public void TransformVertex_VertexInserted_CorrectVertexOutputted()
{
float x_scale = 1;
float y_scale = 1;
float z_scale = 1;
float x_offset = 1.5f;
float y_offset = 1.0f;
float z_offset = 1.5f;
float y_rotation = 90f;
float x_rotation = 180f;
uut = new CameraToRobotCalibrator(x_offset, y_offset, z_offset, x_scale, y_scale, z_scale, x_rotation, y_rotation, 0);
Matrix4 expected = new Matrix4();
expected.M11 = 0; expected.M12 = 0; expected.M13 = 1; expected.M14 = 1.5f;
expected.M21 = 0; expected.M22 = -1; expected.M23 = 0; expected.M24 = 1f;
expected.M31 = 1; expected.M32 = 0; expected.M33 = 0; expected.M34 = 1.5f;
expected.M41 = 0; expected.M42 = 0; expected.M43 = 0; expected.M44 = 1f;
Matrix4 matrix = uut.CalculateTestMatrix();
Vector3 input = new Vector3()
{
X = 0f, Y = 1.0f, Z = 0f
};
Vector3 output = uut.TransformVertex(input, matrix);
Assert.AreEqual(1.5, output.X);
Assert.AreEqual(0, output.Y);
Assert.AreEqual(1.5, output.Z);
}
public void CalculateTestMatrix_ValuesInserted_ExpectedMatrixReturned()
{
float x_scale = 1;
float y_scale = 1;
float z_scale = 1;
float x_offset = 1.5f;
float y_offset = 1.0f;
float z_offset = 1.5f;
float y_rotation = 90f;
float x_rotation = 180f;
uut = new CameraToRobotCalibrator(x_offset, y_offset, z_offset, x_scale, y_scale, z_scale, x_rotation, y_rotation, 0);
Matrix4 expected = new Matrix4();
expected.M11 = 0; expected.M12 = 0; expected.M13 = 1; expected.M14 = 1.5f;
expected.M21 = 0; expected.M22 = -1; expected.M23 = 0; expected.M24 = 1f;
expected.M31 = 1; expected.M32 = 0; expected.M33 = 0; expected.M34 = 1.5f;
expected.M41 = 0; expected.M42 = 0; expected.M43 = 0; expected.M44 = 1f;
Matrix4 actual = uut.CalculateTestMatrix();
Assert.AreEqual(expected, actual);
}