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diff --git a/extern/libmv/libmv/simple_pipeline/camera_intrinsics_test.cc b/extern/libmv/libmv/simple_pipeline/camera_intrinsics_test.cc
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+// Copyright (c) 2011 libmv authors.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to
+// deal in the Software without restriction, including without limitation the
+// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+// sell copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+
+#include "libmv/simple_pipeline/camera_intrinsics.h"
+
+#include <iostream>
+
+#include "testing/testing.h"
+#include "libmv/image/image.h"
+#include "libmv/image/image_drawing.h"
+#include "libmv/logging/logging.h"
+
+namespace libmv {
+
+TEST(PolynomialCameraIntrinsics2, ApplyOnFocalCenter) {
+ PolynomialCameraIntrinsics intrinsics;
+ intrinsics.SetFocalLength(1300.0, 1300.0);
+ intrinsics.SetPrincipalPoint(640.0, 540.0);
+ intrinsics.SetRadialDistortion(-0.2, -0.1, -0.05);
+
+ double distorted_x, distorted_y;
+ intrinsics.ApplyIntrinsics(0.0, 0.0, &distorted_x, &distorted_y);
+
+ EXPECT_NEAR(640.0, distorted_x, 1e-8);
+ EXPECT_NEAR(540.0, distorted_y, 1e-8);
+}
+
+TEST(PolynomialCameraIntrinsics, InvertOnFocalCenter) {
+ PolynomialCameraIntrinsics intrinsics;
+ intrinsics.SetFocalLength(1300.0, 1300.0);
+ intrinsics.SetPrincipalPoint(640.0, 540.0);
+ intrinsics.SetRadialDistortion(-0.2, -0.1, -0.05);
+
+ double normalized_x, normalized_y;
+ intrinsics.InvertIntrinsics(640.0, 540.0, &normalized_x, &normalized_y);
+
+ EXPECT_NEAR(0.0, normalized_x, 1e-8);
+ EXPECT_NEAR(0.0, normalized_y, 1e-8);
+}
+
+TEST(PolynomialCameraIntrinsics, ApplyIntrinsics) {
+ const int N = 5;
+
+ double expected[N][N][2] = {
+ { {75.312500, -24.687500}, {338.982239, -62.035522},
+ {640.000000, -72.929688}, {941.017761, -62.035522},
+ {1204.687500, -24.687500}},
+
+ { {37.964478, 238.982239}, {323.664551, 223.664551},
+ {640.000000, 219.193420}, {956.335449, 223.664551},
+ {1242.035522, 238.982239}},
+
+ { {27.070312, 540.000000}, {319.193420, 540.000000},
+ {640.000000, 540.000000}, {960.806580, 540.000000},
+ {1252.929688, 540.000000}},
+
+ { {37.964478, 841.017761}, {323.664551, 856.335449},
+ {640.000000, 860.806580}, {956.335449, 856.335449},
+ {1242.035522, 841.017761}},
+
+ { {75.312500, 1104.687500}, {338.982239, 1142.035522},
+ {640.000000, 1152.929688}, {941.017761, 1142.035522},
+ {1204.687500, 1104.687500}}
+ };
+
+ PolynomialCameraIntrinsics intrinsics;
+ intrinsics.SetFocalLength(1300.0, 1300.0);
+ intrinsics.SetPrincipalPoint(640.0, 540.0);
+ intrinsics.SetRadialDistortion(-0.2, -0.1, -0.05);
+
+ double step = 1.0 / (N - 1);
+
+ for (int i = 0; i < N; i++) {
+ for (int j = 0; j < N; j++) {
+ double normalized_x = j * step - 0.5,
+ normalized_y = i * step - 0.5;
+
+ double distorted_x, distorted_y;
+ intrinsics.ApplyIntrinsics(normalized_x, normalized_y,
+ &distorted_x, &distorted_y);
+
+ EXPECT_NEAR(expected[i][j][0], distorted_x, 1e-6);
+ EXPECT_NEAR(expected[i][j][1], distorted_y, 1e-6);
+ }
+ }
+}
+
+TEST(PolynomialCameraIntrinsics, InvertIntrinsics) {
+ const int N = 5;
+
+ double expected[N][N][2] = {
+ { {-0.524482, -0.437069}, {-0.226237, -0.403994},
+ { 0.031876, -0.398446}, { 0.293917, -0.408218},
+ { 0.632438, -0.465028}},
+
+ { {-0.493496, -0.189173}, {-0.219052, -0.179936},
+ { 0.030975, -0.178107}, { 0.283742, -0.181280},
+ { 0.574557, -0.194335}},
+
+ { {-0.488013, 0.032534}, {-0.217537, 0.031077},
+ { 0.030781, 0.030781}, { 0.281635, 0.031293},
+ { 0.566344, 0.033314}},
+
+ { {-0.498696, 0.257660}, {-0.220424, 0.244041},
+ { 0.031150, 0.241409}, { 0.285660, 0.245985},
+ { 0.582670, 0.265629}},
+
+ { {-0.550617, 0.532263}, {-0.230399, 0.477255},
+ { 0.032380, 0.469510}, { 0.299986, 0.483311},
+ { 0.684740, 0.584043}}
+ };
+
+ PolynomialCameraIntrinsics intrinsics;
+ intrinsics.SetFocalLength(1300.0, 1300.0);
+ intrinsics.SetPrincipalPoint(600.0, 500.0);
+ intrinsics.SetRadialDistortion(-0.2, -0.1, -0.05);
+
+ double step_x = 1280.0 / (N - 1),
+ step_y = 1080.0 / (N - 1);
+
+ for (int i = 0; i < N; i++) {
+ for (int j = 0; j < N; j++) {
+ double distorted_x = j * step_x,
+ distorted_y = i * step_y;
+
+ double normalized_x, normalized_y;
+ intrinsics.InvertIntrinsics(distorted_x, distorted_y,
+ &normalized_x, &normalized_y);
+
+ EXPECT_NEAR(expected[i][j][0], normalized_x, 1e-6);
+ EXPECT_NEAR(expected[i][j][1], normalized_y, 1e-6);
+ }
+ }
+}
+
+TEST(PolynomialCameraIntrinsics, ApplyIsInvertibleSimple) {
+ PolynomialCameraIntrinsics intrinsics;
+ intrinsics.SetFocalLength(1300.0, 1300.0);
+ intrinsics.SetPrincipalPoint(640.0, 540.0);
+ intrinsics.SetRadialDistortion(-0.2, -0.1, -0.05);
+
+ // Scan over image coordinates, invert the intrinsics, then re-apply them to
+ // make sure the cycle gets back where it started.
