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add all of Akshay's tests for default model

release/4.3a0
Varun Agrawal 2021-06-02 12:12:35 -04:00
parent c2f4cc82bf
commit fb784eea9c
1 changed files with 27 additions and 14 deletions
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41
gtsam/geometry/tests/testCal3Bundler.cpp
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@ -62,6 +62,33 @@ Point2 calibrate_(const Cal3Bundler& k, const Point2& pt) {
return k.calibrate(pt);
}
/* ************************************************************************* */
TEST(Cal3Bundler, DuncalibrateDefault) {
Cal3Bundler trueK(1, 0, 0);
Matrix Dcal, Dp;
Point2 actual = trueK.uncalibrate(p, Dcal, Dp);
Point2 expected = p;
CHECK(assert_equal(expected, actual, 1e-7));
Matrix numerical1 = numericalDerivative21(uncalibrate_, trueK, p);
Matrix numerical2 = numericalDerivative22(uncalibrate_, trueK, p);
CHECK(assert_equal(numerical1, Dcal, 1e-7));
CHECK(assert_equal(numerical2, Dp, 1e-7));
}
/* ************************************************************************* */
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, Duncalibrate) {
Matrix Dcal, Dp;
@ -87,20 +114,6 @@ 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)); }