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diff --git a/intern/libmv/libmv/multiview/fundamental_test.cc b/intern/libmv/libmv/multiview/fundamental_test.cc
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+// Copyright (c) 2007, 2008 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 <iostream>
+
+#include "libmv/logging/logging.h"
+#include "libmv/multiview/conditioning.h"
+#include "libmv/multiview/fundamental.h"
+#include "libmv/multiview/projection.h"
+#include "libmv/multiview/test_data_sets.h"
+#include "libmv/numeric/numeric.h"
+#include "testing/testing.h"
+
+namespace {
+
+using namespace libmv;
+
+TEST(Fundamental, FundamentalFromProjections) {
+  Mat34 P1_gt, P2_gt;
+  P1_gt << 1, 0, 0, 0,
+           0, 1, 0, 0,
+           0, 0, 1, 0;
+  P2_gt << 1, 1, 1, 3,
+           0, 2, 0, 3,
+           0, 1, 1, 0;
+  Mat3 F_gt;
+  FundamentalFromProjections(P1_gt, P2_gt, &F_gt);
+
+  Mat34 P1, P2;
+  ProjectionsFromFundamental(F_gt, &P1, &P2);
+
+  Mat3 F;
+  FundamentalFromProjections(P1, P2, &F);
+
+  EXPECT_MATRIX_PROP(F_gt, F, 1e-6);
+}
+
+TEST(Fundamental, PreconditionerFromPoints) {
+  int n = 4;
+  Mat points(2, n);
+  points << 0, 0, 1, 1,
+            0, 2, 1, 3;
+
+  Mat3 T;
+  PreconditionerFromPoints(points, &T);
+
+  Mat normalized_points;
+  ApplyTransformationToPoints(points, T, &normalized_points);
+
+  Vec mean, variance;
+  MeanAndVarianceAlongRows(normalized_points, &mean, &variance);
+
+  EXPECT_NEAR(0, mean(0), 1e-8);
+  EXPECT_NEAR(0, mean(1), 1e-8);
+  EXPECT_NEAR(2, variance(0), 1e-8);
+  EXPECT_NEAR(2, variance(1), 1e-8);
+}
+
+TEST(Fundamental, EssentialFromFundamental) {
+  TwoViewDataSet d = TwoRealisticCameras();
+
+  Mat3 E_from_Rt;
+  EssentialFromRt(d.R1, d.t1, d.R2, d.t2, &E_from_Rt);
+
+  Mat3 E_from_F;
+  EssentialFromFundamental(d.F, d.K1, d.K2, &E_from_F);
+
+  EXPECT_MATRIX_PROP(E_from_Rt, E_from_F, 1e-6);
+}
+
+TEST(Fundamental, MotionFromEssential) {
+  TwoViewDataSet d = TwoRealisticCameras();
+
+  Mat3 E;
+  EssentialFromRt(d.R1, d.t1, d.R2, d.t2, &E);
+
+  Mat3 R;
+  Vec3 t;
+  RelativeCameraMotion(d.R1, d.t1, d.R2, d.t2, &R, &t);
+  NormalizeL2(&t);
+
+  std::vector<Mat3> Rs;
+  std::vector<Vec3> ts;
+  MotionFromEssential(E, &Rs, &ts);
+  bool one_solution_is_correct = false;
+  for (size_t i = 0; i < Rs.size(); ++i) {
+    if (FrobeniusDistance(Rs[i], R) < 1e-8 && DistanceL2(ts[i], t) < 1e-8) {
+      one_solution_is_correct = true;
+      break;
+    }
+  }
+  EXPECT_TRUE(one_solution_is_correct);
+}
+
+TEST(Fundamental, MotionFromEssentialChooseSolution) {
+  TwoViewDataSet d = TwoRealisticCameras();
+
+  Mat3 E;
+  EssentialFromRt(d.R1, d.t1, d.R2, d.t2, &E);
+
+  Mat3 R;
+  Vec3 t;
+  RelativeCameraMotion(d.R1, d.t1, d.R2, d.t2, &R, &t);
+  NormalizeL2(&t);
+
+  std::vector<Mat3> Rs;
+  std::vector<Vec3> ts;
+  MotionFromEssential(E, &Rs, &ts);
+
+  Vec2 x1, x2;
+  MatrixColumn(d.x1, 0, &x1);
+  MatrixColumn(d.x2, 0, &x2);
+  int solution = MotionFromEssentialChooseSolution(Rs, ts, d.K1, x1, d.K2, x2);
+
+  EXPECT_LE(0, solution);
+  EXPECT_LE(solution, 3);
+  EXPECT_LE(FrobeniusDistance(Rs[solution], R), 1e-8);
+  EXPECT_LE(DistanceL2(ts[solution], t), 1e-8);
+}
+
+TEST(Fundamental, MotionFromEssentialAndCorrespondence) {
+  TwoViewDataSet d = TwoRealisticCameras();
+
+  Mat3 E;
+  EssentialFromRt(d.R1, d.t1, d.R2, d.t2, &E);
+
+  Mat3 R;
+  Vec3 t;
+  RelativeCameraMotion(d.R1, d.t1, d.R2, d.t2, &R, &t);
+  NormalizeL2(&t);
+
+  Vec2 x1, x2;
+  MatrixColumn(d.x1, 0, &x1);
+  MatrixColumn(d.x2, 0, &x2);
+
+  Mat3 R_estimated;
+  Vec3 t_estimated;
+  MotionFromEssentialAndCorrespondence(E, d.K1, x1, d.K2, x2,
+                                       &R_estimated, &t_estimated);
+
+  EXPECT_LE(FrobeniusDistance(R_estimated, R), 1e-8);
+  EXPECT_LE(DistanceL2(t_estimated, t), 1e-8);
+}
+
+}  // namespace