new member methods for WebARKitCamera

- getCameraData and getDistortionCoefficients with tests
webarkit · Oct 27, 2023 · a1101f0 · a1101f0
1 parent 2a5c470
commit a1101f0
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Showing 3 changed files with 34 additions and 2 deletions.
diff --git a/WebARKit/WebARKitCamera.cpp b/WebARKit/WebARKitCamera.cpp
@@ -33,4 +33,12 @@ void WebARKitCamera::printSettings() {
     printf("                          [%.2f  %.2f %.2f]\n", cmat[6], cmat[7], cmat[8]);
     printf("WebARKit: kc = [%.4f %.4f %.4f %.4f %.4f %.4f]\n", kc[0], kc[1], kc[2], kc[3], kc[4], kc[5]);
 };
+
+std::array<double, 9> WebARKitCamera::getCameraData() const {
+    return cmat;
+}
+
+std::array<double, 6> WebARKitCamera::getDistortionCoefficients() const {
+   return kc;
+}
 } // namespace webarkit
diff --git a/WebARKit/include/WebARKitCamera.h b/WebARKit/include/WebARKitCamera.h
@@ -10,13 +10,17 @@ class WebARKitCamera {
     ~WebARKitCamera();
 
     bool setupCamera(int width, int height);
+
     void printSettings();
 
+    std::array<double, 9> getCameraData() const;
+
+    std::array<double, 6> getDistortionCoefficients() const;
+
+  private:
     int xsize, ysize;
     std::array<double, 9> cmat;
     std::array<double, 6> kc;
-
-  private:
     double focal_length;
     double diagonal_image_size;
     double diagonal_fov_degrees;

diff --git a/tests/webarkit_test.cc b/tests/webarkit_test.cc
@@ -1,6 +1,7 @@
 #include <gtest/gtest.h>
 #include <WebARKitManager.h>
 #include <WebARKitTrackers/WebARKitOpticalTracking/WebARKitEnums.h>
+#include <WebARKitCamera.h>
 #include <opencv2/imgcodecs.hpp>
 
 class WebARKitEnumTest : public testing::TestWithParam<std::tuple<webarkit::TRACKER_TYPE, webarkit::ColorSpace>> {};
@@ -61,6 +62,25 @@ TEST(WebARKitConfigTest, TestBlurSize) {
   EXPECT_EQ(expected_blur_size.height, blurSize.height);
 }
 
+TEST(WebARKitConfigTest, TestPIConstant) {
+  double internal_m_pi = 3.14159265358979323846;
+  EXPECT_EQ(internal_m_pi, m_pi);
+}
+
+TEST(WebARKitCameraTest, TestCamera) {
+  int width = 640;
+  int height = 480;
+  webarkit::WebARKitCamera camera;
+  EXPECT_TRUE(camera.setupCamera(width, height));
+  std::array<double, 9> camera_mat = camera.getCameraData();
+  EXPECT_EQ(camera_mat[0], 571.25920269684582);
+  EXPECT_EQ(camera_mat[2], 320.0);
+  EXPECT_EQ(camera_mat[4], 571.25920269684582);
+  EXPECT_EQ(camera_mat[5], 240.0);
+  EXPECT_EQ(camera_mat[8], 1.0);
+  camera.printSettings();
+}
+
 // Check WebARKitManager initialisation.
 TEST(WebARKitTest, InitialiseBaseAkazeTest) {
   // Create a WebARKitManager object