TestBullseyeDetectorStereo.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#pragma once
 
#include "ocean/test/testcv/testdetector/testbullseyes/TestCVDetectorBullseyes.h"
 
#include "ocean/base/RandomGenerator.h"
 
#include "ocean/cv/detector/bullseyes/BullseyeDetectorStereo.h"
 
#include "ocean/cv/detector/bullseyes/Bullseye.h"
 
namespace Ocean
{
 
namespace Test
{
 
namespace TestCV
{
 
namespace TestDetector
{
 
namespace TestBullseyes
{
 
/**
 * This class implements tests for the BullseyeDetectorStereo
 * @ingroup testcvdetectorbullseyes
 */
class OCEAN_TEST_CV_DETECTOR_BULLSEYES_EXPORT TestBullseyeDetectorStereo : protected CV::Detector::Bullseyes::BullseyeDetectorStereo
{
    public:
 
        /**
         * Helper struct containing a randomized stereo camera setup for testing.
         */
        struct StereoTestSetup
        {
            /// Camera A (left camera)
            SharedAnyCamera cameraA;
 
            /// Camera B (right camera)
            SharedAnyCamera cameraB;
 
            /// Transformation from device to world coordinates
            HomogenousMatrix4 world_T_device;
 
            /// Transformation from camera A to world coordinates
            HomogenousMatrix4 world_T_cameraA;
 
            /// Transformation from camera B to world coordinates
            HomogenousMatrix4 world_T_cameraB;
        };
 
        /**
         * Tests the BullseyeDetectorStereo functions.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool test(const double testDuration);
 
        /**
         * Stress test for BullseyeDetectorStereo::detectBullseyes()
         * @param testDuration The duration in seconds for which this test will be run, must be > 0.0
         * @param randomGenerator A random generator that will be used to generate test data
         * @return True, if succeeded
         */
        static bool stressTestDetectBullseyes(const double testDuration, RandomGenerator& randomGenerator);
 
        /**
         * Tests the Parameters class.
         * @param testDuration The duration in seconds for which this test will be run, must be > 0.0
         * @param randomGenerator A random generator that will be used to generate test data
         * @return True, if succeeded
         */
        static bool testParameters(const double testDuration, RandomGenerator& randomGenerator);
 
        /**
         * Tests the invalidMatchingCost() static function.
         * @return True, if succeeded
         */
        static bool testInvalidMatchingCost();
 
        /**
         * Tests the Candidate class.
         * @param testDuration The duration in seconds for which this test will be run, must be > 0.0
         * @param randomGenerator A random generator that will be used to generate test data
         * @return True, if succeeded
         */
        static bool testCandidate(const double testDuration, RandomGenerator& randomGenerator);
 
        /**
         * Tests the triangulateBullseye() static function.
         * @param testDuration The duration in seconds for which this test will be run, must be > 0.0
         * @param randomGenerator A random generator that will be used to generate test data
         * @return True, if succeeded
         */
        static bool testTriangulateBullseye(const double testDuration, RandomGenerator& randomGenerator);
 
        /**
         * Tests the extractBullseyeCandidates() protected function.
         * @param testDuration The duration in seconds for which this test will be run, must be > 0.0
         * @param randomGenerator A random generator that will be used to generate test data
         * @return True, if succeeded
         */
        static bool testExtractBullseyeCandidates(const double testDuration, RandomGenerator& randomGenerator);
 
        /**
         * Tests the extractBullseyes() protected function.
         * @param testDuration The duration in seconds for which this test will be run, must be > 0.0
         * @param randomGenerator A random generator that will be used to generate test data
         * @return True, if succeeded
         */
        static bool testExtractBullseyes(const double testDuration, RandomGenerator& randomGenerator);
 
        /**
         * Tests the computeCostMatrix() protected function.
         * @param testDuration The duration in seconds for which this test will be run, must be > 0.0
         * @param randomGenerator A random generator that will be used to generate test data
         * @return True, if succeeded
         */
        static bool testComputeCostMatrix(const double testDuration, RandomGenerator& randomGenerator);
 
    protected:
 
        /**
         * Creates a randomized stereo camera setup for testing.
         * @param randomGenerator The random generator to use
         * @return A StereoTestSetup with randomized cameras and poses
         */
        static StereoTestSetup createRandomStereoSetup(RandomGenerator& randomGenerator);
 
        /**
         * Creates a random 3D world point that is visible in both cameras of the stereo setup.
         * @param randomGenerator The random generator to use
         * @param setup The stereo test setup containing cameras and poses
         * @param worldPoint The resulting world point (output)
         * @param imagePointA The projection of the world point in camera A (output)
         * @param imagePointB The projection of the world point in camera B (output)
         * @return True if a valid visible point was generated, false otherwise
         */
        static bool createRandomVisibleWorldPoint(RandomGenerator& randomGenerator, const StereoTestSetup& setup, Vector3& worldPoint, Vector2& imagePointA, Vector2& imagePointB);
 
        /**
         * Creates a bullseye at a given position with random diameter and threshold.
         * @param randomGenerator The random generator to use
         * @param position The 2D position for the bullseye
         * @return A Bullseye at the specified position with random parameters
         */
        static CV::Detector::Bullseyes::Bullseye createRandomBullseyeAtPosition(RandomGenerator& randomGenerator, const Vector2& position);
};
 
} // namespace TestBullseyes
 
} // namespace TestDetector
 
} // namespace TestCV
 
} // namespace Test
 
} // namespace Ocean