From c52c217592d9195b16b232354ef78e5d3f398dc8 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 29 Sep 2020 01:50:14 -0400 Subject: [PATCH] added test for Cal3Bundler::calibrate Jacobians1 --- gtsam/geometry/tests/testCal3Bundler.cpp | 23 +++++++++++++++++------ 1 file changed, 17 insertions(+), 6 deletions(-) diff --git a/gtsam/geometry/tests/testCal3Bundler.cpp b/gtsam/geometry/tests/testCal3Bundler.cpp index 8de049fa44..4486002667 100644 --- a/gtsam/geometry/tests/testCal3Bundler.cpp +++ b/gtsam/geometry/tests/testCal3Bundler.cpp @@ -52,12 +52,14 @@ TEST( Cal3Bundler, calibrate ) Point2 pn(0.5, 0.5); Point2 pi = K.uncalibrate(pn); Point2 pn_hat = K.calibrate(pi); - CHECK( traits::Equals(pn, pn_hat, 1e-5)); + CHECK(traits::Equals(pn, pn_hat, 1e-5)); } /* ************************************************************************* */ Point2 uncalibrate_(const Cal3Bundler& k, const Point2& pt) { return k.uncalibrate(pt); } +Point2 calibrate_(const Cal3Bundler& k, const Point2& pt) { return k.calibrate(pt); } + /* ************************************************************************* */ TEST( Cal3Bundler, Duncalibrate) { @@ -69,11 +71,20 @@ TEST( Cal3Bundler, Duncalibrate) Matrix numerical2 = numericalDerivative22(uncalibrate_, K, p); CHECK(assert_equal(numerical1,Dcal,1e-7)); CHECK(assert_equal(numerical2,Dp,1e-7)); - CHECK(assert_equal(numerical1,K.D2d_calibration(p),1e-7)); - CHECK(assert_equal(numerical2,K.D2d_intrinsic(p),1e-7)); - Matrix Dcombined(2,5); - Dcombined << Dp, Dcal; - CHECK(assert_equal(Dcombined,K.D2d_intrinsic_calibration(p),1e-7)); +} + +/* ************************************************************************* */ +TEST( Cal3Bundler, Dcalibrate) +{ + Matrix Dcal, Dp; + Point2 pn(0.5, 0.5); + Point2 pi = K.uncalibrate(pn); + Point2 actual = K.calibrate(pi, Dcal, Dp); + CHECK(assert_equal(pn, actual, 1e-7)); + Matrix numerical1 = numericalDerivative21(calibrate_, K, pi); + Matrix numerical2 = numericalDerivative22(calibrate_, K, pi); + CHECK(assert_equal(numerical1,Dcal,1e-5)); + CHECK(assert_equal(numerical2,Dp,1e-5)); } /* ************************************************************************* */