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unit tests in meter

release/4.3a0
Frank Dellaert 2009-09-05 20:35:09 +00:00
parent 482d7fe73f
commit ff9a89c81b
2 changed files with 19 additions and 19 deletions
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22
cpp/testCalibratedCamera.cpp
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@ -18,14 +18,14 @@ const Pose3 pose1(Matrix_(3,3,
0.,-1., 0., 0.,-1., 0.,
0., 0.,-1. 0., 0.,-1.
), ),
Point3(0,0,500)); Point3(0,0,0.5));
const CalibratedCamera camera(pose1); const CalibratedCamera camera(pose1);
const Point3 point1(-80.0,-80.0, 0.0); const Point3 point1(-0.08,-0.08, 0.0);
const Point3 point2(-80.0, 80.0, 0.0); const Point3 point2(-0.08, 0.08, 0.0);
const Point3 point3( 80.0, 80.0, 0.0); const Point3 point3( 0.08, 0.08, 0.0);
const Point3 point4( 80.0,-80.0, 0.0); const Point3 point4( 0.08,-0.08, 0.0);
/* ************************************************************************* */ /* ************************************************************************* */
TEST( CalibratedCamera, constructor) TEST( CalibratedCamera, constructor)
@ -37,13 +37,13 @@ TEST( CalibratedCamera, constructor)
TEST( CalibratedCamera, level1) TEST( CalibratedCamera, level1)
{ {
// Create a level camera, looking in X-direction // Create a level camera, looking in X-direction
Pose2 pose2(100,200,0); Pose2 pose2(0.1,0.2,0);
CalibratedCamera camera = CalibratedCamera::level(pose2, 300); CalibratedCamera camera = CalibratedCamera::level(pose2, 0.3);
// expected // expected
Point3 x(0,-1,0),y(0,0,-1),z(1,0,0); Point3 x(0,-1,0),y(0,0,-1),z(1,0,0);
Rot3 wRc(x,y,z); 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)); CHECK(assert_equal( camera.pose(), expected));
} }
@ -51,13 +51,13 @@ TEST( CalibratedCamera, level1)
TEST( CalibratedCamera, level2) TEST( CalibratedCamera, level2)
{ {
// Create a level camera, looking in Y-direction // Create a level camera, looking in Y-direction
Pose2 pose2(400,300,M_PI_2); Pose2 pose2(0.4,0.3,M_PI_2);
CalibratedCamera camera = CalibratedCamera::level(pose2, 100); CalibratedCamera camera = CalibratedCamera::level(pose2, 0.1);
// expected // expected
Point3 x(1,0,0),y(0,0,-1),z(0,1,0); Point3 x(1,0,0),y(0,0,-1),z(0,1,0);
Rot3 wRc(x,y,z); 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)); CHECK(assert_equal( camera.pose(), expected));
} }

16
cpp/testSimpleCamera.cpp
View File

@ -21,14 +21,14 @@ const Pose3 pose1(Matrix_(3,3,
0.,-1., 0., 0.,-1., 0.,
0., 0.,-1. 0., 0.,-1.
), ),
Point3(0,0,500)); Point3(0,0,0.5));
const SimpleCamera camera(K, pose1); const SimpleCamera camera(K, pose1);
const Point3 point1(-80.0,-80.0, 0.0); const Point3 point1(-0.08,-0.08, 0.0);
const Point3 point2(-80.0, 80.0, 0.0); const Point3 point2(-0.08, 0.08, 0.0);
const Point3 point3( 80.0, 80.0, 0.0); const Point3 point3( 0.08, 0.08, 0.0);
const Point3 point4( 80.0,-80.0, 0.0); const Point3 point4( 0.08,-0.08, 0.0);
/* ************************************************************************* */ /* ************************************************************************* */
TEST( SimpleCamera, constructor) TEST( SimpleCamera, constructor)
@ -41,13 +41,13 @@ TEST( SimpleCamera, constructor)
TEST( SimpleCamera, level2) TEST( SimpleCamera, level2)
{ {
// Create a level camera, looking in Y-direction // Create a level camera, looking in Y-direction
Pose2 pose2(400,300,M_PI_2); Pose2 pose2(0.4,0.3,M_PI_2);
SimpleCamera camera = SimpleCamera::level(K, pose2, 100); SimpleCamera camera = SimpleCamera::level(K, pose2, 0.1);
// expected // expected
Point3 x(1,0,0),y(0,0,-1),z(0,1,0); Point3 x(1,0,0),y(0,0,-1),z(0,1,0);
Rot3 wRc(x,y,z); 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)); CHECK(assert_equal( camera.pose(), expected));
} }