left is equal to right given a threshold. The in-out parameter passed will be set to false if test fails.
#define SOPHUS_TEST_NEQ(passed, left, right, descr, ...)
Tests whether left is equal to right given a threshold. The in-out parameter passed will be set to false if test fails.
#define SOPHUS_TEST_NOT_APPROX(passed, left, right, thr, descr, ...)
Tests whether left is NOT approximately equal to right given a threshold. The in-out parameter passed will be set to false if test fails.