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Added tests for checking calibration model dimensions

release/4.3a0
Varun Agrawal 2020-12-02 17:14:29 -05:00
parent fc0fd1a125
commit 0a55d31702
6 changed files with 45 additions and 27 deletions
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3
gtsam/geometry/tests/testCal3Bundler.cpp
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@ -93,6 +93,9 @@ TEST(Cal3Bundler, retract) {
Cal3Bundler expected(510, 2e-3, 2e-3, 1000, 2000);
EXPECT_LONGS_EQUAL(3, expected.dim());
EXPECT_LONGS_EQUAL(Cal3Bundler::Dim(), 3);
EXPECT_LONGS_EQUAL(expected.dim(), 3);
Vector3 d;
d << 10, 1e-3, 1e-3;
Cal3Bundler actual = K.retract(d);

6
gtsam/geometry/tests/testCal3DFisheye.cpp
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@ -42,7 +42,11 @@ TEST(Cal3Fisheye, retract) {
Cal3Fisheye expected(K.fx() + 1, K.fy() + 2, K.skew() + 3, K.px() + 4,
K.py() + 5, K.k1() + 6, K.k2() + 7, K.k3() + 8,
K.k4() + 9);
Vector d(9);
EXPECT_LONGS_EQUAL(Cal3Fisheye::Dim(), 9);
EXPECT_LONGS_EQUAL(expected.dim(), 9);
Vector9 d;
d << 1, 2, 3, 4, 5, 6, 7, 8, 9;
Cal3Fisheye actual = K.retract(d);
CHECK(assert_equal(expected, actual, 1e-7));

9
gtsam/geometry/tests/testCal3DS2.cpp
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@ -96,11 +96,14 @@ TEST(Cal3DS2, Dcalibrate)
TEST(Cal3DS2, assert_equal) { CHECK(assert_equal(K, K, 1e-5)); }
/* ************************************************************************* */
TEST(Cal3DS2, retract)
{
TEST(Cal3DS2, retract) {
Cal3DS2 expected(500 + 1, 100 + 2, 0.1 + 3, 320 + 4, 240 + 5, 1e-3 + 6,
2.0 * 1e-3 + 7, 3.0 * 1e-3 + 8, 4.0 * 1e-3 + 9);
Vector d(9);
EXPECT_LONGS_EQUAL(Cal3DS2::Dim(), 9);
EXPECT_LONGS_EQUAL(expected.dim(), 9);
Vector9 d;
d << 1,2,3,4,5,6,7,8,9;
Cal3DS2 actual = K.retract(d);
CHECK(assert_equal(expected,actual,1e-7));

9
gtsam/geometry/tests/testCal3Unified.cpp
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@ -106,11 +106,14 @@ TEST(Cal3Unified, assert_equal)
}
/* ************************************************************************* */
TEST(Cal3Unified, retract)
{
TEST(Cal3Unified, retract) {
Cal3Unified expected(100 + 2, 105 + 3, 0.0 + 4, 320 + 5, 240 + 6,
1e-3 + 7, 2.0*1e-3 + 8, 3.0*1e-3 + 9, 4.0*1e-3 + 10, 0.1 + 1);
Vector d(10);
EXPECT_LONGS_EQUAL(Cal3Unified::Dim(), 10);
EXPECT_LONGS_EQUAL(expected.dim(), 10);
Vector10 d;
d << 2, 3, 4, 5, 6, 7, 8, 9, 10, 1;
Cal3Unified actual = K.retract(d);
CHECK(assert_equal(expected,actual,1e-9));

