28 #include "testing/testing.h"
32 using namespace libmv;
39 for (
int i = 0; i < nviews; ++i) {
41 X.block(0, 0, 3, npoints) =
d.X;
50 P_expected *= 1 / P_expected.array().abs().sum();
51 P *= 1 /
P.array().abs().sum();
52 if (!((
P(0, 0) > 0 && P_expected(0, 0) > 0) ||
53 (
P(0, 0) < 0 && P_expected(0, 0) < 0))) {
57 EXPECT_MATRIX_NEAR(P_expected,
P, 1
e-9);
ATTR_WARN_UNUSED_RESULT const BMVert const BMEdge * e
void Resection(const Matrix< T, 2, Dynamic > &x, const Matrix< T, 4, Dynamic > &X, Matrix< T, 3, 4 > *P)
TEST(PolynomialCameraIntrinsics2, ApplyOnFocalCenter)
Eigen::Matrix< double, 3, 4 > Mat34
Eigen::Matrix< double, 4, Eigen::Dynamic > Mat4X
NViewDataSet NRealisticCamerasFull(int nviews, int npoints, const nViewDatasetConfigator config)
Eigen::Matrix< double, 2, Eigen::Dynamic > Mat2X