71 lines
2.0 KiB
C++
71 lines
2.0 KiB
C++
/**
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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 <gtsam/CppUnitLite/TestHarness.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <gtsam/geometry/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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/* ************************************************************************* */
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TEST( Cal3_S2, easy_constructor)
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{
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Cal3_S2 expected(369.504, 369.504, 0, 640 / 2, 480 / 2);
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double fov = 60; // degrees
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size_t w=640,h=480;
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Cal3_S2 actual(fov,w,h);
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CHECK(assert_equal(expected,actual,1e-3));
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}
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/* ************************************************************************* */
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TEST( Cal3_S2, calibrate)
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{
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Cal3_S2 K1(500, 500, 0.1, 640 / 2, 480 / 2);
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Point2 intrinsic(2,3);
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Point2 expectedimage(1320.3, 1740);
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Point2 imagecoordinates = K1.uncalibrate(intrinsic);
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CHECK(assert_equal(expectedimage,imagecoordinates));
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CHECK(assert_equal(intrinsic,K1.calibrate(imagecoordinates)));
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}
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/* ************************************************************************* */
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Point2 uncalibrate_(const Cal3_S2& k, const Point2& pt) { return k.uncalibrate(pt); }
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TEST( Cal3_S2, Duncalibrate1)
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{
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Matrix computed; K.uncalibrate(p, computed, boost::none);
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Matrix numerical = numericalDerivative21(uncalibrate_, K, p);
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CHECK(assert_equal(numerical,computed,1e-8));
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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; K.uncalibrate(p, boost::none, computed);
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Matrix numerical = numericalDerivative22(uncalibrate_, K, p);
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CHECK(assert_equal(numerical,computed,1e-9));
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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,1e-9));
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Cal3_S2 K1(500, 500, 0.1, 640 / 2, 480 / 2);
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CHECK(assert_equal(K,K1,1e-9));
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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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