104 lines
3.2 KiB
C++
104 lines
3.2 KiB
C++
/**
|
|
* Frank Dellaert
|
|
* brief: test CalibratedCamera class
|
|
* based on testVSLAMFactor.cpp
|
|
*/
|
|
|
|
#include <iostream>
|
|
|
|
#include <gtsam/CppUnitLite/TestHarness.h>
|
|
#include <gtsam/base/numericalDerivative.h>
|
|
#include <gtsam/geometry/CalibratedCamera.h>
|
|
|
|
using namespace std;
|
|
using namespace gtsam;
|
|
|
|
const Pose3 pose1(Matrix_(3,3,
|
|
1., 0., 0.,
|
|
0.,-1., 0.,
|
|
0., 0.,-1.
|
|
),
|
|
Point3(0,0,0.5));
|
|
|
|
const CalibratedCamera camera(pose1);
|
|
|
|
const Point3 point1(-0.08,-0.08, 0.0);
|
|
const Point3 point2(-0.08, 0.08, 0.0);
|
|
const Point3 point3( 0.08, 0.08, 0.0);
|
|
const Point3 point4( 0.08,-0.08, 0.0);
|
|
|
|
/* ************************************************************************* */
|
|
TEST( CalibratedCamera, constructor)
|
|
{
|
|
CHECK(assert_equal( camera.pose(), pose1));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( CalibratedCamera, level1)
|
|
{
|
|
// Create a level camera, looking in X-direction
|
|
Pose2 pose2(0.1,0.2,0);
|
|
CalibratedCamera camera = CalibratedCamera::level(pose2, 0.3);
|
|
|
|
// expected
|
|
Point3 x(0,-1,0),y(0,0,-1),z(1,0,0);
|
|
Rot3 wRc(x,y,z);
|
|
Pose3 expected(wRc,Point3(0.1,0.2,0.3));
|
|
CHECK(assert_equal( camera.pose(), expected));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( CalibratedCamera, level2)
|
|
{
|
|
// Create a level camera, looking in Y-direction
|
|
Pose2 pose2(0.4,0.3,M_PI_2);
|
|
CalibratedCamera camera = CalibratedCamera::level(pose2, 0.1);
|
|
|
|
// expected
|
|
Point3 x(1,0,0),y(0,0,-1),z(0,1,0);
|
|
Rot3 wRc(x,y,z);
|
|
Pose3 expected(wRc,Point3(0.4,0.3,0.1));
|
|
CHECK(assert_equal( camera.pose(), expected));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( CalibratedCamera, project)
|
|
{
|
|
CHECK(assert_equal( camera.project(point1), Point2(-.16, .16) ));
|
|
CHECK(assert_equal( camera.project(point2), Point2(-.16, -.16) ));
|
|
CHECK(assert_equal( camera.project(point3), Point2( .16, -.16) ));
|
|
CHECK(assert_equal( camera.project(point4), Point2( .16, .16) ));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( CalibratedCamera, Dproject_to_camera1) {
|
|
Point3 pp(155,233,131);
|
|
Matrix test1;
|
|
CalibratedCamera::project_to_camera(pp, test1);
|
|
Matrix test2 = numericalDerivative11<Point2,Point3>(
|
|
boost::bind(CalibratedCamera::project_to_camera, _1, boost::none), pp);
|
|
CHECK(assert_equal(test1, test2));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
Point2 project2(const Pose3& pose, const Point3& point) {
|
|
return CalibratedCamera(pose).project(point);
|
|
}
|
|
|
|
TEST( CalibratedCamera, Dproject_point_pose)
|
|
{
|
|
Matrix Dpose, Dpoint;
|
|
Point2 result = camera.project(point1, Dpose, Dpoint);
|
|
Matrix numerical_pose = numericalDerivative21(project2, pose1, point1);
|
|
Matrix numerical_point = numericalDerivative22(project2, pose1, point1);
|
|
CHECK(assert_equal(result, Point2(-.16, .16) ));
|
|
CHECK(assert_equal(Dpose, numerical_pose, 1e-7));
|
|
CHECK(assert_equal(Dpoint, numerical_point,1e-7));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
|
|
/* ************************************************************************* */
|
|
|
|
|