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Port remaining VXL tests to Google Test
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@mwoehlke-kitware
mwoehlke-kitware committed Oct 31, 2017
1 parent 82bda39 commit 4a6c01e
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Showing 7 changed files with 323 additions and 434 deletions.
12 changes: 6 additions & 6 deletions arrows/vxl/tests/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -10,17 +10,17 @@ set(test_libraries kwiver_algo_vxl)
kwiver_discover_gtests(vxl bounding_box LIBRARIES ${test_libraries})
kwiver_discover_gtests(vxl bundle_adjust LIBRARIES ${test_libraries})
kwiver_discover_gtests(vxl camera LIBRARIES ${test_libraries})
kwiver_discover_tests(vxl_estimate_essential_matrix test_libraries test_estimate_essential_matrix.cxx)
kwiver_discover_tests(vxl_estimate_fundamental_matrix test_libraries test_estimate_fundamental_matrix.cxx)
kwiver_discover_tests(vxl_estimate_homography test_libraries test_estimate_homography.cxx)
kwiver_discover_tests(vxl_estimate_similarity test_libraries test_estimate_similarity.cxx)
kwiver_discover_gtests(vxl estimate_essential_matrix LIBRARIES ${test_libraries})
kwiver_discover_gtests(vxl estimate_fundamental_matrix LIBRARIES ${test_libraries})
kwiver_discover_gtests(vxl estimate_homography LIBRARIES ${test_libraries})
kwiver_discover_gtests(vxl estimate_similarity LIBRARIES ${test_libraries})
kwiver_discover_gtests(vxl image LIBRARIES ${test_libraries})
kwiver_discover_tests(vxl_optimize_cameras test_libraries test_optimize_cameras.cxx)
kwiver_discover_gtests(vxl optimize_cameras LIBRARIES ${test_libraries})
kwiver_discover_gtests(vxl polygon LIBRARIES ${test_libraries})
kwiver_discover_gtests(vxl triangulate_landmarks LIBRARIES ${test_libraries})

# This test is really for an algorithm in core, but it's here
# because the test depends on availablity of VXL sub-algorithms
set(test_libraries kwiver_algo_vxl kwiver_algo_core)

kwiver_discover_tests(vxl_initialize_cameras_landmarks test_libraries test_initialize_cameras_landmarks.cxx)
kwiver_discover_gtests(vxl initialize_cameras_landmarks LIBRARIES ${test_libraries})
87 changes: 36 additions & 51 deletions arrows/vxl/tests/test_estimate_essential_matrix.cxx
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Original file line number Diff line number Diff line change
Expand Up @@ -28,8 +28,7 @@
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

#include <test_common.h>
#include <test_math.h>
#include <test_eigen.h>
#include <test_scene.h>

#include <vital/plugin_loader/plugin_manager.h>
Expand All @@ -40,36 +39,27 @@

#include <Eigen/LU>

#include <gtest/gtest.h>

#define TEST_ARGS ()

DECLARE_TEST_MAP();
using namespace kwiver::vital;

int
main(int argc, char* argv[])
// ----------------------------------------------------------------------------
int main(int argc, char** argv)
{
CHECK_ARGS(1);
::testing::InitGoogleTest( &argc, argv );

kwiver::vital::plugin_manager::instance().load_all_plugins();

testname_t const testname = argv[1];

RUN_TEST(testname);
return RUN_ALL_TESTS();
}

using namespace kwiver::vital;

IMPLEMENT_TEST(create)
// ----------------------------------------------------------------------------
TEST(estimate_essential_matrix, create)
{
using namespace kwiver::arrows;
algo::estimate_essential_matrix_sptr est_e = algo::estimate_essential_matrix::create("vxl");
if (!est_e)
{
TEST_ERROR("Unable to create vxl::estimate_essential_matrix by name");
}
EXPECT_NE( nullptr, algo::estimate_essential_matrix::create("vxl") );
}


// ----------------------------------------------------------------------------
// Print epipolar distance of pairs of points given a fundamental matrix
void print_epipolar_distances(const kwiver::vital::matrix_3x3d& F,
const std::vector<kwiver::vital::vector_2d> right_pts,
Expand All @@ -93,9 +83,9 @@ void print_epipolar_distances(const kwiver::vital::matrix_3x3d& F,
}
}


// test essential matrix estimation with ideal points
IMPLEMENT_TEST(ideal_points)
// ----------------------------------------------------------------------------
// Test essential matrix estimation with ideal points
TEST(estimate_essential_matrix, ideal_points)
{
using namespace kwiver::arrows;
vxl::estimate_essential_matrix est_e;
Expand Down Expand Up @@ -139,29 +129,27 @@ IMPLEMENT_TEST(ideal_points)

