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/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See https://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Test vpCameraParameters JSON parse / save.
*
*****************************************************************************/
/*!
\file testJsonCamera.cpp
Test saving and parsing JSON configuration for vpCameraParameters.
*/
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpIoTools.h>
#if defined(VISP_HAVE_NLOHMANN_JSON) && defined(VISP_HAVE_CATCH2)
#include <nlohmann/json.hpp>
using json = nlohmann::json; //! json namespace shortcut
#define CATCH_CONFIG_RUNNER
#include <catch.hpp>
#include <random>
namespace
{
// This class shows how to implement a simple generator for Catch tests
class vpRandomCamGenerator : public Catch::Generators::IGenerator<vpCameraParameters>
{
private:
std::minstd_rand m_rand;
std::uniform_int_distribution<> m_count_dist;
std::uniform_int_distribution<> m_type_dist;
std::uniform_real_distribution<> m_dist;
vpCameraParameters current;
public:
vpRandomCamGenerator(double low, double high)
: m_rand(std::random_device{}()), m_count_dist(1, 5), m_type_dist(0, 2), m_dist(low, high)
{
static_cast<void>(next());
}
const vpCameraParameters &get() const override { return current; }
bool next() override
{
const double px = m_dist(m_rand);
const double py = m_dist(m_rand);
const double u0 = m_dist(m_rand);
const double v0 = m_dist(m_rand);
const int type = m_type_dist(m_rand);
switch (type) {
case 0: {
current.initPersProjWithoutDistortion(px, py, u0, v0);
break;
}
case 1: {
current.initPersProjWithDistortion(px, py, u0, v0, m_dist(m_rand), m_dist(m_rand));
break;
}
case 2: {
std::vector<double> coeffs;
const int count = m_count_dist(m_rand);
for (int i = 0; i < count; ++i) {
coeffs.push_back(m_dist(m_rand));
}
current.initProjWithKannalaBrandtDistortion(px, py, u0, v0, coeffs);
break;
}
default: {
throw vpException(vpException::badValue, "Shouldn't happen");
}
}
return true;
}
};
Catch::Generators::GeneratorWrapper<vpCameraParameters> randomCam(double low, double high)
{
return Catch::Generators::GeneratorWrapper<vpCameraParameters>(
std::unique_ptr<Catch::Generators::IGenerator<vpCameraParameters> >(new vpRandomCamGenerator(low, high)));
}
} // namespace
SCENARIO("Serializing and deserializing a single vpCameraParameters", "[json]")
{
GIVEN("Some camera intrinsics")
{
vpCameraParameters cam = GENERATE(take(100, randomCam(50.0, 500.0)));
THEN("Serializing and deserializing does not modify the object")
{
const json j = cam;
const vpCameraParameters otherCam = j;
REQUIRE(cam == otherCam);
}
}
}
SCENARIO("Serializing two cameras", "[json]")
{
GIVEN("Some camera intrinsics")
{
vpCameraParameters cam = GENERATE(take(10, randomCam(50.0, 500.0)));
vpCameraParameters cam2 = GENERATE(take(10, randomCam(50.0, 500.0)));
if (cam != cam2) {
WHEN("serializing and deserializing two different cameras")
{
THEN("The deserialized cams are still different")
{
const json j1 = cam;
const json j2 = cam2;
const vpCameraParameters resCam = j1;
const vpCameraParameters resCam2 = j2;
REQUIRE(resCam != resCam2);
}
}
}
}
}
int main(int argc, char *argv [])
{
Catch::Session session; // There must be exactly one instance
session.applyCommandLine(argc, argv);
int numFailed = session.run();
return numFailed;
}
#else
int main() { return EXIT_SUCCESS; }
#endif
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