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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/multiview/projection.h"
#include "libmv/numeric/numeric.h"
#include "testing/testing.h"
namespace {
using namespace libmv;
TEST(Projection, P_From_KRt) {
Mat3 K, Kp;
K << 10, 1, 30,
0, 20, 40,
0, 0, 1;
Mat3 R, Rp;
R << 1, 0, 0,
0, 1, 0,
0, 0, 1;
Vec3 t, tp;
t << 1, 2, 3;
Mat34 P;
P_From_KRt(K, R, t, &P);
KRt_From_P(P, &Kp, &Rp, &tp);
EXPECT_MATRIX_NEAR(K, Kp, 1e-8);
EXPECT_MATRIX_NEAR(R, Rp, 1e-8);
EXPECT_MATRIX_NEAR(t, tp, 1e-8);
// TODO(keir): Change the code to ensure det(R) == 1, which is not currently
// the case. Also add a test for that here.
}
Vec4 GetRandomPoint() {
Vec4 X;
X.setRandom();
X(3) = 1;
return X;
}
TEST(Projection, isInFrontOfCamera) {
Mat34 P;
P << 1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0;
Vec4 X_front = GetRandomPoint();
Vec4 X_back = GetRandomPoint();
X_front(2) = 10; // Any point in the positive Z direction
// where Z > 1 is infront of the camera.
X_back(2) = -10; // Any point int he negative Z dirstaion
// is behind the camera.
bool res_front = isInFrontOfCamera(P, X_front);
bool res_back = isInFrontOfCamera(P, X_back);
EXPECT_TRUE(res_front);
EXPECT_FALSE(res_back);
}
TEST(AutoCalibration, ProjectionShiftPrincipalPoint) {
Mat34 P1, P2;
P1 << 1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0;
P2 << 1, 0, 3, 0,
0, 1, 4, 0,
0, 0, 1, 0;
Mat34 P1_computed, P2_computed;
ProjectionShiftPrincipalPoint(P1, Vec2(0, 0), Vec2(3, 4), &P2_computed);
ProjectionShiftPrincipalPoint(P2, Vec2(3, 4), Vec2(0, 0), &P1_computed);
EXPECT_MATRIX_EQ(P1, P1_computed);
EXPECT_MATRIX_EQ(P2, P2_computed);
}
TEST(AutoCalibration, ProjectionChangeAspectRatio) {
Mat34 P1, P2;
P1 << 1, 0, 3, 0,
0, 1, 4, 0,
0, 0, 1, 0;
P2 << 1, 0, 3, 0,
0, 2, 4, 0,
0, 0, 1, 0;
Mat34 P1_computed, P2_computed;
ProjectionChangeAspectRatio(P1, Vec2(3, 4), 1, 2, &P2_computed);
ProjectionChangeAspectRatio(P2, Vec2(3, 4), 2, 1, &P1_computed);
EXPECT_MATRIX_EQ(P1, P1_computed);
EXPECT_MATRIX_EQ(P2, P2_computed);
}
} // namespace
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