bool GridDetector::initCameraGeometryFromObservations(boost::shared_ptr<std::vector<cv::Mat> > images_ptr) {
std::vector<cv::Mat>& images = *images_ptr;
SM_DEFINE_EXCEPTION(Exception, std::runtime_error);
SM_ASSERT_TRUE(Exception, images.size() != 0, "Need min. one image");
std::vector<GridCalibrationTargetObservation> observations;
for(unsigned int i=0; i<images.size(); i++)
{
GridCalibrationTargetObservation obs(_target);
//detect calibration target
bool success = findTargetNoTransformation(images[i], obs);
//delete image copy (save memory)
obs.clearImage();
//append
if(success)
observations.push_back(obs);
}
//initialize the intrinsics
if(observations.size() > 0)
return _geometry->initializeIntrinsics(observations);
return false;
}
TEST(SmCommonTestSuite,testAssertMacrosDbg)
{
SM_DEFINE_EXCEPTION(Exception, std::runtime_error);
{
double* val = new double;
EXPECT_NO_THROW( SM_ASSERT_TRUE_DBG(Exception, true, "") );
EXPECT_NO_THROW( SM_ASSERT_FALSE_DBG(Exception, false, "") );
EXPECT_NO_THROW( SM_ASSERT_GE_LT_DBG(Exception, 0.0, 0.0, 1.0, "") );
EXPECT_NO_THROW( SM_ASSERT_GT_LE_DBG(Exception, 0.1, 0.0, 1.0, "") );
EXPECT_NO_THROW( SM_ASSERT_GE_LE_DBG(Exception, 0.0, 0.0, 1.0, "") );
EXPECT_NO_THROW( SM_ASSERT_GE_LE_DBG(Exception, 1.0, 0.0, 1.0, "") );
EXPECT_NO_THROW( SM_ASSERT_LT_DBG(Exception, 0.0, 1.0, "") );
EXPECT_NO_THROW( SM_ASSERT_GT_DBG(Exception, 1.0, 0.0, "") );
EXPECT_NO_THROW( SM_ASSERT_POSITIVE_DBG(Exception, 1.0, "") );
EXPECT_NO_THROW( SM_ASSERT_NONNEGATIVE_DBG(Exception, 0.0, "") );
EXPECT_NO_THROW( SM_ASSERT_NEGATIVE_DBG(Exception, -1.0, "") );
EXPECT_NO_THROW( SM_ASSERT_NONPOSITIVE_DBG(Exception, 0.0, "") );
EXPECT_NO_THROW( SM_ASSERT_ZERO_DBG(Exception, 0.0, "") );
EXPECT_NO_THROW( SM_ASSERT_NOTNULL_DBG(Exception, val, "") );
EXPECT_NO_THROW( SM_ASSERT_LE_DBG(Exception, 0.0, 0.0, "") );
EXPECT_NO_THROW( SM_ASSERT_GE_DBG(Exception, 0.0, 0.0, "") );
EXPECT_NO_THROW( SM_ASSERT_NE_DBG(Exception, 0.0, 1.0, "") );
EXPECT_NO_THROW( SM_ASSERT_EQ_DBG(Exception, 0.0, 0.0, "") );
EXPECT_NO_THROW( SM_ASSERT_NEAR_DBG(Exception, 0.0, 1.0, 2.0, "") );
EXPECT_NO_THROW( SM_ASSERT_FINITE_DBG(Exception, 0.0, "") );
EXPECT_NO_THROW( SM_ASSERT_NOTNAN_DBG(Exception, 0.0, "") );
delete val;
}
{
double* val = NULL;
EXPECT_THROW( SM_ASSERT_TRUE_DBG(Exception, false, ""), Exception);
EXPECT_THROW( SM_ASSERT_FALSE_DBG(Exception, true, ""), Exception );
EXPECT_THROW( SM_ASSERT_GE_LT_DBG(Exception, 1.0, 0.0, 1.0, ""), Exception );
EXPECT_THROW( SM_ASSERT_GT_LE_DBG(Exception, 0.0, 0.0, 1.0, ""), Exception );
EXPECT_THROW( SM_ASSERT_GE_LE_DBG(Exception, -0.1, 0.0, 1.0, ""), Exception );
EXPECT_THROW( SM_ASSERT_GE_LE_DBG(Exception, 1.1, 0.0, 1.0, ""), Exception );
EXPECT_THROW( SM_ASSERT_LT_DBG(Exception, 1.0, 1.0, ""), Exception );
EXPECT_THROW( SM_ASSERT_GT_DBG(Exception, 0.0, 0.0, ""), Exception );
EXPECT_THROW( SM_ASSERT_POSITIVE_DBG(Exception, 0.0, ""), Exception );
EXPECT_THROW( SM_ASSERT_NONNEGATIVE_DBG(Exception, -1.0, ""), Exception );
EXPECT_THROW( SM_ASSERT_NEGATIVE_DBG(Exception, 0.0, ""), Exception );
EXPECT_THROW( SM_ASSERT_NONPOSITIVE_DBG(Exception, 1.0, ""), Exception );
EXPECT_THROW( SM_ASSERT_ZERO_DBG(Exception, 1.0, ""), Exception );
EXPECT_THROW( SM_ASSERT_NOTNULL_DBG(Exception, val, ""), Exception );
EXPECT_THROW( SM_ASSERT_LE_DBG(Exception, 1.0, 0.0, ""), Exception );
EXPECT_THROW( SM_ASSERT_GE_DBG(Exception, -1.0, 0.0, ""), Exception );
EXPECT_THROW( SM_ASSERT_NE_DBG(Exception, 0.0, 0.0, ""), Exception );
EXPECT_THROW( SM_ASSERT_EQ_DBG(Exception, 1.0, 0.0, ""), Exception );
EXPECT_THROW( SM_ASSERT_NEAR_DBG(Exception, 0.0, 1.0, 0.5, ""), Exception );
EXPECT_THROW( SM_ASSERT_FINITE_DBG(Exception, std::numeric_limits<float>::infinity(), ""), Exception );
EXPECT_THROW( SM_ASSERT_NOTNAN_DBG(Exception, std::numeric_limits<float>::signaling_NaN(), ""), Exception );
}
}