TestNonLinearOptimizationPlane.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_PLANE_H
#define META_OCEAN_TEST_TESTGEOMETRY_TEST_NON_LINEAR_OPTIMIZATION_PLANE_H
 
#include "ocean/test/testgeometry/TestGeometry.h"
 
#include "ocean/geometry/Estimator.h"
 
namespace Ocean
{
 
namespace Test
{
 
namespace TestGeometry
{
 
/**
 * This class tests the non linear optimization plane implementations.
 * @ingroup testgeometry
 */
class OCEAN_TEST_GEOMETRY_EXPORT TestNonLinearOptimizationPlane
{
    public:
 
        /**
         * Tests the non linear optimization plane function.
         * @param testDuration Number of seconds for each test
         * @param worker Optional worker object
         * @return True, if the entire function test has succeeded
         */
        static bool test(const double testDuration, Worker* worker);
 
    private:
 
        /**
         * Tests the non linear optimization function for a plane.
         * @param testDuration Number of seconds for each test
         * @return True, if succeeded
         */
        static bool testOptimizePlane(const double testDuration);
 
        /**
         * Tests the non linear optimization function for two cameras capturing 3D object points lying on a plane.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testOptimizeOnePoseOnePlane(const double testDuration);
 
        /**
         * Tests the non linear optimization function for several cameras capturing 3D object points lying on a plane.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testOptimizePosesOnePlane(const double testDuration);
 
        /**
         * Tests the non linear optimization function for a 3D plane with ideal 3D object points.
         * @param numberPoints Number of image points to be used
         * @param testDuration Number of seconds for each test
         * @param type Estimator type to be used
         * @param outliers Number of outlier correspondences
         * @return True, if succeeded
         */
        static bool testOptimizePlaneIdeal(const unsigned int numberPoints, const double testDuration, const Geometry::Estimator::EstimatorType type, const unsigned int outliers = 0);
 
        /**
         * Tests the non linear optimization function for a 3D plane with noisy 3D object points in combination with a RANSAC algorithm.
         * @param numberPoints Number of image points to be used
         * @param testDuration Number of seconds for each test
         * @param type Estimator type to be used
         * @param standardDeviation Optional standard deviation of the Gaussian normal distribution for noised image points, with range [0, infinity)
         * @param outliers Number of outlier correspondences
         * @return True, if succeeded
         */
        static bool testOptimizePlaneNoisy(const unsigned int numberPoints, const double testDuration, const Geometry::Estimator::EstimatorType type, const Scalar standardDeviation = 0, const unsigned int outliers = 0);
 
        /**
         * Tests the non linear optimization function for two cameras capturing 3D object points lying on a plane.
         * @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
         * @return True, if succeeded
         */
        static bool testOptimizeOnePoseOnePlane(const unsigned int correspondences, const double testDuration, const Geometry::Estimator::EstimatorType type);
 
        /**
         * Tests the non linear optimization function for several cameras capturing 3D object points lying on a plane.
         * @param numberPoses Number of poses to be used
         * @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
         * @return True, if succeeded
         */
        static bool testOptimizePosesOnePlane(const unsigned int numberPoses, const unsigned int correspondences, const double testDuration, const Geometry::Estimator::EstimatorType type);
};
 
}
 
}
 
}
 
#endif // META_OCEAN_TEST_TESTGEOMETRY_TEST_NON_LINEAR_OPTIMIZATION_PLANE_H