TestUniOmniStoP_F64.java

/*
 * Copyright (c) 2011-2016, Peter Abeles. All Rights Reserved.
 *
 * This file is part of BoofCV (http://boofcv.org).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package boofcv.alg.distort.universal;

import boofcv.struct.calib.CameraUniversalOmni;
import georegression.misc.GrlConstants;
import georegression.struct.point.Point2D_F64;
import org.junit.Test;

import static boofcv.alg.distort.universal.TestUniOmniPtoS_F64.createModel;
import static org.junit.Assert.assertEquals;

/**
 * @author Peter Abeles
 */
public class TestUniOmniStoP_F64 {
	/**
	 * A point in the world center should appear in the image center
	 */
	@Test
	public void worldIsImageCenter() {
		CameraUniversalOmni model = createModel(0.5);

		UniOmniStoP_F64 alg = new UniOmniStoP_F64();
		alg.setModel(model);

		Point2D_F64 found = new Point2D_F64(10,10);
		alg.compute(0,0,1, found);  // directly forward on unit sphere

		assertEquals(320,found.x, GrlConstants.DOUBLE_TEST_TOL);
		assertEquals(240,found.y, GrlConstants.DOUBLE_TEST_TOL);
	}
}