+ for (double y = 0; y < 1000; y += 100) {
+ for (double x = 0; x < 1000; x += 100) {
+ double normalized_x, normalized_y;
+ intrinsics.InvertIntrinsics(x, y, &normalized_x, &normalized_y);
+
+ double xp, yp;
+ intrinsics.ApplyIntrinsics(normalized_x, normalized_y, &xp, &yp);
+
+ EXPECT_NEAR(x, xp, 1e-8) << "y: " << y;
+ EXPECT_NEAR(y, yp, 1e-8) << "x: " << x;
+ LG << "Error x: " << (x - xp);
+ LG << "Error y: " << (y - yp);
+ }
+ }
+}
+
+TEST(PolynomialCameraIntrinsics, IdentityDistortBuffer) {
+ const int w = 101, h = 101;
+ FloatImage image(h, w);
+ image.Fill(0);
+
+ DrawLine(0.0, h / 2.0, w - 1, h / 2.0, 1.0, &image);
+ DrawLine(0.0, h / 4.0, w - 1, h / 4.0, 1.0, &image);
+ DrawLine(0.0, h / 4.0 * 3.0, w - 1.0, h / 4.0 * 3.0, 1.0, &image);
+ DrawLine(w / 2.0, 0.0, w / 2.0, h - 1.0, 1.0, &image);
+ DrawLine(w / 4.0, 0.0, w / 4.0, h - 1.0, 1.0, &image);
+ DrawLine(w / 4.0 * 3.0, 0.0, w / 4.0 * 3.0, h - 1.0, 1.0, &image);
+
+ PolynomialCameraIntrinsics intrinsics;
+ FloatImage distorted_image(h, w);
+ intrinsics.SetImageSize(w, h);
+ intrinsics.SetFocalLength(10.0, 10.0);
+ intrinsics.SetPrincipalPoint((double) w / 2.0, (double) h / 2.0);
+ intrinsics.SetRadialDistortion(0.0, 0.0, 0.0);
+ intrinsics.DistortBuffer(image.Data(),
+ image.Width(), image.Height(),
+ 0.0,
+ image.Depth(),
+ distorted_image.Data());
+
+ for (int x = 0; x < image.Width(); ++x) {
+ for (int y = 0; y < image.Height(); ++y) {
+ EXPECT_EQ(image(y, x), distorted_image(y, x));
+ }
+ }
+}
+
+TEST(PolynomialCameraIntrinsics, IdentityUndistortBuffer) {
+ const int w = 101, h = 101;
+ FloatImage image(h, w);
+ image.Fill(0);
+
+ DrawLine(0.0, h / 2.0, w - 1, h / 2.0, 1.0, &image);
+ DrawLine(0.0, h / 4.0, w - 1, h / 4.0, 1.0, &image);
+ DrawLine(0.0, h / 4.0 * 3.0, w - 1.0, h / 4.0 * 3.0, 1.0, &image);
+ DrawLine(w / 2.0, 0.0, w / 2.0, h - 1.0, 1.0, &image);
+ DrawLine(w / 4.0, 0.0, w / 4.0, h - 1.0, 1.0, &image);
+ DrawLine(w / 4.0 * 3.0, 0.0, w / 4.0 * 3.0, h - 1.0, 1.0, &image);
+
+ PolynomialCameraIntrinsics intrinsics;
+ FloatImage distorted_image(h, w);
+ intrinsics.SetImageSize(w, h);
+ intrinsics.SetFocalLength(10.0, 10.0);
+ intrinsics.SetPrincipalPoint((double) w / 2.0, (double) h / 2.0);
+ intrinsics.SetRadialDistortion(0.0, 0.0, 0.0);
+ intrinsics.UndistortBuffer(image.Data(),
+ image.Width(), image.Height(),
+ 0.0,
+ image.Depth(),
+ distorted_image.Data());
+
+ for (int x = 0; x < image.Width(); ++x) {
+ for (int y = 0; y < image.Height(); ++y) {
+ EXPECT_EQ(image(y, x), distorted_image(y, x));
+ }
+ }
+}
+
+} // namespace libmv
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