TestRANSAC.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_RANSAC_H
#define META_OCEAN_TEST_TESTGEOMETRY_TEST_RANSAC_H
 
#include "ocean/test/testgeometry/TestGeometry.h"
 
#include "ocean/math/AnyCamera.h"
 
namespace Ocean
{
 
namespace Test
{
 
namespace TestGeometry
{
 
/**
 * This class implements the tests for RANSAC functions.
 * @ingroup testgeometry
 */
class OCEAN_TEST_GEOMETRY_EXPORT TestRANSAC
{
    protected:
 
        /**
         * Definition of individual camera distortion types.
         */
        enum DistortionType : uint32_t
        {
            /// No distortion.
            DT_NO_DISTORTION = 0u,
            /// The camera has radial distortion.
            DT_RADIAL_DISTORTION = 1u << 0u | DT_NO_DISTORTION,
            /// The camera has full distortion (e.g., radial and tangential).
            DT_FULL_DISTORTION = (1u << 1u) | DT_RADIAL_DISTORTION
        };
 
    public:
 
        /**
         * Invokes all RANSAC tests.
         * @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 iterations function.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testIterations(const double testDuration);
 
        /**
         * Tests the perspective pose function p3p for mono cameras.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testP3P(const double testDuration);
 
        /**
         * Tests the perspective pose function p3p for mono cameras.
         * @param anyCameraType The camera type to be tested
         * @param correspondences The number of correspondences to use, with range [4, infinity)
         * @param faultyRate The rate of invalid correspondences, with range [0, 1)
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testP3P(const AnyCameraType anyCameraType, const size_t correspondences, const double faultyRate, const double testDuration);
 
        /**
         * Tests the RANSAC implementation of the perspective pose problem for three random points including unknown zoom factor.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testP3PZoom(const double testDuration);
 
        /**
         * Tests the determination of a 6-DOF object transformation with any stereo camera.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testObjectTransformationStereoAnyCamera(const double testDuration);
 
        /**
         * Tests the RANSAC-based function determining the homography matrix.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param worker The worker object to distribute the computation
         * @return True, if succeeded
         */
        static bool testHomographyMatrix(const double testDuration, Worker& worker);
 
        /**
         * Tests the RANSAC-based function determining the homography matrix with a specified number of point correspondences.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param refine True, to apply an successive non-linear optimization step; False, to keep the internal RANSAC result
         * @param useSVD True, to use the slower SVD approach (i.e., homographyMatrixSVD); False, to use the two-step approach (i.e., homographyMatrixLinear)
         * @param worker The worker object to distribute the computation
         * @return True, if succeeded
         */
        static bool testHomographyMatrix(const double testDuration, const bool refine, const bool useSVD, Worker& worker);
 
        /**
         * Tests the RANSAC-based function determining the homography matrix for non-bijective correspondences.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param worker The worker object to distribute the computation
         * @return True, if succeeded
         */
        static bool testHomographyMatrixForNonBijectiveCorrespondences(const double testDuration, Worker& worker);
 
        /**
         * Tests the RANSAC-based function determining the homography matrix with a specified number of non-bijective point correspondences.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param refine True, to apply an successive non-linear optimization step; False, to keep the internal RANSAC result
         * @param useSVD True, to use the slower SVD approach (i.e., homographyMatrixSVD); False, to use the two-step approach (i.e., homographyMatrixLinear)
         * @param worker The worker object to distribute the computation
         * @return True, if succeeded
         */
        static bool testHomographyMatrixForNonBijectiveCorrespondences(const double testDuration, const bool refine, const bool useSVD, Worker& worker);
};
 
}
 
}
 
}
 
#endif // META_OCEAN_TEST_TESTGEOMETRY_TEST_RANSAC_H