TRenderMatrices_unittest.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <gtest/gtest.h>
#include <mrpt/opengl/TRenderMatrices.h>

#include <Eigen/Dense>

//#define USE_GLM_GROUND_TRUTH

#if defined(USE_GLM_GROUND_TRUTH)
#define GLM_ENABLE_EXPERIMENTAL
#include <glm/gtc/matrix_transform.hpp>  // glm::translate, glm::rotate, glm::scale, glm::perspective
#include <glm/gtc/type_ptr.hpp>  // glm::value_ptr
#include <glm/gtx/string_cast.hpp>
#include <glm/mat4x4.hpp>  // glm::mat4
#include <glm/vec3.hpp>  // glm::vec3
#include <glm/vec4.hpp>  // glm::vec4, glm::ivec4
#endif

TEST(OpenGL, perspectiveMatrix)
{
    float zmin = 0.1f, zmax = 100.0f;
    float fovy_deg = 45.0f;
    size_t view_w = 640, view_h = 480;

    mrpt::opengl::TRenderMatrices rm;
    rm.viewport_width = view_w;
    rm.viewport_height = view_h;
    rm.FOV = fovy_deg;
    rm.is_projective = true;

    rm.computeProjectionMatrix(zmin, zmax);

    // Expected value:

#if defined(USE_GLM_GROUND_TRUTH)
    glm::mat4 Projection = glm::perspective(
        mrpt::DEG2RAD(fovy_deg), view_w / float(view_h), zmin, zmax);
    std::cout << glm::to_string(Projection) << "\n";
#endif

    mrpt::math::CMatrixFloat44 P_GT;
    P_GT.fromMatlabStringFormat(
        "[1.810660 0.000000 0.000000 0.000000;"
        "0.000000 2.414213 0.000000 0.000000;"
        "0.000000 0.000000 -1.002002 -1.000000;"
        "0.000000 0.000000 -0.200200 0.000000"
        "]");
    P_GT = P_GT.transpose().eval();  // GT was in column major

    EXPECT_NEAR((P_GT - rm.p_matrix).array().abs().maxCoeff(), 0, 0.001f)
        << "P=\n"
        << rm.p_matrix << "\nExpected=\n"
        << P_GT << "\n";
}

TEST(OpenGL, orthoMatrix)
{
    float left = -4.0f, right = 6.0f;
    float top = 10.0f, bottom = -2.0f;
    float zmin = 0.1f, zmax = 100.0f;

    mrpt::opengl::TRenderMatrices rm;
    rm.computeOrthoProjectionMatrix(left, right, bottom, top, zmin, zmax);

    // Expected value:

#if defined(USE_GLM_GROUND_TRUTH)
    glm::mat4 Projection = glm::ortho(left, right, bottom, top, zmin, zmax);
    std::cout << glm::to_string(Projection) << "\n";
#endif

    mrpt::math::CMatrixFloat44 P_GT;
    P_GT.fromMatlabStringFormat(
        "[0.200000 0.000000 0.000000 0.000000;"
        "0.000000 0.166667 0.000000 0.000000;"
        "0.000000 0.000000 -0.020020 0.000000;"
        "-0.200000 -0.666667 -1.002002 1.000000"
        "]");
    P_GT = P_GT.transpose().eval();  // GT was in column major

    EXPECT_NEAR((P_GT - rm.p_matrix).array().abs().maxCoeff(), 0, 0.001f)
        << "P=\n"
        << rm.p_matrix << "\nExpected=\n"
        << P_GT << "\n";
}