CalibrateMultiPlanar

- Added unit test for computed error statistics
lessthanoptimal · Nov 30, 2023 · 4c0db38 · 4c0db38
1 parent b52cd39
commit 4c0db38
Showing 1 changed file with 16 additions and 0 deletions.
diff --git a/main/boofcv-geo/src/test/java/boofcv/abst/geo/calibration/TestCalibrateMultiPlanar.java b/main/boofcv-geo/src/test/java/boofcv/abst/geo/calibration/TestCalibrateMultiPlanar.java
@@ -98,6 +98,22 @@ void perfect( int numLayouts ) {
 			Se3_F64 f = alg.results.getCameraToSensor(i);
 			assertTrue(SpecialEuclideanOps_F64.isIdentical(e, f, 0.01, 0.02));
 		}
+
+		alg.getStatistics().forEach(stat->{
+			// Should be very accurate
+			assertEquals(0.0, stat.overallMax, 1e-3);
+			assertEquals(0.0, stat.overallMean, 1e-3);
+
+			// sanity check to make sure it's not just returning the default of 0.0
+			assertNotEquals(0.0, stat.overallMax);
+			assertNotEquals(0.0, stat.overallMean);
+
+			stat.residuals.forEach((r->{
+				assertEquals(0.0, r.maxError, 1e-3);
+				assertEquals(0.0, r.meanError, 1e-3);
+
+			}));
+		});
 	}
 
 	/**