/* ************************************************************************* */
TEST( CalibratedCamera, level2)
{
// Create a level camera, looking in Y-direction
Pose2 pose2(0.4,0.3,M_PI/2.0);
CalibratedCamera camera = CalibratedCamera::Level(pose2, 0.1);
// expected
Point3 x(1,0,0),y(0,0,-1),z(0,1,0);
Rot3 wRc(x,y,z);
Pose3 expected(wRc,Point3(0.4,0.3,0.1));
CHECK(assert_equal( camera.pose(), expected));
}
/* ************************************************************************* */
Vector CalibratedCamera::localCoordinates(const CalibratedCamera& T2) const {
return pose().localCoordinates(T2.pose()) ;
}
/* ************************************************************************* */
static Point2 projectAtInfinity(const CalibratedCamera& camera, const Unit3& point) {
return camera.project2(point);
}
/* ************************************************************************* */
static Point2 project2(const CalibratedCamera& camera, const Point3& point) {
return camera.project(point);
}
