private void back_and_forth(double mirror) {
CameraUniversalOmni model = createModel(mirror);
UniOmniPtoS_F64 pixelToUnit = new UniOmniPtoS_F64();
pixelToUnit.setModel(model);
UniOmniStoP_F64 unitToPixel = new UniOmniStoP_F64();
unitToPixel.setModel(model);
List<Point2D_F64> listPixels = new ArrayList<>();
listPixels.add(new Point2D_F64(320, 240));
listPixels.add(new Point2D_F64(320, 200));
listPixels.add(new Point2D_F64(320, 280));
listPixels.add(new Point2D_F64(280, 240));
listPixels.add(new Point2D_F64(360, 240));
listPixels.add(new Point2D_F64(280, 240));
listPixels.add(new Point2D_F64(240, 180));
for (Point2D_F64 pixel : listPixels) {
Point3D_F64 circle = new Point3D_F64(10, 10, 10);
pixelToUnit.compute(pixel.x, pixel.y, circle); // directly forward on unit sphere
// it should be on the unit circle
assertEquals(1.0, circle.norm(), GrlConstants.DOUBLE_TEST_TOL);
Point2D_F64 found = new Point2D_F64();
unitToPixel.compute(circle.x, circle.y, circle.z, found);
assertEquals(pixel.x, found.x, GrlConstants.DOUBLE_TEST_TOL_SQRT);
assertEquals(pixel.y, found.y, GrlConstants.DOUBLE_TEST_TOL_SQRT);
}
}
private void centerIsCenter(double mirror) {
CameraUniversalOmni model = createModel(mirror);
UniOmniPtoS_F64 alg = new UniOmniPtoS_F64();
alg.setModel(model);
Point3D_F64 found = new Point3D_F64(10, 10, 10);
alg.compute(320, 240, found); // directly forward on unit sphere
assertEquals(0, found.x, GrlConstants.DOUBLE_TEST_TOL);
assertEquals(0, found.y, GrlConstants.DOUBLE_TEST_TOL);
assertEquals(1, found.z, GrlConstants.DOUBLE_TEST_TOL);
}