TestNonLinearOptimizationHomography.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.
 */
 
#ifndef META_OCEAN_TEST_TESTGEOMETRY_TEST_NON_LINEAR_OPTIMIZATION_HOMOGRAPHY_H
#define META_OCEAN_TEST_TESTGEOMETRY_TEST_NON_LINEAR_OPTIMIZATION_HOMOGRAPHY_H
 
#include "ocean/test/testgeometry/TestGeometry.h"
 
#include "ocean/geometry/Estimator.h"
 
namespace Ocean
{
 
namespace Test
{
 
namespace TestGeometry
{
 
/**
 * This class implements the tests of the non linear optimization functions for homography optimization.
 * @ingroup testgeometry
 */
class OCEAN_TEST_GEOMETRY_EXPORT TestNonLinearOptimizationHomography
{
    public:
 
        /**
         * Tests the non linear optimization function.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param worker Optional worker object
         * @return True, if the entire function test has succeeded
         */
        static bool test(const double testDuration, Worker* worker);
 
        /**
         * Tests the non linear optimization function optimizing a homography.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testNonLinearOptimizationHomography(const double testDuration);
 
        /**
         * Tests the non linear optimization function optimizing a similarity transformation.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testNonLinearOptimizationSimilarity(const double testDuration);
 
        /**
         * Tests the non linear optimizations function optimizing a homography with specified correspondences, estimator type and outliers.
         * @param correspondences Number of point correspondences
         * @param modelParameter The number of parameters defining the model (of the homography) to be optimize, with range [8, 9]
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param type Estimator type to be used
         * @param standardDeviation Optional standard deviation of the Gaussian distribution for noised image points
         * @param outliers Number of outlier correspondences
         * @param useCovariances True, to use covariances
         * @return True, if succeeded
         */
        static bool testNonLinearOptimizationHomography(const unsigned int correspondences, const unsigned int modelParameter, const double testDuration, const Geometry::Estimator::EstimatorType type, const Scalar standardDeviation, const unsigned int outliers, const bool useCovariances);
 
        /**
         * Tests the non linear optimizations function optimizing a similarity transformation with specified correspondences, estimator type and outliers.
         * @param correspondences Number of point correspondences
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param type Estimator type to be used
         * @param standardDeviation Optional standard deviation of the Gaussian distribution for noised image points
         * @param outliers Number of outlier correspondences
         * @param useCovariances True, to use covariances
         * @return True, if succeeded
         */
        static bool testNonLinearOptimizationSimilarity(const unsigned int correspondences, const double testDuration, const Geometry::Estimator::EstimatorType type, const Scalar standardDeviation, const unsigned int outliers, const bool useCovariances);
 
    protected:
 
        /**
         * Determines the average pixel error between set of left points transform to the right points.
         * @param homography The homography that will be checked transforming left points to right points (right = homography * left), must be valid
         * @param pointsLeft Image points defined in the left camera frame
         * @param pointsRight Image points defined int he right camerea frame, each point corresponds the one point in the left camera frame
         * @param maximalSqrDistance Optional resulting maximal square distance between a right image point and the corresponding transformed left image point
         * @return The average square distance between the right image points and the transformed left image points in pixel, with range [0, infinity)
         */
        static Scalar determineHomographyError(const SquareMatrix3& homography, const Vectors2& pointsLeft, const Vectors2& pointsRight, Scalar* maximalSqrDistance = nullptr);
};
 
}
 
}
 
}
 
#endif // META_OCEAN_TEST_TESTGEOMETRY_TEST_NON_LINEAR_OPTIMIZATION_HOMOGRAPHY_H