// compute the essential matrix from the corresponding points
std::vector<bool> inliers;
essential_matrix_sptr E_sptr = est_e.estimate(pts1, pts2, cal1, cal2,
inliers, 1.5);
matrix_3x3d E = E_sptr->matrix();
auto estimated_E_sptr = est_e.estimate(pts1, pts2, cal1, cal2, inliers, 1.5);
matrix_3x3d estimated_E = estimated_E_sptr->matrix();
// check for sign difference
if( true_E->matrix().cwiseProduct(E).sum() < 0.0 )
if( true_E->matrix().cwiseProduct(estimated_E).sum() < 0.0 )
{
E *= -1;
estimated_E *= -1;
}

// compare true and computed essential matrices
std::cout << "true E = "<< *true_E << std::endl;
std::cout << "Estimated E = "<< E << std::endl;
TEST_NEAR("Essential Matrix Estimate", E, true_E->matrix(), 1e-8);
std::cout << "Estimated E = "<< estimated_E << std::endl;
EXPECT_MATRIX_NEAR( true_E->matrix(), estimated_E, 1e-8 );

unsigned num_inliers = static_cast<unsigned>(std::count(inliers.begin(),
inliers.end(), true));
std::cout << "num inliers "<<num_inliers<<std::endl;
TEST_EQUAL("All points are inliers", num_inliers, pts1.size());
std::cout << "num inliers " << inliers.size() << std::endl;
EXPECT_EQ( pts1.size(), inliers.size() )
<< "All points should be inliers";
}


// test essential matrix estimation with noisy points
IMPLEMENT_TEST(noisy_points)
// ----------------------------------------------------------------------------
// Test essential matrix estimation with noisy points
TEST(estimate_essential_matrix, noisy_points)
{
using namespace kwiver::arrows;
vxl::estimate_essential_matrix est_e;
Expand Down Expand Up @@ -208,23 +196,20 @@ IMPLEMENT_TEST(noisy_points)

// compute the essential matrix from the corresponding points
std::vector<bool> inliers;
essential_matrix_sptr E_sptr = est_e.estimate(pts1, pts2, cal1, cal2,
inliers, 1.5);
matrix_3x3d E = E_sptr->matrix();
auto estimated_E_sptr = est_e.estimate(pts1, pts2, cal1, cal2, inliers, 1.5);
matrix_3x3d estimated_E = estimated_E_sptr->matrix();
// check for sign difference
if( true_E->matrix().cwiseProduct(E).sum() < 0.0 )
if( true_E->matrix().cwiseProduct(estimated_E).sum() < 0.0 )
{
E *= -1;
estimated_E *= -1;
}

// compare true and computed essential matrices
std::cout << "true E = "<< *true_E << std::endl;
std::cout << "Estimated E = "<< E << std::endl;
TEST_NEAR("Essential Matrix Estimate", E, true_E->matrix(), 0.01);

unsigned num_inliers = static_cast<unsigned>(std::count(inliers.begin(),
inliers.end(), true));
std::cout << "num inliers "<<num_inliers<<std::endl;
bool enough_inliers = num_inliers > pts1.size() / 3;
TEST_EQUAL("Enough inliers", enough_inliers, true);
std::cout << "Estimated E = "<< estimated_E << std::endl;
EXPECT_MATRIX_NEAR( true_E->matrix(), estimated_E, 1e-2 );

std::cout << "num inliers " << inliers.size() << std::endl;
EXPECT_GT( inliers.size(), pts1.size() / 3 )
<< "Not enough inliers";
}
87 changes: 36 additions & 51 deletions arrows/vxl/tests/test_estimate_fundamental_matrix.cxx
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Original file line number Diff line number Diff line change
Expand Up @@ -28,8 +28,7 @@
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

#include <test_common.h>
#include <test_math.h>
#include <test_eigen.h>
#include <test_scene.h>

#include <vital/plugin_loader/plugin_manager.h>
Expand All @@ -41,36 +40,27 @@

#include <Eigen/LU>

#include <gtest/gtest.h>

#define TEST_ARGS ()

DECLARE_TEST_MAP();
using namespace kwiver::vital;

int
main(int argc, char* argv[])
// ----------------------------------------------------------------------------
int main(int argc, char** argv)
{
CHECK_ARGS(1);
::testing::InitGoogleTest( &argc, argv );

kwiver::vital::plugin_manager::instance().load_all_plugins();

testname_t const testname = argv[1];

RUN_TEST(testname);
return RUN_ALL_TESTS();
}

using namespace kwiver::vital;

