From 7e16377dbb4c7367eac804d0915d0639aad23110 Mon Sep 17 00:00:00 2001
From: Fabien Spindler <Fabien.Spindler@inria.fr>
Date: Thu, 4 Jan 2024 17:36:00 +0100
Subject: [PATCH] Add more tests for vpXmlParserCamera

---
 .../core/test/camera/testXmlParserCamera.cpp  | 67 ++++++++++++++++++-
 1 file changed, 66 insertions(+), 1 deletion(-)

diff --git a/modules/core/test/camera/testXmlParserCamera.cpp b/modules/core/test/camera/testXmlParserCamera.cpp
index e726a9a565..bf26a31369 100644
--- a/modules/core/test/camera/testXmlParserCamera.cpp
+++ b/modules/core/test/camera/testXmlParserCamera.cpp
@@ -278,7 +278,7 @@ int main()
     distortion_coeffs.push_back(0);
     cam.initProjWithKannalaBrandtDistortion(285.523895263672, 286.6708984375, 420.874114990234, 381.085388183594,
                                             distortion_coeffs);
-    std::string filename = tmp_dir + "test_write_cam_with_KannalaBrandt_distortion.xml";
+    std::string filename = tmp_dir + "test_write_cam_with_KannalaBrandt_distortion_wo_name.xml";
     {
       vpXmlParserCamera xml;
       std::cout << "Write to: " << filename << std::endl;
@@ -300,7 +300,72 @@ int main()
       }
     }
   }
+
+  {
+    std::cout << "-- Test to save 2 cameras and parse them wo name thanks they differ in distortion" << std::endl;
+    vpCameraParameters cam1;
+
+    std::string filename = tmp_dir + "test_write_2_cam_differ_in_distortion.xml";
+
+    {
+      vpXmlParserCamera xml;
+      std::cout << "Write to: " << filename << std::endl;
+      std::cout << "Cam write:\n" << cam1 << std::endl;
+      if (xml.save(cam1, filename, "Camera 1", 320, 240, "", false) != vpXmlParserCamera::SEQUENCE_OK) {
+        std::cerr << "Cannot save XML file: " << filename << std::endl;
+        return EXIT_FAILURE;
+      }
+    }
+
+    vpCameraParameters cam2;
+    std::vector<double> distortion_coeffs;
+    distortion_coeffs.push_back(-0.00297341705299914);
+    distortion_coeffs.push_back(0.0352853797376156);
+    distortion_coeffs.push_back(-0.032205019146204);
+    distortion_coeffs.push_back(0.004446716979146);
+    distortion_coeffs.push_back(0);
+    cam2.initProjWithKannalaBrandtDistortion(285.523895263672, 286.6708984375, 420.874114990234, 381.085388183594,
+                                            distortion_coeffs);
+    {
+      vpXmlParserCamera xml;
+      std::cout << "Write to: " << filename << std::endl;
+      std::cout << "Cam write:\n" << cam2 << std::endl;
+      if (xml.save(cam2, filename, "Camera 2", 800, 848, "", false) != vpXmlParserCamera::SEQUENCE_OK) {
+        std::cerr << "Cannot save XML file: " << filename << std::endl;
+        return EXIT_FAILURE;
+      }
+    }
+
+    {
+      std::cout << "Attempt to read camera with perspective projection without distortion and without name" << std::endl;
+      vpCameraParameters cam_read;
+      vpXmlParserCamera xml;
+      xml.parse(cam_read, filename, "", vpCameraParameters::perspectiveProjWithoutDistortion, 320, 240, false);
+
+      std::cout << "Cam read:\n" << cam_read << std::endl;
+      if (cam1 != cam_read) {
+        std::cerr << "Issue when parsing XML file: " << filename << std::endl;
+        return EXIT_FAILURE;
+      }
+    }
+
+    {
+      std::cout << "Attempt to read camera with Kannala Brandt distortion and without name" << std::endl;
+      vpCameraParameters cam_read;
+      vpXmlParserCamera xml;
+      xml.parse(cam_read, filename, "", vpCameraParameters::ProjWithKannalaBrandtDistortion, 800, 848, false);
+
+      std::cout << "Cam read:\n" << cam_read << std::endl;
+      if (cam2 != cam_read) {
+        std::cerr << "Issue when parsing XML file: " << filename << std::endl;
+        return EXIT_FAILURE;
+      }
+    }
+  }
+
   vpIoTools::remove(tmp_dir);
+
+  std::cout << "Test succeed" << std::endl;
 #endif
 
   return EXIT_SUCCESS;