42
gtsam/geometry/tests/testCal3_S2.cpp
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@ -31,8 +31,7 @@ static Point2 p_uv(1320.3, 1740);
static Point2 p_xy(2, 3);
/* ************************************************************************* */
TEST(Cal3_S2, easy_constructor)
{
TEST(Cal3_S2, Constructor) {
Cal3_S2 expected(554.256, 554.256, 0, 640 / 2, 480 / 2);
double fov = 60; // degrees
@ -43,8 +42,7 @@ TEST(Cal3_S2, easy_constructor)
}
/* ************************************************************************* */
TEST(Cal3_S2, calibrate)
{
TEST(Cal3_S2, Calibrate) {
Point2 intrinsic(2,3);
Point2 expectedimage(1320.3, 1740);
Point2 imagecoordinates = K.uncalibrate(intrinsic);
@ -53,33 +51,36 @@ TEST(Cal3_S2, calibrate)
}
/* ************************************************************************* */
TEST(Cal3_S2, calibrate_homogeneous) {
TEST(Cal3_S2, CalibrateHomogeneous) {
Vector3 intrinsic(2, 3, 1);
Vector3 image(1320.3, 1740, 1);
CHECK(assert_equal((Vector)intrinsic,(Vector)K.calibrate(image)));
}
/* ************************************************************************* */
Point2 uncalibrate_(const Cal3_S2& k, const Point2& pt) { return k.uncalibrate(pt); }
TEST(Cal3_S2, Duncalibrate1)
{
Point2 uncalibrate_(const Cal3_S2& k, const Point2& pt) {
return k.uncalibrate(pt);
}
TEST(Cal3_S2, Duncalibrate1) {
Matrix25 computed; K.uncalibrate(p, computed, boost::none);
Matrix numerical = numericalDerivative21(uncalibrate_, K, p);
CHECK(assert_equal(numerical,computed,1e-8));
}
/* ************************************************************************* */
TEST(Cal3_S2, Duncalibrate2)
{
TEST(Cal3_S2, Duncalibrate2) {
Matrix computed; K.uncalibrate(p, boost::none, computed);
Matrix numerical = numericalDerivative22(uncalibrate_, K, p);
CHECK(assert_equal(numerical,computed,1e-9));
}
Point2 calibrate_(const Cal3_S2& k, const Point2& pt) {return k.calibrate(pt); }
Point2 calibrate_(const Cal3_S2& k, const Point2& pt) {
return k.calibrate(pt);
}
/* ************************************************************************* */
TEST(Cal3_S2, Dcalibrate1)
{
TEST(Cal3_S2, Dcalibrate1) {
Matrix computed;
Point2 expected = K.calibrate(p_uv, computed, boost::none);
Matrix numerical = numericalDerivative21(calibrate_, K, p_uv);
@ -88,8 +89,7 @@ TEST(Cal3_S2, Dcalibrate1)
}
/* ************************************************************************* */
TEST(Cal3_S2, Dcalibrate2)
{
TEST(Cal3_S2, Dcalibrate2) {
Matrix computed;
Point2 expected = K.calibrate(p_uv, boost::none, computed);
Matrix numerical = numericalDerivative22(calibrate_, K, p_uv);
@ -98,8 +98,7 @@ TEST(Cal3_S2, Dcalibrate2)
}
/* ************************************************************************* */
TEST(Cal3_S2, assert_equal)
{
TEST(Cal3_S2, Equal) {
CHECK(assert_equal(K,K,1e-9));
Cal3_S2 K1(500, 500, 0.1, 640 / 2, 480 / 2);
@ -107,10 +106,13 @@ TEST(Cal3_S2, assert_equal)
}
/* ************************************************************************* */
TEST(Cal3_S2, retract)
{
TEST(Cal3_S2, Retract) {
Cal3_S2 expected(500+1, 500+2, 0.1+3, 640 / 2+4, 480 / 2+5);
Vector d(5);
EXPECT_LONGS_EQUAL(Cal3_S2::Dim(), 5);
EXPECT_LONGS_EQUAL(expected.dim(), 5);
Vector5 d;
d << 1,2,3,4,5;
Cal3_S2 actual = K.retract(d);
CHECK(assert_equal(expected,actual,1e-7));

3
gtsam/geometry/tests/testCal3_S2Stereo.cpp
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@ -111,6 +111,9 @@ TEST(Cal3_S2Stereo, assert_equal) {
TEST(Cal3_S2Stereo, retract) {
Cal3_S2Stereo expected(500 + 1, 500 + 2, 0.1 + 3, 640 / 2 + 4, 480 / 2 + 5,
7);
EXPECT_LONGS_EQUAL(Cal3_S2Stereo::Dim(), 6);
EXPECT_LONGS_EQUAL(expected.dim(), 6);
Vector6 d;
d << 1, 2, 3, 4, 5, 6;
Cal3_S2Stereo actual = K.retract(d);