TestPnP.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_PNP_H
#define META_OCEAN_TEST_TESTGEOMETRY_TEST_PNP_H
 
#include "ocean/test/testgeometry/TestGeometry.h"
 
#include "ocean/test/TestSelector.h"
 
namespace Ocean
{
 
namespace Test
{
 
namespace TestGeometry
{
 
/**
 * This class implements a PnP test.
 * @ingroup testgeometry
 */
class OCEAN_TEST_GEOMETRY_EXPORT TestPnP
{
    public:
 
        /**
         * Invokes the tests of for the perspective pose problem (with at least five points).
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param selector The test selector
         * @return True, if succeeded
         */
        static bool test(const double testDuration, const TestSelector& selector);
 
        /**
         * Tests the perspective pose problem for at least five random points.
         * @param testDuration Number of seconds for each test with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testPose(const double testDuration);
 
        /**
         * Tests the perspective pose problem for at least five random points.
         * @param numberPoints Number of points used for pose determination, with range [5, infinity)
         * @param testDuration Number of seconds for each test with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testPose(const unsigned int numberPoints, const double testDuration);
};
 
}
 
}
 
}
 
#endif // META_OCEAN_TEST_TESTGEOMETRY_TEST_PNP_H