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/************************************************************************
*
* Copyright (C) 2014-2024 IRCAD France
* Copyright (C) 2014-2020 IHU Strasbourg
*
* This file is part of Sight.
*
* Sight is free software: you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Sight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with Sight. If not, see <https://www.gnu.org/licenses/>.
*
***********************************************************************/
#include "camera_set_test.hpp"
#include <core/spy_log.hpp>
#include <data/camera.hpp>
#include <data/camera_set.hpp>
// Registers the fixture into the 'registry'
CPPUNIT_TEST_SUITE_REGISTRATION(sight::data::ut::camera_set_test);
namespace sight::data::ut
{
//------------------------------------------------------------------------------
void camera_set_test::setUp()
{
}
//------------------------------------------------------------------------------
void camera_set_test::tearDown()
{
}
//------------------------------------------------------------------------------
camera_set::sptr init_camera_set()
{
auto camera_set = std::make_shared<data::camera_set>();
// --------------- Camera 1 ----------------------
auto camera1 = std::make_shared<camera>();
camera1->set_cx(3.5);
camera1->set_cy(9.3);
camera1->set_fx(48.2);
camera1->set_fy(7.3);
camera1->set_skew(1.9);
camera1->set_distortion_coefficient(1.1, 2.2, 3.3, 4.4, 5.5);
camera_set->add_camera(camera1);
// --------------- Camera 2 ----------------------
auto camera2 = std::make_shared<camera>();
camera2->set_cx(86.5);
camera2->set_cy(543.);
camera2->set_fx(4.4);
camera2->set_fy(5.14);
camera2->set_skew(0.19);
camera2->set_distortion_coefficient(2.4, 5.1, 66., 4.1, 6.4);
camera_set->add_camera(camera2);
// --------------- Extrinsic matrix ----------------------
auto mat = std::make_shared<matrix4>();
for(std::size_t i = 0 ; i < 4 ; ++i)
{
for(std::size_t j = 0 ; j < 4 ; ++j)
{
const auto value = static_cast<data::matrix4::value_type>(2 * i + j);
(*mat)(i, j) = value;
}
}
camera_set->set_extrinsic_matrix(1, mat);
camera_set->set_calibration_error(0.123);
return camera_set;
}
//------------------------------------------------------------------------------
void camera_set_test::camera_test()
{
auto camera_set = std::make_shared<data::camera_set>();
CPPUNIT_ASSERT(camera_set);
auto identity = std::make_shared<matrix4>();
auto mat = std::make_shared<matrix4>();
for(std::size_t i = 0 ; i < 4 ; ++i)
{
for(std::size_t j = 0 ; j < 4 ; ++j)
{
const auto value = static_cast<data::matrix4::value_type>(2 * i + j);
(*mat)(i, j) = value;
}
}
auto camera1 = std::make_shared<camera>();
auto camera2 = std::make_shared<camera>();
auto camera3 = std::make_shared<camera>();
CPPUNIT_ASSERT_NO_THROW(camera_set->add_camera(camera1));
CPPUNIT_ASSERT_NO_THROW(camera_set->add_camera(camera2));
CPPUNIT_ASSERT_THROW(camera_set->add_camera(camera2), core::exception);
CPPUNIT_ASSERT(camera_set->get_extrinsic_matrix(0));
CPPUNIT_ASSERT(*identity == *camera_set->get_extrinsic_matrix(0));
CPPUNIT_ASSERT(!camera_set->get_extrinsic_matrix(1));
CPPUNIT_ASSERT_NO_THROW(camera_set->set_extrinsic_matrix(1, mat));
CPPUNIT_ASSERT_THROW(camera_set->set_extrinsic_matrix(2, mat), std::out_of_range);
CPPUNIT_ASSERT_THROW(camera_set->get_extrinsic_matrix(2), std::out_of_range);
CPPUNIT_ASSERT(camera_set->get_extrinsic_matrix(1) == mat);
CPPUNIT_ASSERT_NO_THROW(camera_set->set_calibration_error(0.4587));
CPPUNIT_ASSERT_EQUAL(0.4587, camera_set->calibration_error());
CPPUNIT_ASSERT_EQUAL(std::size_t(2), camera_set->size());
CPPUNIT_ASSERT(camera_set->get_camera(0) == camera1);
CPPUNIT_ASSERT(camera_set->get_camera(1) == camera2);
CPPUNIT_ASSERT_THROW(camera_set->get_camera(2), std::out_of_range);
CPPUNIT_ASSERT_NO_THROW(camera_set->add_camera(camera3));
CPPUNIT_ASSERT(camera_set->get_camera(2) == camera3);
CPPUNIT_ASSERT_NO_THROW(camera_set->remove_camera(camera1));
CPPUNIT_ASSERT_EQUAL(std::size_t(2), camera_set->size());
CPPUNIT_ASSERT(camera_set->get_camera(0) == camera2);
CPPUNIT_ASSERT_THROW(camera_set->remove_camera(camera1), core::exception);
CPPUNIT_ASSERT_NO_THROW(camera_set->remove_camera(camera2));
CPPUNIT_ASSERT_EQUAL(std::size_t(1), camera_set->size());
CPPUNIT_ASSERT(camera_set->get_camera(0) == camera3);
CPPUNIT_ASSERT_NO_THROW(camera_set->remove_camera(camera3));
CPPUNIT_ASSERT_EQUAL(std::size_t(0), camera_set->size());
}
//------------------------------------------------------------------------------
void camera_set_test::shallow_copy_test()
{
auto camera_set = init_camera_set();
auto camera_set2 = std::make_shared<data::camera_set>();
camera_set2->shallow_copy(camera_set);
CPPUNIT_ASSERT_EQUAL(camera_set->size(), camera_set2->size());
CPPUNIT_ASSERT_EQUAL(camera_set->get_camera(0), camera_set2->get_camera(0));
CPPUNIT_ASSERT_EQUAL(camera_set->get_camera(1), camera_set2->get_camera(1));
}
//------------------------------------------------------------------------------
void camera_set_test::deep_copy_test()
{
camera_set::sptr camera_set = init_camera_set();
camera_set::sptr camera_set2;
camera_set2 = data::object::copy<data::camera_set>(camera_set);
CPPUNIT_ASSERT(*camera_set == *camera_set2);
}
} // namespace sight::data::ut
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