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//
// * Redistributions of source code must retain the above copyright
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// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
#define TEST_NAME "estimators/translation_transform"
#include "util/testing.h"
#include <Eigen/Core>
#include "estimators/translation_transform.h"
#include "optim/ransac.h"
#include "util/random.h"
using namespace colmap;
BOOST_AUTO_TEST_CASE(TestEstimate) {
SetPRNGSeed(0);
std::vector<Eigen::Vector2d> src;
for (size_t i = 0; i < 100; ++i) {
src.emplace_back(RandomReal(-1000.0, 1000.0), RandomReal(-1000.0, 1000.0));
}
Eigen::Vector2d translation(RandomReal(-1000.0, 1000.0),
RandomReal(-1000.0, 1000.0));
std::vector<Eigen::Vector2d> dst;
for (size_t i = 0; i < src.size(); ++i) {
dst.push_back(src[i] + translation);
}
const auto estimated_translation =
TranslationTransformEstimator<2>::Estimate(src, dst)[0];
BOOST_CHECK_CLOSE(translation(0), estimated_translation(0), 1e-6);
BOOST_CHECK_CLOSE(translation(1), estimated_translation(1), 1e-6);
std::vector<double> residuals;
TranslationTransformEstimator<2>::Residuals(src, dst, estimated_translation,
&residuals);
for (size_t i = 0; i < residuals.size(); ++i) {
BOOST_CHECK(residuals[i] < 1e-6);
}
}
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