12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

added test, removed check that was not supposed to work

release/4.3a0
lcarlone 2021-12-04 11:51:42 -05:00
parent 1cd33cb11e
commit c3db2bfcce
1 changed files with 6 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
gtsam/geometry/tests/testTriangulation.cpp
View File

@ -586,11 +586,14 @@ TEST(triangulation, reprojectionError_cameraComparison) {
Vector2 px = pinholeCamera.project(landmarkL);
// add perturbation and compare error in both cameras
Vector2 px_noise(1.0, 1.0); // 1px perturbation vertically and horizontally
Vector2 px_noise(1.0, 2.0); // px perturbation vertically and horizontally
Vector2 measured_px = px + px_noise;
Vector2 measured_px_calibrated = sharedK->calibrate(measured_px);
Unit3 measured_u =
Unit3(measured_px_calibrated[0], measured_px_calibrated[1], 1.0);
Unit3 expected_measured_u =
Unit3(px_noise[0] / sharedK->fx(), px_noise[1] / sharedK->fy(), 1.0);
EXPECT(assert_equal(expected_measured_u, measured_u, 1e-7));
Vector2 actualErrorPinhole =
pinholeCamera.reprojectionError(landmarkL, measured_px);
@ -600,8 +603,8 @@ TEST(triangulation, reprojectionError_cameraComparison) {
Vector2 actualErrorSpherical =
sphericalCamera.reprojectionError(landmarkL, measured_u);
Vector2 expectedErrorSpherical =
Vector2(px_noise[0] / sharedK->fx(), px_noise[1] / sharedK->fy());
// actualErrorSpherical: not easy to calculate, since it involves the unit3 basis
Vector2 expectedErrorSpherical(-0.00360842, 0.00180419);
EXPECT(assert_equal(expectedErrorSpherical, actualErrorSpherical, 1e-7));
}