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fixing ExtractXYZCorrespondencesRANSAC ci error

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matlabbe
2026-09-22 11:52:07 -07:00
parent 31c59d0977
commit 6a3171005b
5 changed files with 262 additions and 15 deletions
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corelib/test/test_cameramodel.cpp
+39
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@@ -298,6 +298,45 @@ TEST_F(CameraModelTest, ReprojectInt)
EXPECT_NEAR(v, static_cast<int>(cy_), 1);
}
TEST_F(CameraModelTest, ReprojectIgnoresTx)
{
// A Tx set on a single camera model tags a left camera having stereo
// observations (the BA optimizers read the baseline from it to build their
// stereo edges), so reprojection stays that of the camera itself. Use
// StereoCameraModel::reproject() to get both images of a stereo pair.
double baseline = 0.12;
CameraModel withTx(fx_, fy_, cx_, cy_, CameraModel::opticalRotation(), -baseline*fx_, imageSize_);
CameraModel withoutTx(fx_, fy_, cx_, cy_, CameraModel::opticalRotation(), 0.0, imageSize_);
EXPECT_DOUBLE_EQ(withTx.Tx(), -baseline*fx_);
float x = 0.3f, y = -0.2f, z = 2.0f;
float u, v, uNoTx, vNoTx;
withTx.reproject(x, y, z, u, v);
withoutTx.reproject(x, y, z, uNoTx, vNoTx);
EXPECT_FLOAT_EQ(u, uNoTx);
EXPECT_FLOAT_EQ(v, vNoTx);
EXPECT_FLOAT_EQ(u, static_cast<float>(fx_*x/z + cx_));
EXPECT_FLOAT_EQ(v, static_cast<float>(fy_*y/z + cy_));
}
TEST_F(CameraModelTest, ReprojectProjectRoundTripNoTx)
{
CameraModel model(fx_, fy_, cx_, cy_, CameraModel::opticalRotation(), 0.0, imageSize_);
float x = 0.35f, y = -0.15f, z = 2.5f;
float u, v;
model.reproject(x, y, z, u, v);
float x2, y2, z2;
model.project(u, v, z, x2, y2, z2);
EXPECT_NEAR(x2, x, 0.001f);
EXPECT_NEAR(y2, y, 0.001f);
EXPECT_FLOAT_EQ(z2, z);
}
// Field of View Tests
TEST_F(CameraModelTest, FieldOfView)