117 lines
3.5 KiB
C++
117 lines
3.5 KiB
C++
/**
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* Frank Dellaert
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* brief: test CalibratedCamera class
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* based on testVSLAMFactor.cpp
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*/
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#include <iostream>
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#include <CppUnitLite/TestHarness.h>
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#include "numericalDerivative.h"
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#include "CalibratedCamera.h"
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using namespace std;
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using namespace gtsam;
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const Pose3 pose1(Matrix_(3,3,
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1., 0., 0.,
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0.,-1., 0.,
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0., 0.,-1.
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),
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Point3(0,0,0.5));
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const CalibratedCamera camera(pose1);
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const Point3 point1(-0.08,-0.08, 0.0);
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const Point3 point2(-0.08, 0.08, 0.0);
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const Point3 point3( 0.08, 0.08, 0.0);
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const Point3 point4( 0.08,-0.08, 0.0);
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/* ************************************************************************* */
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TEST( CalibratedCamera, constructor)
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{
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CHECK(assert_equal( camera.pose(), pose1));
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}
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/* ************************************************************************* */
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TEST( CalibratedCamera, level1)
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{
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// Create a level camera, looking in X-direction
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Pose2 pose2(0.1,0.2,0);
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CalibratedCamera camera = CalibratedCamera::level(pose2, 0.3);
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// expected
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Point3 x(0,-1,0),y(0,0,-1),z(1,0,0);
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Rot3 wRc(x,y,z);
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Pose3 expected(wRc,Point3(0.1,0.2,0.3));
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CHECK(assert_equal( camera.pose(), expected));
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}
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/* ************************************************************************* */
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TEST( CalibratedCamera, level2)
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{
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// Create a level camera, looking in Y-direction
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Pose2 pose2(0.4,0.3,M_PI_2);
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CalibratedCamera camera = CalibratedCamera::level(pose2, 0.1);
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// expected
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Point3 x(1,0,0),y(0,0,-1),z(0,1,0);
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Rot3 wRc(x,y,z);
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Pose3 expected(wRc,Point3(0.4,0.3,0.1));
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CHECK(assert_equal( camera.pose(), expected));
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}
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/* ************************************************************************* */
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TEST( CalibratedCamera, project)
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{
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CHECK(assert_equal( camera.project(point1), Point2(-.16, .16) ));
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CHECK(assert_equal( camera.project(point2), Point2(-.16, -.16) ));
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CHECK(assert_equal( camera.project(point3), Point2( .16, -.16) ));
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CHECK(assert_equal( camera.project(point4), Point2( .16, .16) ));
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}
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/* ************************************************************************* */
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TEST( CalibratedCamera, Dproject_to_camera1) {
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Point3 pp(155,233,131);
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Matrix test1 = Dproject_to_camera1(pp);
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Matrix test2 = numericalDerivative11(project_to_camera, pp);
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CHECK(assert_equal(test1, test2));
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}
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/* ************************************************************************* */
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Point2 project2(const Pose3& pose, const Point3& point) {
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return project(CalibratedCamera(pose), point);
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}
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TEST( CalibratedCamera, Dproject_pose)
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{
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Matrix computed = Dproject_pose(camera, point1);
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Matrix numerical = numericalDerivative21(project2, pose1, point1);
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CHECK(assert_equal(computed, numerical,1e-7));
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}
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TEST( CalibratedCamera, Dproject_point)
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{
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Matrix computed = Dproject_point(camera, point1);
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Matrix numerical = numericalDerivative22(project2, pose1, point1);
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CHECK(assert_equal(computed, numerical,1e-7));
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}
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TEST( CalibratedCamera, Dproject_point_pose)
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{
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Matrix Dpose, Dpoint;
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Point2 result = Dproject_pose_point(camera, point1, Dpose, Dpoint);
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Matrix numerical_pose = numericalDerivative21(project2, pose1, point1);
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Matrix numerical_point = numericalDerivative22(project2, pose1, point1);
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CHECK(assert_equal(result, Point2(-.16, .16) ));
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CHECK(assert_equal(Dpose, numerical_pose, 1e-7));
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CHECK(assert_equal(Dpoint, numerical_point,1e-7));
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
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/* ************************************************************************* */
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