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Add Akshay's Cal3Bundler test

release/4.3a0
Varun Agrawal 2021-05-30 00:20:13 -04:00
parent 1011055007
commit 993095297c
1 changed files with 14 additions and 0 deletions
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14
gtsam/geometry/tests/testCal3Bundler.cpp
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@ -87,6 +87,20 @@ TEST(Cal3Bundler, Dcalibrate) {
CHECK(assert_equal(numerical2, Dp, 1e-5));
}
/* ************************************************************************* */
TEST(Cal3Bundler, DcalibrateDefault) {
Cal3Bundler trueK(1, 0, 0);
Matrix Dcal, Dp;
Point2 pn(0.5, 0.5);
Point2 pi = trueK.uncalibrate(pn);
Point2 actual = trueK.calibrate(pi, Dcal, Dp);
CHECK(assert_equal(pn, actual, 1e-7));
Matrix numerical1 = numericalDerivative21(calibrate_, trueK, pi);
Matrix numerical2 = numericalDerivative22(calibrate_, trueK, pi);
CHECK(assert_equal(numerical1, Dcal, 1e-5));
CHECK(assert_equal(numerical2, Dp, 1e-5));
}
/* ************************************************************************* */
TEST(Cal3Bundler, assert_equal) { CHECK(assert_equal(K, K, 1e-7)); }