/*
* 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.geo.f;
import boofcv.alg.geo.MultiViewOps;
import georegression.geometry.ConvertRotation3D_F64;
import georegression.struct.EulerType;
import georegression.struct.point.Vector3D_F64;
import org.ejml.data.DenseMatrix64F;
import org.ejml.ops.CommonOps;
import org.ejml.ops.MatrixFeatures;
import org.junit.Test;
import static org.junit.Assert.assertTrue;
/**
* @author Peter Abeles
*/
public class TestParamFundamentalEpipolar {
@Test
public void backAndForth() {
DenseMatrix64F R = ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ,1, 2, -0.5, null);
Vector3D_F64 T = new Vector3D_F64(0.5,0.7,-0.3);
DenseMatrix64F E = MultiViewOps.createEssential(R, T);
double param[] = new double[7];
ParamFundamentalEpipolar alg = new ParamFundamentalEpipolar();
DenseMatrix64F found = new DenseMatrix64F(3,3);
alg.encode(E, param);
alg.decode(param, found);
// normalize to take in account scale different when testing
CommonOps.divide(E.get(2,2),E);
CommonOps.divide(found.get(2, 2), found);
assertTrue(MatrixFeatures.isEquals(E, found, 1e-8));
}
}