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#include "test_precomp.hpp"

namespace opencv_test { namespace {

/* Check projection errors */
static void
check_projection_errors(const cv::Mat& X_estimated, const std::vector<Matx34d>& Ps,
                        const std::vector<Mat_<double> >& xs, float err_max2d)
{
    cv::Mat X;
    euclideanToHomogeneous(X_estimated, X);   // 3D point

    for (int m = 0; m < xs.size(); ++m)
    {
        cv::Mat x;
        homogeneousToEuclidean(cv::Mat(Ps[m]) * X, x); // 2d projection
        cv::Mat projerr = xs[m] - x;

        for (int n = 0; n < projerr.cols; ++n)
        {
            double d = cv::norm(projerr.col(n));
            EXPECT_NEAR(0, d, err_max2d);
        }
    }
}

#if CERES_FOUND

TEST(Sfm_reconstruct, twoViewProjectiveOutliers)
{
    float err_max2d = 1e-7;
    int nviews = 2;
    int npoints = 50;
    bool is_projective = true;

    std::vector<Mat_<double> > points2d;
    std::vector<cv::Matx33d> Rs;
    std::vector<cv::Vec3d> ts;
    std::vector<cv::Matx34d> Ps;
    Matx33d K;
    Mat_<double> points3d;
    generateScene(nviews, npoints, is_projective, K, Rs, ts, Ps, points3d, points2d);

    Mat_<double> points3d_estimated;
    std::vector<cv::Mat> Ps_estimated;
    reconstruct(points2d, Ps_estimated, points3d_estimated, K, is_projective);

    /* Check projection errors on GT */
    check_projection_errors(points3d, Ps, points2d, err_max2d);

    /* Check projection errors on estimates */
    std::vector<cv::Matx34d> Ps_estimated_d;
    Ps_estimated_d.resize(Ps_estimated.size());
    for(size_t i=0; i<Ps_estimated.size(); ++i)
        Ps_estimated_d[i] = Ps_estimated[i];
    check_projection_errors(points3d_estimated, Ps_estimated_d, points2d, err_max2d);
}

#endif /* CERES_FOUND */

}} // namespace