150 lines
4.7 KiB
C++
150 lines
4.7 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testCal3_S2.cpp
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* @brief Unit tests for basic Cal3_S2 calibration model.
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*/
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/base/Testable.h>
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#include <gtsam/base/TestableAssertions.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <gtsam/geometry/Cal3_S2.h>
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using namespace gtsam;
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GTSAM_CONCEPT_TESTABLE_INST(Cal3_S2)
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GTSAM_CONCEPT_MANIFOLD_INST(Cal3_S2)
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static Cal3_S2 K(500, 500, 0.1, 640 / 2, 480 / 2);
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static Point2 p(1, -2);
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static Point2 p_uv(1320.3, 1740);
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static Point2 p_xy(2, 3);
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/* ************************************************************************* */
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TEST(Cal3_S2, Constructor) {
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Cal3_S2 expected(554.256, 554.256, 0, 640 / 2, 480 / 2);
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double fov = 60; // degrees
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size_t w = 640, h = 480;
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Cal3_S2 actual(fov, w, h);
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CHECK(assert_equal(expected, actual, 1e-3));
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}
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/* ************************************************************************* */
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TEST(Cal3_S2, Calibrate) {
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Point2 intrinsic(2, 3);
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Point2 expectedimage(1320.3, 1740);
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Point2 imagecoordinates = K.uncalibrate(intrinsic);
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CHECK(assert_equal(expectedimage, imagecoordinates));
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CHECK(assert_equal(intrinsic, K.calibrate(imagecoordinates)));
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}
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/* ************************************************************************* */
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TEST(Cal3_S2, CalibrateHomogeneous) {
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Vector3 intrinsic(2, 3, 1);
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Vector3 image(1320.3, 1740, 1);
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CHECK(assert_equal((Vector)intrinsic, (Vector)K.calibrate(image)));
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}
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/* ************************************************************************* */
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Point2 uncalibrate_(const Cal3_S2& k, const Point2& pt) {
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return k.uncalibrate(pt);
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}
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TEST(Cal3_S2, Duncalibrate1) {
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Matrix25 computed;
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K.uncalibrate(p, computed, {});
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Matrix numerical = numericalDerivative21(uncalibrate_, K, p);
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CHECK(assert_equal(numerical, computed, 1e-8));
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}
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/* ************************************************************************* */
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TEST(Cal3_S2, Duncalibrate2) {
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Matrix computed;
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K.uncalibrate(p, {}, computed);
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Matrix numerical = numericalDerivative22(uncalibrate_, K, p);
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CHECK(assert_equal(numerical, computed, 1e-9));
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}
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Point2 calibrate_(const Cal3_S2& k, const Point2& pt) {
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return k.calibrate(pt);
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}
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/* ************************************************************************* */
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TEST(Cal3_S2, Dcalibrate1) {
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Matrix computed;
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Point2 expected = K.calibrate(p_uv, computed, {});
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Matrix numerical = numericalDerivative21(calibrate_, K, p_uv);
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CHECK(assert_equal(expected, p_xy, 1e-8));
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CHECK(assert_equal(numerical, computed, 1e-8));
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}
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/* ************************************************************************* */
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TEST(Cal3_S2, Dcalibrate2) {
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Matrix computed;
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Point2 expected = K.calibrate(p_uv, {}, computed);
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Matrix numerical = numericalDerivative22(calibrate_, K, p_uv);
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CHECK(assert_equal(expected, p_xy, 1e-8));
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CHECK(assert_equal(numerical, computed, 1e-8));
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}
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/* ************************************************************************* */
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TEST(Cal3_S2, Equal) {
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CHECK(assert_equal(K, K, 1e-9));
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Cal3_S2 K1(500, 500, 0.1, 640 / 2, 480 / 2);
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CHECK(assert_equal(K, K1, 1e-9));
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}
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/* ************************************************************************* */
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TEST(Cal3_S2, Retract) {
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Cal3_S2 expected(500 + 1, 500 + 2, 0.1 + 3, 640 / 2 + 4, 480 / 2 + 5);
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EXPECT_LONGS_EQUAL(Cal3_S2::Dim(), 5);
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EXPECT_LONGS_EQUAL(expected.dim(), 5);
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Vector5 d;
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d << 1, 2, 3, 4, 5;
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Cal3_S2 actual = K.retract(d);
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CHECK(assert_equal(expected, actual, 1e-7));
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CHECK(assert_equal(d, K.localCoordinates(actual), 1e-7));
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}
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/* ************************************************************************* */
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TEST(Cal3_S2, between) {
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Cal3_S2 k1(5, 5, 5, 5, 5), k2(5, 6, 7, 8, 9);
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Matrix H1, H2;
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EXPECT(assert_equal(Cal3_S2(0, 1, 2, 3, 4), k1.between(k2, H1, H2)));
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EXPECT(assert_equal(-I_5x5, H1));
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EXPECT(assert_equal(I_5x5, H2));
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}
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/* ************************************************************************* */
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TEST(Cal3_S2, Print) {
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Cal3_S2 cal(5, 5, 5, 5, 5);
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std::stringstream os;
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os << "fx: " << cal.fx() << ", fy: " << cal.fy() << ", s: " << cal.skew()
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<< ", px: " << cal.px() << ", py: " << cal.py();
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EXPECT(assert_stdout_equal(os.str(), cal));
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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