From ff9a89c81b5d8b75c8f6f30554ca725ba0f86b20 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 5 Sep 2009 20:35:09 +0000 Subject: [PATCH] unit tests in meter --- cpp/testCalibratedCamera.cpp | 22 +++++++++++----------- cpp/testSimpleCamera.cpp | 16 ++++++++-------- 2 files changed, 19 insertions(+), 19 deletions(-) diff --git a/cpp/testCalibratedCamera.cpp b/cpp/testCalibratedCamera.cpp index fb7e6bc20..f9151e2fc 100644 --- a/cpp/testCalibratedCamera.cpp +++ b/cpp/testCalibratedCamera.cpp @@ -18,14 +18,14 @@ const Pose3 pose1(Matrix_(3,3, 0.,-1., 0., 0., 0.,-1. ), - Point3(0,0,500)); + Point3(0,0,0.5)); const CalibratedCamera camera(pose1); -const Point3 point1(-80.0,-80.0, 0.0); -const Point3 point2(-80.0, 80.0, 0.0); -const Point3 point3( 80.0, 80.0, 0.0); -const Point3 point4( 80.0,-80.0, 0.0); +const Point3 point1(-0.08,-0.08, 0.0); +const Point3 point2(-0.08, 0.08, 0.0); +const Point3 point3( 0.08, 0.08, 0.0); +const Point3 point4( 0.08,-0.08, 0.0); /* ************************************************************************* */ TEST( CalibratedCamera, constructor) @@ -37,13 +37,13 @@ TEST( CalibratedCamera, constructor) TEST( CalibratedCamera, level1) { // Create a level camera, looking in X-direction - Pose2 pose2(100,200,0); - CalibratedCamera camera = CalibratedCamera::level(pose2, 300); + Pose2 pose2(0.1,0.2,0); + CalibratedCamera camera = CalibratedCamera::level(pose2, 0.3); // expected Point3 x(0,-1,0),y(0,0,-1),z(1,0,0); Rot3 wRc(x,y,z); - Pose3 expected(wRc,Point3(100,200,300)); + Pose3 expected(wRc,Point3(0.1,0.2,0.3)); CHECK(assert_equal( camera.pose(), expected)); } @@ -51,13 +51,13 @@ TEST( CalibratedCamera, level1) TEST( CalibratedCamera, level2) { // Create a level camera, looking in Y-direction - Pose2 pose2(400,300,M_PI_2); - CalibratedCamera camera = CalibratedCamera::level(pose2, 100); + Pose2 pose2(0.4,0.3,M_PI_2); + CalibratedCamera camera = CalibratedCamera::level(pose2, 0.1); // expected Point3 x(1,0,0),y(0,0,-1),z(0,1,0); Rot3 wRc(x,y,z); - Pose3 expected(wRc,Point3(400,300,100)); + Pose3 expected(wRc,Point3(0.4,0.3,0.1)); CHECK(assert_equal( camera.pose(), expected)); } diff --git a/cpp/testSimpleCamera.cpp b/cpp/testSimpleCamera.cpp index 3886b049c..7eb54e2ca 100644 --- a/cpp/testSimpleCamera.cpp +++ b/cpp/testSimpleCamera.cpp @@ -21,14 +21,14 @@ const Pose3 pose1(Matrix_(3,3, 0.,-1., 0., 0., 0.,-1. ), - Point3(0,0,500)); + Point3(0,0,0.5)); const SimpleCamera camera(K, pose1); -const Point3 point1(-80.0,-80.0, 0.0); -const Point3 point2(-80.0, 80.0, 0.0); -const Point3 point3( 80.0, 80.0, 0.0); -const Point3 point4( 80.0,-80.0, 0.0); +const Point3 point1(-0.08,-0.08, 0.0); +const Point3 point2(-0.08, 0.08, 0.0); +const Point3 point3( 0.08, 0.08, 0.0); +const Point3 point4( 0.08,-0.08, 0.0); /* ************************************************************************* */ TEST( SimpleCamera, constructor) @@ -41,13 +41,13 @@ TEST( SimpleCamera, constructor) TEST( SimpleCamera, level2) { // Create a level camera, looking in Y-direction - Pose2 pose2(400,300,M_PI_2); - SimpleCamera camera = SimpleCamera::level(K, pose2, 100); + Pose2 pose2(0.4,0.3,M_PI_2); + SimpleCamera camera = SimpleCamera::level(K, pose2, 0.1); // expected Point3 x(1,0,0),y(0,0,-1),z(0,1,0); Rot3 wRc(x,y,z); - Pose3 expected(wRc,Point3(400,300,100)); + Pose3 expected(wRc,Point3(0.4,0.3,0.1)); CHECK(assert_equal( camera.pose(), expected)); }