50 lines
1.3 KiB
C++
50 lines
1.3 KiB
C++
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/**
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* @file testCal3_S2.cpp
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* @brief Unit tests for transform derivatives
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*/
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#include <CppUnitLite/TestHarness.h>
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#include "numericalDerivative.h"
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#include "Cal3_S2.h"
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using namespace gtsam;
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Cal3_S2 K(500, 500, 0.1, 640 / 2, 480 / 2);
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Point2 p(1, -2);
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double tol = 1e-8;
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/** transform derivatives */
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/* ************************************************************************* */
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TEST( Cal3_S2, Duncalibrate1)
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{
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Matrix computed = Duncalibrate1(K, p);
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Matrix numerical = numericalDerivative21(uncalibrate, K, p);
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CHECK(assert_equal(numerical,computed,tol));
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}
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/* ************************************************************************* */
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TEST( Cal3_S2, Duncalibrate2)
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{
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Matrix computed = Duncalibrate2(K, p);
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Matrix numerical = numericalDerivative22(uncalibrate, K, p);
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CHECK(assert_equal(numerical,computed,tol));
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}
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/* ************************************************************************* */
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TEST( Cal3_S2, assert_equal)
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{
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CHECK(assert_equal(K,K,tol));
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Cal3_S2 K1(501, 500, 0.1, 640 / 2, 480 / 2);
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CHECK(!K.equals(K1,tol));
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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