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// All rights reserved.
//
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// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
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// its contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
#define TEST_NAME "estimators/affine_transform"
#include "util/testing.h"
#include "estimators/affine_transform.h"
using namespace colmap;
BOOST_AUTO_TEST_CASE(TestAffineTransform) {
for (double x = 0; x < 1; x += 0.1) {
Eigen::Matrix<double, 2, 3> A;
A << x, 0.2, 0.3, 30, 0.2, 0.1;
std::vector<Eigen::Vector2d> src;
src.emplace_back(x, 0);
src.emplace_back(1, 0);
src.emplace_back(2, 1);
std::vector<Eigen::Vector2d> dst;
for (size_t i = 0; i < 3; ++i) {
dst.push_back(A * src[i].homogeneous());
}
AffineTransformEstimator estimator;
const auto models = estimator.Estimate(src, dst);
BOOST_CHECK_EQUAL(models.size(), 1);
std::vector<double> residuals;
estimator.Residuals(src, dst, models[0], &residuals);
BOOST_CHECK_EQUAL(residuals.size(), 3);
for (size_t i = 0; i < 3; ++i) {
BOOST_CHECK_LT(residuals[i], 1e-6);
}
}
}
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