| // Copyright (c) 2022, ETH Zurich and UNC Chapel Hill. | |
| // All rights reserved. | |
| // | |
| // Redistribution and use in source and binary forms, with or without | |
| // 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. | |
| // | |
| // * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of | |
| // its contributors may be used to endorse or promote products derived | |
| // from this software without specific prior written permission. | |
| // | |
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | |
| // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | |
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | |
| // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE | |
| // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | |
| // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | |
| // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | |
| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | |
| // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | |
| // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | |
| // POSSIBILITY OF SUCH DAMAGE. | |
| // | |
| // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) | |
| 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); | |
| } | |
| } | |
| } | |