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Test vector - Cal3Bundle() focal length = 1 !!

release/4.3a0
dellaert 2014-10-20 14:21:31 +02:00
parent 821f776118
commit 70b22150fd
1 changed files with 8 additions and 1 deletions
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9
gtsam/geometry/tests/testCal3Bundler.cpp
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@ -28,6 +28,13 @@ GTSAM_CONCEPT_MANIFOLD_INST(Cal3Bundler)
static Cal3Bundler K(500, 1e-3, 1e-3, 1000, 2000); static Cal3Bundler K(500, 1e-3, 1e-3, 1000, 2000);
static Point2 p(2,3); static Point2 p(2,3);
/* ************************************************************************* */
TEST( Cal3Bundler, vector)
{
Cal3Bundler K;
CHECK(assert_equal((Vector(3)<<1,0,0),K.vector()));
}
/* ************************************************************************* */ /* ************************************************************************* */
TEST( Cal3Bundler, uncalibrate) TEST( Cal3Bundler, uncalibrate)
{ {
@ -36,7 +43,7 @@ TEST( Cal3Bundler, uncalibrate)
double g = v[0]*(1+v[1]*r+v[2]*r*r) ; double g = v[0]*(1+v[1]*r+v[2]*r*r) ;
Point2 expected (1000+g*p.x(), 2000+g*p.y()) ; Point2 expected (1000+g*p.x(), 2000+g*p.y()) ;
Point2 actual = K.uncalibrate(p); Point2 actual = K.uncalibrate(p);
CHECK(assert_equal(actual,expected)); CHECK(assert_equal(expected,actual));
} }
TEST( Cal3Bundler, calibrate ) TEST( Cal3Bundler, calibrate )