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/*
* =====================================================================================
*
* Filename: test_feature.cpp
*
* Description: Test the feature class.
*
* Version: 1.0
* Created: 03/25/2017 12:43:53 PM
* Revision: none
* Compiler: gcc
*
* Author: Martin Miller (MHM), miller7@illinois.edu
* Organization: Aerospace Robotics and Controls Lab (ARC)
*
* =====================================================================================
*/
#include "test_feature.h"
/*
* === FUNCTION ======================================================================
* Name: test_findDepth
* Description: Test the Feature::findDepth() method.
* =====================================================================================
*/
bool
test_findDepth ( Camera &cam )
{
bool success;
UTM pos;
/* 16.bmp
pos.northing = 4451490.899494356;
pos.easting = 381887.311030777;
pos.up = 206.256890383;
*/
// 9494.bmp
pos.northing = 4451693.139997130;
pos.easting = 382292.412884794;
pos.up = 203.230833591;
pos.zone_i = 16;
pos.zone_c = 'T';
/*
// Quat for 16.bmp
attitude_t att{ -1.073641623878,2.685395530695,16.357370508605};
*/
// Quat for 9494.bmp
attitude_t att{ 1.669725078950,4.920310214269,49.251704514034};
double roll, pitch, yaw;
roll = M_PI*att.roll/180.;
pitch = M_PI*att.pitch/180.;
yaw = M_PI*(att.yaw)/180.;
Matrix3d R;
Quaterniond q;
R = AngleAxisd(yaw, Vector3d::UnitZ())
* AngleAxisd(roll, Vector3d::UnitX())
* AngleAxisd(pitch, Vector3d::UnitY());
q = Quaterniond(R);
Matrix<double,48,5> meas;
meas << 94,201,258,192,509,
184,210,265,200,480,
588,297,265,296,386,
614,483,267,487,316,
810,352,251,355,415,
996,147,267,142,384,
1062,182,250,179,510,
1070,82,246,73,416,
1072,280,278,282,373,
1146,274,257,272,402,
1152,156,282,149,382,
1274,249,263,246,393,
1370,134,253,123,419,
1432,238,265,242,381,
1474,235,239,242,431,
1520,270,276,271,368,
1588,479,217,463,444,
1640,249,273,252,363,
1692,158,236,142,463,
1724,271,255,272,387,
1784,187,260,185,383,
1792,335,266,338,348,
1812,111,242,96,422,
1820,59,226,49,437,
1826,193,208,193,507,
1834,160,245,154,412,
1856,184,169,191,502,
1862,288,219,293,422,
1870,220,235,216,432,
1872,309,283,309,348,
1938,89,237,81,414,
1976,161,189,168,496,
1984,192,187,196,506,
2002,156,226,153,421,
2004,273,208,273,471,
2008,63,267,59,390,
2014,306,267,308,363,
2034,205,235,201,400,
2084,149,167,148,518,
2114,243,295,239,330,
2120,143,223,141,417,
2134,176,188,163,470,
2142,194,229,189,400,
2168,55,237,47,399,
2192,110,94,115,491,
2194,221,268,220,353,
2200,197,118,201,506,
2220,212,245,212,381;
/*
meas << 162,493,260,493,331,
66,370,229,369,352,
268,763,235,764,364,
414,554,250,554,337,
452,365,210,365,370,
580,353,239,353,344,
606,455,253,455,333,
680,748,237,747,357,
706,650,233,651,358,
724,671,199,668,400,
736,768,283,768,318,
774,368,159,369,370,
842,281,221,282,352,
882,748,249,748,349,
910,386,217,387,369,
916,713,210,713,383,
966,519,218,519,368,
1026,567,264,567,325,
1050,686,227,686,361,
1070,650,220,650,370,
1084,531,267,531,323,
1160,331,222,332,353,
1184,388,273,388,314,
1262,547,219,546,360,
1274,314,218,313,354,
1278,469,217,469,365;
*/
double z;
z = -0.55;
z -= 0.65*3.43*sin(pitch);
Vector3d xbw;
xbw << pos.northing, pos.easting, -pos.up;
printf("id,utm_z,utm_c,utm-northing,utm-easting,altitude\n");
for (int i=0; i<meas.rows(); ++i) {
Matrix<double,1,5> row;
row = meas.block<1,5>(i,0);
int id = row[0];
Vector3d xsi,xri,xs,xr;
xsi << row[1], row[2], 1;
xri << row[3], row[4], 1;
xs = cam.img2body(xsi);
xr = cam.img2body(xri);
Feature f(id,xs,xr,xbw,q,z);
//Feature f(id,xs,xbw,q);
if (f.sane())
{
UTM utmi;
utmi = f.utm(xbw,q);
printf("%d,%d,%c,%f,%f,%f\n", id,utmi.zone_i, utmi.zone_c, utmi.northing, utmi.easting, utmi.up);
}
}
success = true;
return success;
} /* ----- end of function test_findDepth ----- */
int main(int argc, char **argv)
{
Camera cam(argv[1]);
if (test_findDepth(cam)) {
;//printf("PASSED\n");
} else {
printf("FAILED\n");
}
return 0;
}
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