testcv/testopencv/TestGeometry.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_TESTCV_TESTOPENCV_TEST_GEOMETRY_H
#define META_OCEAN_TEST_TESTCV_TESTOPENCV_TEST_GEOMETRY_H
 
#include "ocean/test/testcv/testopencv/TestOpenCV.h"
 
#include "ocean/math/PinholeCamera.h"
 
namespace Ocean
{
 
namespace Test
{
 
namespace TestCV
{
 
namespace TestOpenCV
{
 
/**
 * This class tests the performance of several OpenCV functions from the module calib3d (aka geometry in Ocean).
 * @ingroup testcvopencv
 */
class OCEAN_TEST_CV_OPENCV_EXPORT TestGeometry
{
    public:
 
        /**
         * Tests all functions of relevant feature detectors in OpenCV.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool test(const double testDuration);
 
        /**
         * Returns the name of this test.
         * @return The name of this test
         */
        static const std::string& testName();
 
    protected:
 
        /**
         * Test for the OpenCV PnP functionality
         * @param testDuration Duration in seconds that each of the sub-tests is run
         * @param pinholeCamera The pinhole camera model; all necessary information for OpenCV is extracted from this model
         * @param numberOfPoints  Number of (random) image-object point pairs to be used for the test (default: 3, must be >= 3)
         * @return True if all included test succeeded, otherwise false
         */
        static bool testPnP(const double testDuration, const PinholeCamera& pinholeCamera, const size_t numberOfPoints = 3);
 
        /**
         * Test for the OpenCV PnP functionality (including RANSAC)
         * @param testDuration Duration in seconds that each of the sub-tests is run
         * @param pinholeCamera The pinhole camera model; all necessary information for OpenCV is extracted from this model
         * @param numberOfPoints Number of (random) image-object point pairs to be used for the test (default: 3, must be >= 3)
         * @return True if all included test succeeded, otherwise false
         */
        static bool testPnPRANSAC(const double testDuration, const PinholeCamera& pinholeCamera, const size_t numberOfPoints = 3);
};
 
} // namespace TestOpenCV
 
} // namespace TestCV
 
} // namespace Test
 
} // namespace Ocean
 
#endif // META_OCEAN_TEST_TESTCV_TESTOPENCV_TEST_GEOMETRY_H