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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include "open3d/camera/PinholeCameraIntrinsic.h"
#include <json/json.h>
#include "tests/Tests.h"
namespace open3d {
namespace tests {
TEST(PinholeCameraIntrinsic, Constructor_Default) {
camera::PinholeCameraIntrinsic intrinsic;
EXPECT_EQ(-1, intrinsic.width_);
EXPECT_EQ(-1, intrinsic.height_);
Eigen::Matrix3d reference = Eigen::Matrix3d::Identity();
ExpectEQ(reference, intrinsic.intrinsic_matrix_);
}
TEST(PinholeCameraIntrinsic, Constructor_PrimeSenseDefault) {
camera::PinholeCameraIntrinsic intrinsic(
camera::PinholeCameraIntrinsicParameters::PrimeSenseDefault);
EXPECT_EQ(640, intrinsic.width_);
EXPECT_EQ(480, intrinsic.height_);
Eigen::Matrix3d reference;
reference << 525.0, 0.0, 319.5, 0.0, 525.0, 239.5, 0.0, 0.0, 1.0;
ExpectEQ(reference, intrinsic.intrinsic_matrix_);
}
TEST(PinholeCameraIntrinsic, Constructor_Kinect2DepthCameraDefault) {
camera::PinholeCameraIntrinsic intrinsic(
camera::PinholeCameraIntrinsicParameters::
Kinect2DepthCameraDefault);
EXPECT_EQ(512, intrinsic.width_);
EXPECT_EQ(424, intrinsic.height_);
Eigen::Matrix3d reference;
reference << 365.456, 0.0, 254.878, 0.0, 365.456, 205.395, 0.0, 0.0, 1.0;
ExpectEQ(reference, intrinsic.intrinsic_matrix_);
}
TEST(PinholeCameraIntrinsic, Constructor_Kinect2ColorCameraDefault) {
camera::PinholeCameraIntrinsic intrinsic(
camera::PinholeCameraIntrinsicParameters::
Kinect2ColorCameraDefault);
EXPECT_EQ(1920, intrinsic.width_);
EXPECT_EQ(1080, intrinsic.height_);
Eigen::Matrix3d reference;
reference << 1059.9718, 0.0, 975.7193, 0.0, 1059.9718, 545.9533, 0.0, 0.0,
1.0;
ExpectEQ(reference, intrinsic.intrinsic_matrix_);
}
TEST(PinholeCameraIntrinsic, Constructor_Init) {
int width = 640;
int height = 480;
double fx = 0.5;
double fy = 0.65;
double cx = 0.75;
double cy = 0.35;
camera::PinholeCameraIntrinsic intrinsic(width, height, fx, fy, cx, cy);
EXPECT_EQ(width, intrinsic.width_);
EXPECT_EQ(height, intrinsic.height_);
Eigen::Matrix3d reference;
reference << fx, 0.0, cx, 0.0, fy, cy, 0.0, 0.0, 1.0;
ExpectEQ(reference, intrinsic.intrinsic_matrix_);
}
TEST(PinholeCameraIntrinsic, DISABLED_MemberData) { NotImplemented(); }
TEST(PinholeCameraIntrinsic, SetIntrinsics) {
camera::PinholeCameraIntrinsic intrinsic;
EXPECT_EQ(-1, intrinsic.width_);
EXPECT_EQ(-1, intrinsic.height_);
intrinsic.intrinsic_matrix_ = Eigen::Matrix3d::Zero();
int width = 640;
int height = 480;
double fx = 0.5;
double fy = 0.65;
double cx = 0.75;
double cy = 0.35;
intrinsic.SetIntrinsics(width, height, fx, fy, cx, cy);
EXPECT_EQ(width, intrinsic.width_);
EXPECT_EQ(height, intrinsic.height_);
Eigen::Matrix3d reference;
reference << fx, 0.0, cx, 0.0, fy, cy, 0.0, 0.0, 1.0;
ExpectEQ(reference, intrinsic.intrinsic_matrix_);
}
TEST(PinholeCameraIntrinsic, GetFocalLength) {
camera::PinholeCameraIntrinsic intrinsic;
int width = 640;
int height = 480;
double fx = 0.5;
double fy = 0.65;
double cx = 0.75;
double cy = 0.35;
intrinsic.SetIntrinsics(width, height, fx, fy, cx, cy);
EXPECT_EQ(width, intrinsic.width_);
EXPECT_EQ(height, intrinsic.height_);
std::pair<double, double> output = intrinsic.GetFocalLength();
EXPECT_NEAR(fx, output.first, THRESHOLD_1E_6);
EXPECT_NEAR(fy, output.second, THRESHOLD_1E_6);
}
TEST(PinholeCameraIntrinsic, GetPrincipalPoint) {
camera::PinholeCameraIntrinsic intrinsic;
int width = 640;
int height = 480;
double fx = 0.5;
double fy = 0.65;
double cx = 0.75;
double cy = 0.35;
intrinsic.SetIntrinsics(width, height, fx, fy, cx, cy);
EXPECT_EQ(width, intrinsic.width_);
EXPECT_EQ(height, intrinsic.height_);
std::pair<double, double> output = intrinsic.GetPrincipalPoint();
EXPECT_NEAR(cx, output.first, THRESHOLD_1E_6);
EXPECT_NEAR(cy, output.second, THRESHOLD_1E_6);
}
TEST(PinholeCameraIntrinsic, GetSkew) {
camera::PinholeCameraIntrinsic intrinsic;
int width = 640;
int height = 480;
double fx = 0.5;
double fy = 0.65;
double cx = 0.75;
double cy = 0.35;
intrinsic.SetIntrinsics(width, height, fx, fy, cx, cy);
EXPECT_EQ(width, intrinsic.width_);
EXPECT_EQ(height, intrinsic.height_);
double output = intrinsic.GetSkew();
EXPECT_NEAR(0.0, output, THRESHOLD_1E_6);
}
TEST(PinholeCameraIntrinsic, IsValid) {
camera::PinholeCameraIntrinsic intrinsic;
EXPECT_FALSE(intrinsic.IsValid());
int width = 640;
int height = 480;
double fx = 0.5;
double fy = 0.65;
double cx = 0.75;
double cy = 0.35;
intrinsic.SetIntrinsics(width, height, fx, fy, cx, cy);
EXPECT_TRUE(intrinsic.IsValid());
}
TEST(PinholeCameraIntrinsic, ConvertToFromJsonValue) {
camera::PinholeCameraIntrinsic src;
camera::PinholeCameraIntrinsic dst;
int width = 640;
int height = 480;
double fx = 0.5;
double fy = 0.65;
double cx = 0.75;
double cy = 0.35;
src.SetIntrinsics(width, height, fx, fy, cx, cy);
Json::Value value;
bool output = src.ConvertToJsonValue(value);
EXPECT_TRUE(output);
output = dst.ConvertFromJsonValue(value);
EXPECT_TRUE(output);
EXPECT_EQ(width, dst.width_);
EXPECT_EQ(height, dst.height_);
Eigen::Matrix3d reference;
reference << fx, 0.0, cx, 0.0, fy, cy, 0.0, 0.0, 1.0;
ExpectEQ(reference, dst.intrinsic_matrix_);
}
} // namespace tests
} // namespace open3d
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