100 lines
3.4 KiB
C++
100 lines
3.4 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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* testTriangulation.cpp
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*
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* Created on: July 30th, 2013
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* Author: cbeall3
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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/geometry/SimpleCamera.h>
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#include <gtsam_unstable/geometry/InvDepthCamera3.h>
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#include <gtsam_unstable/geometry/triangulation.h>
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#include <boost/assign.hpp>
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#include <boost/assign/std/vector.hpp>
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using namespace std;
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using namespace gtsam;
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using namespace boost::assign;
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/* ************************************************************************* */
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TEST( triangulation, twoPoses) {
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Cal3_S2 K(1500, 1200, 0, 640, 480);
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1));
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SimpleCamera level_camera(level_pose, K);
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// create second camera 1 meter to the right of first camera
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Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1,0,0));
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SimpleCamera level_camera_right(level_pose_right, K);
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// landmark ~5 meters infront of camera
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Point3 landmark(5, 0.5, 1.2);
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// 1. Project two landmarks into two cameras and triangulate
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Point2 level_uv = level_camera.project(landmark);
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Point2 level_uv_right = level_camera_right.project(landmark);
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vector<Pose3> poses;
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vector<Point2> measurements;
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poses += level_pose, level_pose_right;
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measurements += level_uv, level_uv_right;
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boost::optional<Point3> triangulated_landmark = triangulatePoint3(poses, measurements, K);
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EXPECT(assert_equal(landmark, *triangulated_landmark, 1e-2));
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// 2. Add some noise and try again: result should be ~ (4.995, 0.499167, 1.19814)
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measurements.at(0) += Point2(0.1,0.5);
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measurements.at(1) += Point2(-0.2, 0.3);
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boost::optional<Point3> triangulated_landmark_noise = triangulatePoint3(poses, measurements, K);
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EXPECT(assert_equal(landmark, *triangulated_landmark_noise, 1e-2));
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// 3. Add a slightly rotated third camera above, again with measurement noise
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Pose3 pose_top = level_pose * Pose3(Rot3::ypr(0.1,0.2,0.1), Point3(0.1,-2,-.1));
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SimpleCamera camera_top(pose_top, K);
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Point2 top_uv = camera_top.project(landmark);
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poses += pose_top;
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measurements += top_uv + Point2(0.1, -0.1);
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boost::optional<Point3> triangulated_3cameras = triangulatePoint3(poses, measurements, K);
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EXPECT(assert_equal(landmark, *triangulated_3cameras, 1e-2));
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// 4. Test failure: Add a 4th camera facing the wrong way
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Pose3 level_pose180 = Pose3(Rot3::ypr(M_PI/2, 0., -M_PI/2), Point3(0,0,1));
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SimpleCamera camera_180(level_pose180, K);
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CHECK_EXCEPTION(camera_180.project(landmark);, CheiralityException);
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poses += level_pose180;
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measurements += Point2(400,400);
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boost::optional<Point3> triangulated_4cameras = triangulatePoint3(poses, measurements, K);
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EXPECT(boost::none == triangulated_4cameras);
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
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/* ************************************************************************* */
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