diff options
| -rw-r--r-- | .gitignore | 1 | ||||
| -rw-r--r-- | tests/Makefile | 5 | ||||
| -rw-r--r-- | tests/test_camera.cpp | 54 |
3 files changed, 59 insertions, 1 deletions
@@ -3,5 +3,6 @@ data/ *.o slam tests/test_feature +tests/test_camera *.kml *.unicsv diff --git a/tests/Makefile b/tests/Makefile index 636f2f3..37d1687 100644 --- a/tests/Makefile +++ b/tests/Makefile @@ -6,6 +6,9 @@ CXXFLAGS+=$(shell pkg-config --cflags eigen3 yaml-cpp) LIBS+=$(shell pkg-config --libs eigen3 yaml-cpp) #LIBS+=$(shell pkg-config --libs opencv) +test_camera: test_camera.o ../src/camera.o + $(CXX) -o $@ $^ $(CXXFLAGS) ${LIBS} + test_feature: ${OBJECT} $(CXX) -o $@ $^ $(CXXFLAGS) ${LIBS} @@ -14,5 +17,5 @@ test_feature: ${OBJECT} .PHONY: clean clean: - rm -f test_feature *.o src/*.o + rm -f test_camera test_feature *.o src/*.o diff --git a/tests/test_camera.cpp b/tests/test_camera.cpp new file mode 100644 index 0000000..f864f20 --- /dev/null +++ b/tests/test_camera.cpp @@ -0,0 +1,54 @@ +/* + * ===================================================================================== + * + * Filename: test_camera.cpp + * + * Description: Tests the methods of the Camera class + * + * Version: 1.0 + * Created: 03/27/2017 12:19:51 PM + * Revision: none + * Compiler: gcc + * + * Author: Martin Miller (MHM), miller7@illinois.edu + * Organization: Aerospace Robotics and Controls Lab (ARC) + * + * ===================================================================================== + */ + + +#include <iostream> +#include "camera.h" +#define TOL 1e-12 + +using std::cout; +using std::cerr; +using std::endl; +using namespace Eigen; + +int main(int argc, char **argv) +{ + Camera cam("left.yml"); + MatrixXd k; + k = cam.K(); + assert(k.cols()==3); + assert(k.rows()==3); + + k = cam.K4(); + assert(k.cols()==4); + assert(k.rows()==4); + + Vector3d xi,xb; + // Feature 114 0000009362.bmp.txt + // from pyslam: [[ 0.9237706 ] [-0.36529118] [-0.11493579]] + Vector3d xb0; + xb0 << 0.9237706, -0.36529118, -0.11493579; + xi << 236,216,1; + xb = cam.img2body(xi); + xb -= xb0; + assert(abs(xb[0])<TOL); + assert(abs(xb[1])<TOL); + assert(abs(xb[2])<TOL); + return 0; +} + |