IMPLEMENT_TEST(create)
// ----------------------------------------------------------------------------
TEST(estimate_fundamental_matrix, create)
{
using namespace kwiver::arrows;
algo::estimate_fundamental_matrix_sptr est_e = algo::estimate_fundamental_matrix::create("vxl");
if (!est_e)
{
TEST_ERROR("Unable to create vxl::estimate_fundamental_matrix by name");
}
EXPECT_NE( nullptr, algo::estimate_fundamental_matrix::create("vxl") );
}


// ----------------------------------------------------------------------------
// Print epipolar distance of pairs of points given a fundamental matrix
void print_epipolar_distances(const kwiver::vital::matrix_3x3d& F,
const std::vector<kwiver::vital::vector_2d> right_pts,
Expand All @@ -94,9 +84,9 @@ void print_epipolar_distances(const kwiver::vital::matrix_3x3d& F,
}
}


// test fundamental matrix estimation with ideal points
IMPLEMENT_TEST(ideal_points)
// ----------------------------------------------------------------------------
// Test fundamental matrix estimation with ideal points
TEST(estimate_fundamental_matrix, ideal_points)
{
using namespace kwiver::arrows;
vxl::estimate_fundamental_matrix est_f;
Expand Down Expand Up @@ -139,29 +129,27 @@ IMPLEMENT_TEST(ideal_points)

// compute the fundmental matrix from the corresponding points
std::vector<bool> inliers;
fundamental_matrix_sptr F_sptr = est_f.estimate(pts1, pts2,
inliers, 1.5);
matrix_3x3d F = F_sptr->matrix();
auto estimated_F_sptr = est_f.estimate( pts1, pts2, inliers, 1.5 );
matrix_3x3d estimated_F = estimated_F_sptr->matrix();
// check for sign difference
if( true_F->matrix().cwiseProduct(F).sum() < 0.0 )
if( true_F->matrix().cwiseProduct(estimated_F).sum() < 0.0 )
{
F *= -1;
estimated_F *= -1;
}

// compare true and computed fundamental matrices
std::cout << "true F = "<<*true_F<<std::endl;
std::cout << "Estimated F = "<< F <<std::endl;
TEST_NEAR("Fundamental Matrix Estimate", F, true_F->matrix(), 1e-8);
std::cout << "Estimated F = "<< estimated_F <<std::endl;
EXPECT_MATRIX_NEAR( true_F->matrix(), estimated_F, 1e-8 );

unsigned num_inliers = static_cast<unsigned>(std::count(inliers.begin(),
inliers.end(), true));
std::cout << "num inliers "<<num_inliers<<std::endl;
TEST_EQUAL("All points are inliers", num_inliers, pts1.size());
std::cout << "num inliers " << inliers.size() << std::endl;
EXPECT_EQ( pts1.size(), inliers.size() )
<< "All points should be inliers";
}


// test essential matrix estimation with noisy points
IMPLEMENT_TEST(noisy_points)
// ----------------------------------------------------------------------------
// Test essential matrix estimation with noisy points
TEST(estimate_fundamental_matrix, noisy_points)
{
using namespace kwiver::arrows;
vxl::estimate_fundamental_matrix est_f;
Expand Down Expand Up @@ -206,23 +194,20 @@ IMPLEMENT_TEST(noisy_points)

// compute the essential matrix from the corresponding points
std::vector<bool> inliers;
fundamental_matrix_sptr F_sptr = est_f.estimate(pts1, pts2,
inliers, 1.5);
matrix_3x3d F = F_sptr->matrix();
auto estimated_F_sptr = est_f.estimate( pts1, pts2, inliers, 1.5 );
matrix_3x3d estimated_F = estimated_F_sptr->matrix();
// check for sign difference
if( true_F->matrix().cwiseProduct(F).sum() < 0.0 )
if( true_F->matrix().cwiseProduct(estimated_F).sum() < 0.0 )
{
F *= -1;
estimated_F *= -1;
}

// compare true and computed fundamental matrices
std::cout << "true F = "<<*true_F<<std::endl;
std::cout << "Estimated F = "<< F <<std::endl;
TEST_NEAR("Fundamental Matrix Estimate", F, true_F->matrix(), 0.01);

unsigned num_inliers = static_cast<unsigned>(std::count(inliers.begin(),
inliers.end(), true));
std::cout << "num inliers "<<num_inliers<<std::endl;
bool enough_inliers = num_inliers > pts1.size() / 3;
TEST_EQUAL("Enough inliers", enough_inliers, true);
std::cout << "Estimated F = "<< estimated_F <<std::endl;
EXPECT_MATRIX_NEAR( true_F->matrix(), estimated_F, 0.01 );

std::cout << "num inliers " << inliers.size() << std::endl;
EXPECT_GT( inliers.size(), pts1.size() / 3 )
<< "Not enough inliers";
}
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