TestStereoscopicGeometry.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_STEREOSCOPIC_GEOMETRY_H
#define META_OCEAN_TEST_TESTGEOMETRY_TEST_STEREOSCOPIC_GEOMETRY_H
 
#include "ocean/test/testgeometry/TestGeometry.h"
 
#include "ocean/test/TestSelector.h"
 
namespace Ocean
{
 
namespace Test
{
 
namespace TestGeometry
{
 
/**
 * This class implements a test for functions in StereoscopicGeometry.
 * @ingroup testgeometry
 */
class OCEAN_TEST_GEOMETRY_EXPORT TestStereoscopicGeometry
{
    public:
 
        /**
         * Invokes all tests.
         * @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 function to determine the transformation between two cameras.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testCameraPose(const double testDuration);
 
        /**
         * Tests the function to determine the transformation between two cameras.
         * @param numberCorrespondences The number of 2D image point correspondences to be used during the test, with range [5, infinity)
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         * @tparam tPureRotational True, to test the pose estimation with only a pure rotational camera motion; False, to test the full 6-DOF pose estimation
         */
        template <bool tPureRotation>
        static bool testCameraPose(const unsigned int numberCorrespondences, const double testDuration);
 
        /**
         * Tests the camera pose determination with outlier correspondences, so that only a subset of the correspondences is valid.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testCameraPoseWithOutliers(const double testDuration);
};
 
}
 
}
 
}
 
#endif // META_OCEAN_TEST_TESTGEOMETRY_TEST_STEREOSCOPIC_GEOMETRY_H