Function TestModel

src/colmap/sensor/models_test.cc:183–281

template <typename CameraModel>
void TestModel(const std::vector<double>& params) {
  EXPECT_TRUE(CameraModelVerifyParams(CameraModel::model_id, params));

  const std::vector<double> default_params =
      CameraModelInitializeParams(CameraModel::model_id, 100, 100, 100);
  EXPECT_TRUE(CameraModelVerifyParams(CameraModel::model_id, default_params));

  EXPECT_EQ(CameraModelParamsInfo(CameraModel::model_id),
            CameraModel::params_info);
  EXPECT_EQ(std::vector<size_t>(
                CameraModelFocalLengthIdxs(CameraModel::model_id).begin(),
                CameraModelFocalLengthIdxs(CameraModel::model_id).end()),
            std::vector<size_t>(CameraModel::focal_length_idxs.begin(),
                                CameraModel::focal_length_idxs.end()));
  EXPECT_EQ(std::vector<size_t>(
                CameraModelPrincipalPointIdxs(CameraModel::model_id).begin(),
                CameraModelPrincipalPointIdxs(CameraModel::model_id).end()),
            std::vector<size_t>(CameraModel::principal_point_idxs.begin(),
                                CameraModel::principal_point_idxs.end()));
  EXPECT_EQ(std::vector<size_t>(
                CameraModelExtraParamsIdxs(CameraModel::model_id).begin(),
                CameraModelExtraParamsIdxs(CameraModel::model_id).end()),
            std::vector<size_t>(CameraModel::extra_params_idxs.begin(),
                                CameraModel::extra_params_idxs.end()));
  EXPECT_TRUE(CameraModelMetaDataParamsIdxs(CameraModel::model_id).empty());
  EXPECT_EQ(CameraModelNumParams(CameraModel::model_id),
            CameraModel::num_params);

  EXPECT_FALSE(CameraModelHasBogusParams(
      CameraModel::model_id, default_params, 100, 100, 0.1, 2.0, 1.0));
  EXPECT_TRUE(CameraModelHasBogusParams(
      CameraModel::model_id, default_params, 100, 100, 0.1, 0.5, 1.0));
  EXPECT_TRUE(CameraModelHasBogusParams(
      CameraModel::model_id, default_params, 100, 100, 1.5, 2.0, 1.0));
  if (CameraModel::extra_params_idxs.size() > 0) {
    EXPECT_TRUE(CameraModelHasBogusParams(
        CameraModel::model_id, default_params, 100, 100, 0.1, 2.0, -0.1));
  }

  EXPECT_EQ(CameraModelCamFromImgThreshold(CameraModel::model_id, params, 0),
            0);
  EXPECT_GT(CameraModelCamFromImgThreshold(CameraModel::model_id, params, 1),
            0);
  EXPECT_EQ(
      CameraModelCamFromImgThreshold(CameraModel::model_id, default_params, 1),
      1.0 / 100.0);

  EXPECT_TRUE(ExistsCameraModelWithName(CameraModel::model_name));
  EXPECT_FALSE(ExistsCameraModelWithName(CameraModel::model_name + "FOO"));

  EXPECT_TRUE(ExistsCameraModelWithId(CameraModel::model_id));
  // NOLINTNEXTLINE(clang-analyzer-optin.core.EnumCastOutOfRange)
  EXPECT_FALSE(ExistsCameraModelWithId(static_cast<CameraModelId>(123456789)));

  EXPECT_EQ(CameraModelNameToId(CameraModelIdToName(CameraModel::model_id)),
            CameraModel::model_id);
  EXPECT_EQ(CameraModelIdToName(CameraModelNameToId(CameraModel::model_name)),
            CameraModel::model_name);