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added point-point-point check

release/4.3a0
Manohar Paluri 2010-02-23 13:14:07 +00:00
parent 5594d162a2
commit 032c8887d6
1 changed files with 11 additions and 0 deletions
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11
cpp/testTrifocal.cpp
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@ -144,6 +144,17 @@ TEST(Tensors, TrifocalTensor1){
TrifocalTensor actual = estimateTrifocalTensor(triplets); TrifocalTensor actual = estimateTrifocalTensor(triplets);
Eta3 eta;
double data[3][3] = { { 0, 0, 0 }, { 0, 0, 0 }, { 0, 0, 0 } };
Tensor2<3,3> zero(data);
BOOST_FOREACH(const Triplet& t, triplets) {
Tensor2<3,3> T1 = actual(_a,b,c) * t.first(a);
Tensor2<3,3> T2 = eta(_d,_b,_e) * t.second(d);
Tensor2<3,3> T3 = eta(_f,_c,_g) * t.third(f);
CHECK(assert_equality(zero(_e,_g), (T1(b,c) * T2(_b,_e)) * T3(_c,_g),1e-2));
}
CHECK(assert_equality(T(_a,b,c), actual(_a,b,c),1e-1)); CHECK(assert_equality(T(_a,b,c), actual(_a,b,c),1e-1));
} }