public void Test_CollectTrueCorrespondences(string file, CorrespondenceCollection expected)
{
_TransformationComputer computer = new _TransformationComputer(InputPath(file));
computer.ReadObjFile();
computer.CollectCorrespondences();
CorrespondenceCollection actual = computer.Correspondences;
Assert.AreEqual(expected, actual);
}
public void Test_ComputeTransformationMatrix(string file, Matrix4x4 expected)
{
_TransformationComputer computer = new _TransformationComputer(InputPath(file));
computer.ReadObjFile();
computer.CollectCorrespondences();
computer.ComputeTransformationMatrix();
Matrix4x4 actual = computer.TransformationMatrix;
for (int i = 0; i < 16; i++)
{
Assert.That(expected[i], Is.EqualTo(actual[i]).Within(precision));
}
}
public void Test_ExtractRotationAndTranslation(string file, Vector3 expectedActualTranslation, Quaternion expectedActualRotation)
{
_TransformationComputer computer = new _TransformationComputer(InputPath(file));
computer.ReadObjFile();
computer.CollectCorrespondences();
computer.ComputeTransformationMatrix();
computer.ExtractTranslationAndRotation();
StatisticsComputer.RunResult actual = computer.Run;
Assert.IsTrue(actual.ActualTranslation == expectedActualTranslation);
float deltaAngle = Quaternion.Angle(actual.ActualRotation, expectedActualRotation);
Assert.That(deltaAngle, Is.EqualTo(0).Within(0.1f));
}
public IEnumerator <object> Compute(StatisticsComputer.RunResult run)
{
this.done = false;
transformComputer = new _TransformationComputer(run);
yield return(null);
transformComputer.ReadObjFile();
yield return(null);
transformComputer.CollectCorrespondences();
yield return(null);
transformComputer.ComputeTransformationMatrix();
yield return(null);
transformComputer.ExtractTranslationAndRotation();
yield return(null);
this.done = true;
}