/** * @file testCal3_S2.cpp * @brief Unit tests for transform derivatives */ #include #include "numericalDerivative.h" #include "Cal3_S2.h" using namespace gtsam; Cal3_S2 K(500, 500, 0.1, 640 / 2, 480 / 2); Point2 p(1, -2); /* ************************************************************************* */ TEST( Cal3_S2, easy_constructor) { Cal3_S2 expected(369.504, 369.504, 0, 640 / 2, 480 / 2); double fov = 60; // degrees size_t w=640,h=480; Cal3_S2 actual(fov,w,h); CHECK(assert_equal(expected,actual,1e-3)); } /* ************************************************************************* */ TEST( Cal3_S2, Duncalibrate1) { Matrix computed = Duncalibrate1(K, p); Matrix numerical = numericalDerivative21(uncalibrate, K, p); CHECK(assert_equal(numerical,computed,1e-8)); } /* ************************************************************************* */ TEST( Cal3_S2, Duncalibrate2) { Matrix computed = Duncalibrate2(K, p); Matrix numerical = numericalDerivative22(uncalibrate, K, p); CHECK(assert_equal(numerical,computed,1e-9)); } /* ************************************************************************* */ TEST( Cal3_S2, assert_equal) { CHECK(assert_equal(K,K,1e-9)); Cal3_S2 K1(500, 500, 0.1, 640 / 2, 480 / 2); CHECK(assert_equal(K,K1,1e-9)); } /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */