rust-cv / p3p Goto Github PK

Dear all,

I just noticed that the quickcheck test non_degenerate_case fails quite frequently, e.g.:

running 2 tests
test nordberg::tests::manual_case ... ok
test nordberg::tests::non_degenerate_case ... FAILED

failures:

---- nordberg::tests::non_degenerate_case stdout ----
thread 'nordberg::tests::non_degenerate_case' panicked at '[quickcheck] TEST FAILED. Arguments: ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0), (0.0, 41.0, 0.0), (25.49968, 97.0, 59.0), (38.101242, 91.147705, -97.73874))', /Users/michaelp/.cargo/registry/src/github.com-1ecc6299db9ec823/quickcheck-0.8.5/src/tester.rs:176:28
note: run with `RUST_BACKTRACE=1` environment variable to display a backtrace


failures:
    nordberg::tests::non_degenerate_case

or

...
thread 'nordberg::tests::non_degenerate_case' panicked at '[quickcheck] TEST FAILED (runtime error). Arguments: ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0), (0.0, 21.0, 0.0), (25.0, 47.0, 61.0), (-86.0, -10.0, 47.0))
Error: "assertion failed: !poses.is_empty()"', /Users/michaelp/.cargo/registry/src/github.com-1ecc6299db9ec823/quickcheck-0.8.5/src/tester.rs:176:28
...

Running tests with QUICKCHECK_TESTS=10000 cargo test reliably produces a failure for me on every run.

Best
Michael

We need to add a GitHub action that ensures that rustfmt has been ran on the code.

Thank for your launching the rust-photogrammetry initiative. Appreciated you cited all the previous work done around the p3p solver and ports.

I wonder what is your motivation behind porting it to rust.

• Do you have any particular example of performance (time vs. accuracy for C++ vs rust)?
• Do you plan to add some unit test, to ensure people could trust the implementation before incorporating it in their platform?

Hello @mpizenberg 👋,

I have a question regarding the bearing_vectors as input for the solve function in the nordberg module. As I understand the documentation, each bearing vector should contain one vertex of the triangle in image-space, i.e., (u_i, v_i, 1). However, in the test-cases the z-values of the bearing_vectors are different from 1:

let p1_cam = [-0.228_125, -0.061_458_334, 1.0];
let p2_cam = [0.418_75, -0.581_25, 2.0];
let p3_cam = [1.128_125, 0.878_125, 3.0];

Moreover, I am confused to read _cam or "camera coordinates" in the test-cases and not "image coordinates". Is there a misconception from my side, is the documentation misguiding about z-value or are the test-cases incorrect?