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/************************************************************************
*
* Copyright (C) 2018-2023 IRCAD France
* Copyright (C) 2018 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_test.hpp"
#include <data/camera.hpp>
#include <io/opencv/camera.hpp>
#include <opencv2/core.hpp>
CPPUNIT_TEST_SUITE_REGISTRATION(sight::io::opencv::ut::camera_test);
namespace sight::io::opencv::ut
{
//-----------------------------------------------------------------------------
void camera_test::setUp()
{
}
//-----------------------------------------------------------------------------
void camera_test::tearDown()
{
}
//-----------------------------------------------------------------------------
void camera_test::copy_to_cv()
{
data::camera::sptr sight_cam = std::make_shared<data::camera>();
sight_cam->set_cx(666.);
sight_cam->set_cy(777.);
sight_cam->set_fx(6.);
sight_cam->set_fy(7.);
sight_cam->set_width(15360);
sight_cam->set_height(8640);
sight_cam->set_distortion_coefficient(2., 3., 5., 8., 13.);
cv::Mat intrinsic;
cv::Mat dist_coeffs;
cv::Size img_size;
std::tie(intrinsic, img_size, dist_coeffs) = io::opencv::camera::copy_to_cv(sight_cam);
CPPUNIT_ASSERT_EQUAL(3, intrinsic.size[0]);
CPPUNIT_ASSERT_EQUAL(3, intrinsic.size[1]);
for(std::uint8_t i = 0 ; i < 3 ; ++i)
{
for(std::uint8_t j = 0 ; j < 3 ; ++j)
{
if(i == 0 && j == 0)
{
CPPUNIT_ASSERT_EQUAL(sight_cam->get_fx(), intrinsic.at<double>(i, j));
}
else if(i == 1 && j == 1)
{
CPPUNIT_ASSERT_EQUAL(sight_cam->get_fy(), intrinsic.at<double>(i, j));
}
else if(i == 0 && j == 2)
{
CPPUNIT_ASSERT_EQUAL(sight_cam->get_cx(), intrinsic.at<double>(i, j));
}
else if(i == 1 && j == 2)
{
CPPUNIT_ASSERT_EQUAL(sight_cam->get_cy(), intrinsic.at<double>(i, j));
}
else if(i == 2 && j == 2)
{
CPPUNIT_ASSERT_EQUAL(1., intrinsic.at<double>(i, j));
}
else
{
CPPUNIT_ASSERT_EQUAL(0., intrinsic.at<double>(i, j));
}
}
}
CPPUNIT_ASSERT_EQUAL(sight_cam->get_width(), static_cast<std::size_t>(img_size.width));
CPPUNIT_ASSERT_EQUAL(sight_cam->get_height(), static_cast<std::size_t>(img_size.height));
CPPUNIT_ASSERT_EQUAL(5, dist_coeffs.size[0]);
for(std::uint8_t i = 0 ; i < 5 ; ++i)
{
CPPUNIT_ASSERT_EQUAL(sight_cam->get_distortion_coefficient()[i], dist_coeffs.at<double>(i));
}
}
//-----------------------------------------------------------------------------
} // namespace sight::io::opencv::ut
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