TestP3P.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_P3P_H
#define META_OCEAN_TEST_TESTGEOMETRY_TEST_P3P_H
 
#include "ocean/test/testgeometry/TestGeometry.h"
 
#include "ocean/base/RandomGenerator.h"
 
#include "ocean/math/Random.h"
 
namespace Ocean
{
 
namespace Test
{
 
namespace TestGeometry
{
 
/**
 * This class implements a P3P test.
 * @ingroup testgeometry
 */
class OCEAN_TEST_GEOMETRY_EXPORT TestP3P
{
    public:
 
        /**
         * Invokes all tests for the perspective pose problem for three points.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool test(const double testDuration);
 
        /**
         * Tests the perspective pose problem for three image points and any camera.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         * @tparam T The floating point data type to be used for testing
         */
        template <typename T>
        static bool testP3PWithPoints(const double testDuration);
 
        /**
         * Tests the perspective pose problem for three rays.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         * @tparam T The floating point data type to be used for testing
         */
        template <typename T>
        static bool testP3PWithRays(const double testDuration);
 
        /**
         * Tests whether the perspective pose problem for three points does not crash and whether basic requirements hold.
         * This test simply creates random data without any meaning and invokes the function to ensure that the function never crashes.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         * @tparam T The floating point data type to be used for testing
         */
        template <typename T>
        static bool testP3PWithPointsStressTest(const double testDuration);
 
        /**
         * Tests whether the perspective pose problem for three rays does not crash.
         * This test simply creates random data without any meaning and invokes the function to ensure that the function never crashes.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         * @tparam T The floating point data type to be used for testing
         */
        template <typename T>
        static bool testP3PWithRaysStressTest(const double testDuration);
 
    private:
 
        /**
         * Creates a random 3D vector fitting into a 3D bounding box of size 20,000 x 20,000 x 20,000.
         * @param randomGenerator The random generator object to be used
         * @return The random 3D vector, with range [-10000, 10000]x[-10000, 10000]x[-10000, 10000]
         * @tparam T The data type of each element
         */
        template <typename T>
        static VectorT3<T> randomVector(RandomGenerator& randomGenerator);
};
 
}
 
}
 
}
 
#endif // META_OCEAN_TEST_TESTGEOMETRY_TEST_P3P_H