#include <gtest/gtest.h>
#include <details/legacy/calibration.hh>

Include dependency graph for calibration_test.cc:

Functions
crl::multisense::details::wire::CameraCalData	create_valid_wire_cal (float fx, float fy, float cx, float cy, float tx)

crl::multisense::details::wire::CameraCalData	create_invalid_wire_cal ()

multisense::CameraCalibration	create_valid_cal (float fx, float fy, float cx, float cy, float tx)

void	check_equal (const crl::multisense::details::wire::CameraCalData &wire, const multisense::CameraCalibration &cal)

void	check_equal (const multisense::CameraCalibration &lhs, const multisense::CameraCalibration &rhs)

	TEST (is_valid, invalid)

	TEST (is_valid, valid)

	TEST (convert, cal_to_wire)

	TEST (convert, wire_to_cal)

	TEST (convert, wire_to_stereo_valid_axu)

	TEST (convert, wire_to_stereo_invalid_axu)

	TEST (convert, stereo_to_wire_valid_axu)

	TEST (convert, stereo_to_wire_invalid_aux)

	TEST (convert, select_calibration_valid_aux)

	TEST (convert, select_calibration_invalid_aux)

	TEST (scale_calibration, scale)

	TEST (scale_calibration, round_trip)

	TEST (scale_calibration, scale_valid_aux)

	TEST (scale_calibration, round_trip_valid_aux)

	TEST (scale_calibration, scale_invalid_aux)

	TEST (scale_calibration, round_trip_invalid_aux)

Detailed Description

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the Carnegie Robotics, LLC nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL CARNEGIE ROBOTICS, LLC BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Significant history (date, user, job code, action): 2025-01-10, malva.nosp@m.rado.nosp@m.@carn.nosp@m.egie.nosp@m.robot.nosp@m.ics..nosp@m.com, IRAD, Created file.

Definition in file calibration_test.cc.

Function Documentation

◆ check_equal() [1/2]

void check_equal	(	const crl::multisense::details::wire::CameraCalData &	wire,
		const multisense::CameraCalibration &	cal
	)

Definition at line 108 of file calibration_test.cc.

◆ check_equal() [2/2]

void check_equal	(	const multisense::CameraCalibration &	lhs,
		const multisense::CameraCalibration &	rhs
	)

Definition at line 133 of file calibration_test.cc.

◆ create_invalid_wire_cal()

crl::multisense::details::wire::CameraCalData create_invalid_wire_cal ( )

Definition at line 81 of file calibration_test.cc.

◆ create_valid_cal()

multisense::CameraCalibration create_valid_cal	(	float	fx,
		float	fy,
		float	cx,
		float	cy,
		float	tx
	)

Definition at line 94 of file calibration_test.cc.

◆ create_valid_wire_cal()

crl::multisense::details::wire::CameraCalData create_valid_wire_cal	(	float	fx,
		float	fy,
		float	cx,
		float	cy,
		float	tx
	)

Definition at line 43 of file calibration_test.cc.

◆ TEST() [1/16]

TEST	(	convert	,
		cal_to_wire
	)

Definition at line 179 of file calibration_test.cc.

◆ TEST() [2/16]

TEST	(	convert	,
		select_calibration_invalid_aux
	)

Definition at line 304 of file calibration_test.cc.

◆ TEST() [3/16]

TEST	(	convert	,
		select_calibration_valid_aux
	)

Definition at line 257 of file calibration_test.cc.

◆ TEST() [4/16]

TEST	(	convert	,
		stereo_to_wire_invalid_aux
	)

Definition at line 243 of file calibration_test.cc.

◆ TEST() [5/16]

TEST	(	convert	,
		stereo_to_wire_valid_axu
	)

Definition at line 228 of file calibration_test.cc.

◆ TEST() [6/16]

TEST	(	convert	,
		wire_to_cal
	)

Definition at line 186 of file calibration_test.cc.

◆ TEST() [7/16]

TEST	(	convert	,
		wire_to_stereo_invalid_axu
	)

Definition at line 211 of file calibration_test.cc.

◆ TEST() [8/16]

TEST	(	convert	,
		wire_to_stereo_valid_axu
	)

Definition at line 193 of file calibration_test.cc.

◆ TEST() [9/16]

TEST	(	is_valid	,
		invalid
	)

Definition at line 159 of file calibration_test.cc.

◆ TEST() [10/16]

TEST	(	is_valid	,
		valid
	)

Definition at line 172 of file calibration_test.cc.

◆ TEST() [11/16]

TEST	(	scale_calibration	,
		round_trip
	)

Definition at line 358 of file calibration_test.cc.

◆ TEST() [12/16]

TEST	(	scale_calibration	,
		round_trip_invalid_aux
	)

Definition at line 406 of file calibration_test.cc.

◆ TEST() [13/16]

TEST	(	scale_calibration	,
		round_trip_valid_aux
	)

Definition at line 379 of file calibration_test.cc.

◆ TEST() [14/16]

TEST	(	scale_calibration	,
		scale
	)

Definition at line 350 of file calibration_test.cc.

◆ TEST() [15/16]

TEST	(	scale_calibration	,
		scale_invalid_aux
	)

Definition at line 392 of file calibration_test.cc.

◆ TEST() [16/16]

TEST	(	scale_calibration	,
		scale_valid_aux
	)

Definition at line 365 of file calibration_test.cc.

Functions