54 lines
1.7 KiB
C++
54 lines
1.7 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 TestSfmTrack.cpp
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* @date October 2022
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* @author Frank Dellaert
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* @brief tests for SfmTrack class
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*/
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/inference/Symbol.h>
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#include <gtsam/nonlinear/NonlinearFactorGraph.h>
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#include <gtsam/sfm/SfmTrack.h>
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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TEST(SfmTrack2d, defaultConstructor) {
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SfmTrack2d track;
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EXPECT_LONGS_EQUAL(0, track.measurements.size());
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EXPECT_LONGS_EQUAL(0, track.siftIndices.size());
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}
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/* ************************************************************************* */
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TEST(SfmTrack2d, measurementConstructor) {
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SfmTrack2d track({{0, Point2(1, 2)}, {1, Point2(3, 4)}});
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EXPECT_LONGS_EQUAL(2, track.measurements.size());
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EXPECT_LONGS_EQUAL(0, track.siftIndices.size());
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}
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/* ************************************************************************* */
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TEST(SfmTrack, construction) {
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SfmTrack track(Point3(1, 2, 3), 4, 5, 6);
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EXPECT(assert_equal(Point3(1, 2, 3), track.point3()));
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EXPECT(assert_equal(Point3(4, 5, 6), track.rgb()));
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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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