/* ************************************************************************* */
TEST( SimpleCamera, level2)
{
// Create a level camera, looking in Y-direction
Pose2 pose2(0.4,0.3,M_PI/2.0);
SimpleCamera camera = SimpleCamera::Level(K, 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));
}
/* ************************************************************************* */
TEST( SimpleCamera, lookat)
{
// Create a level camera, looking in Y-direction
Point3 C(10.0,0.0,0.0);
SimpleCamera camera = SimpleCamera::Lookat(C, Point3(), Point3(0.0,0.0,1.0));
// expected
Point3 xc(0,1,0),yc(0,0,-1),zc(-1,0,0);
Pose3 expected(Rot3(xc,yc,zc),C);
CHECK(assert_equal( camera.pose(), expected));
Point3 C2(30.0,0.0,10.0);
SimpleCamera camera2 = SimpleCamera::Lookat(C2, Point3(), Point3(0.0,0.0,1.0));
Matrix R = camera2.pose().rotation().matrix();
Matrix I = trans(R)*R;
CHECK(assert_equal(I, eye(3)));
}