TestPinholeCamera.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_TESTMATH_CAMERA_H
#define META_OCEAN_TEST_TESTMATH_CAMERA_H
 
#include "ocean/test/testmath/TestMath.h"
 
namespace Ocean
{
 
namespace Test
{
 
namespace TestMath
{
 
/**
 * This class implements camera tests.
 * @ingroup testmath
 */
class OCEAN_TEST_MATH_EXPORT TestPinholeCamera
{
    public:
 
        /**
         * Tests all camera functions.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool test(const double testDuration);
 
        /**
         * Tests the constructors of the camera function.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        template <typename T>
        static bool testCameraConstructor(const double testDuration);
 
        /**
         * Tests the pattern camera function.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        template <typename T>
        static bool testPatternCamera(const double testDuration);
 
        /**
         * Tests the sub-frame camera function.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        template <typename T>
        static bool testSubFrameCamera(const double testDuration);
 
        /**
         * Tests the distortion function.
         * @param width The width of the camera image in pixel
         * @param height The height of the camera image in pixel
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        template <typename T>
        static bool testDistortion(const unsigned int width, const unsigned int height, const double testDuration);
 
        /**
         * Tests the vector function with an undistorted camera.
         * @param width The width of the camera image in pixel
         * @param height The height of the camera image in pixel
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        template <typename T>
        static bool testVectorDistortionFree(const unsigned int width, const unsigned int height, const double testDuration);
 
        /**
         * Tests the vector function with a distorted camera.
         * @param width The width of the camera image in pixel
         * @param height The height of the camera image in pixel
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        template <typename T>
        static bool testVectorDistorted(const unsigned int width, const unsigned int height, const double testDuration);
 
        /**
         * Tests function determining whether an object point lies in front of a camera.
         * @param testDuration The number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        template <typename T>
        static bool testObjectPointInFront(const double testDuration);
 
        /**
         * Tests the conversion of a homogenous matrix from standard coordinate system to an inverted and flipped coordinate system.
         * @param testDuration The number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        template <typename T>
        static bool testStandard2InvertedFlippedHomogenousMatrix4(const double testDuration);
 
        /**
         * Tests the conversion of a 3x3 rotation matrix from standard coordinate system to an inverted and flipped coordinate system.
         * @param testDuration The number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        template <typename T>
        static bool testStandard2InvertedFlippedSquareMatrix3(const double testDuration);
 
        /**
         * Tests the conversion of a quaternion from standard coordinate system to an inverted and flipped coordinate system.
         * @param testDuration The number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        template <typename T>
        static bool testStandard2InvertedFlippedQuaternion(const double testDuration);
};
 
}
 
}
 
}
 
#endif // META_OCEAN_TEST_TESTMATH_CAMERA_H