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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 "libmv/simple_pipeline/intersect.h"
#include <iostream>
#include "testing/testing.h"
#include "libmv/multiview/projection.h"
#include "libmv/numeric/numeric.h"
#include "libmv/logging/logging.h"
namespace libmv {
TEST(Intersect, EuclideanIntersect) {
Mat3 K1 = Mat3::Identity();
// K1 << 320, 0, 160,
// 0, 320, 120,
// 0, 0, 1;
Mat3 K2 = Mat3::Identity();
// K2 << 360, 0, 170,
// 0, 360, 110,
// 0, 0, 1;
Mat3 R1 = RotationAroundZ(-0.1);
Mat3 R2 = RotationAroundX(-0.1);
Vec3 t1; t1 << 1, 1, 10;
Vec3 t2; t2 << -2, -1, 10;
Mat34 P1, P2;
P_From_KRt(K1, R1, t1, &P1);
P_From_KRt(K2, R2, t2, &P2);
//Mat3 F; FundamentalFromProjections(P1, P2, &F);
Mat3X X;
X.resize(3, 30);
X.setRandom();
Mat2X X1, X2;
Project(P1, X, &X1);
Project(P2, X, &X2);
for (int i = 0; i < X.cols(); ++i) {
Vec2 x1, x2;
MatrixColumn(X1, i, &x1);
MatrixColumn(X2, i, &x2);
Vec3 expected;
MatrixColumn(X, i, &expected);
EuclideanReconstruction reconstruction;
reconstruction.InsertCamera(1, R1, t1);
reconstruction.InsertCamera(2, R2, t2);
vector<Marker> markers;
Marker a = { 1, 0, x1.x(), x1.y(), 1.0 };
markers.push_back(a);
Marker b = { 2, 0, x2.x(), x2.y(), 1.0 };
markers.push_back(b);
EuclideanIntersect(markers, &reconstruction);
Vec3 estimated = reconstruction.PointForTrack(0)->X;
EXPECT_NEAR(0, DistanceLInfinity(estimated, expected), 1e-8);
}
}
} // namespace
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