restore tests

Author: dehann

src/CameraModels.jl

@@ -5,7 +5,7 @@ using Manifolds
 using DocStringExtensions
 using StaticArrays
 import Rotations as Rot_
-
+import Base: getindex, getproperty
 
 
 # exports

src/entities/GeneralTypes.jl

@@ -5,6 +5,15 @@ struct PixelIndex{T <: Real}
     col::T
 end
 
+function Base.getindex(p::PixelIndex,i::Int)
+    if i === 1
+        p.row
+    elseif i === 2  
+        p.col
+    else
+        DomainError("Camera only has rows and columns, cannot index to $i")
+    end
+end
 
 const Vector2 = SVector{2, Float64}
 const Point3 = SVector{3, Float64}

src/services/CameraServices.jl

@@ -96,7 +96,7 @@ Also see: [`project`](@ref)
 """
 function backproject(
     model::CameraCalibrationT, 
-    px_coord::Union{<:AbstractVector{<:Real}, <:PixelCoordinate}
+    px_coord::Union{<:AbstractVector{<:Real}, <:PixelIndex}
   )
   #
   x =  (px_coord[1] - c_w(model)) / f_w(model)
@@ -124,7 +124,7 @@ end
 function project!(
   ret::AbstractVector{<:Real}, 
   ci::CameraCalibration, #CameraIntrinsic, 
-  ce::CameraExtrinsic, 
+  ce::ArrayPartition, 
   pt::Vector{Float64}
 )
   res = ci.K*(ce.R*pt + ce.t)
@@ -152,7 +152,7 @@ function cameraResidual!(
     res::AbstractVector{<:Real},
     z::AbstractVector{<:Real},
     ci::CameraCalibration, #CameraIntrinsic,
-    ce::CameraExtrinsic,
+    ce::ArrayPartition,
     pt::AbstractVector{<:Real}  
   )
   # in place memory operations

test/CameraTestBench.jl

@@ -31,7 +31,8 @@ function run_test_bench(model::C, pixel_accuracy::Float64 = 1e-5, ray_accuracy::
         # Some models might not implement point2pixel.
         if canreproject(model)
             reprojection = point2pixel(model, point)
-            @test some_pixel_location ≈ reprojection atol = pixel_accuracy
+            @test some_pixel_location[1] ≈ reprojection[1] atol = pixel_accuracy
+            @test some_pixel_location[2] ≈ reprojection[2] atol = pixel_accuracy
         else 
             @info "point2pixel not implemented for $(C)."
         end

test/Pinhole.jl

@@ -21,7 +21,8 @@ run_test_bench(model)
 @testset "Check Legacy Pinhole model." begin
     some_point = CameraModels.Point3(0, 1, 0)
     should_be_principal_point = point2pixel(model, some_point)
-    @test principal_point ≈ should_be_principal_point
+    @test principal_point[1] ≈ should_be_principal_point[1]
+    @test principal_point[2] ≈ should_be_principal_point[2]
 
     ray = pixel2ray(model, principal_point)
     @test CameraModels.direction(ray) ≈ CameraModels.Vector3(0,1,0)