/*M///////////////////////////////////////////////////////////////////////////////////////
 //
 // This is a test file for the function decomposeHomography contributed to OpenCV
 // by Samson Yilma.
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#include "test_precomp.hpp"
#include "opencv2/calib3d.hpp"
#include <vector>

using namespace cv;
using namespace std;

class CV_HomographyDecompTest: public cvtest::BaseTest {

public:
    CV_HomographyDecompTest()
    {
        buildTestDataSet();
    }

protected:
    void run(int)
    {
        vector<Mat> rotations;
        vector<Mat> translations;
        vector<Mat> normals;

        decomposeHomographyMat(_H, _K, rotations, translations, normals);

        //there should be at least 1 solution
        ASSERT_GT(static_cast<int>(rotations.size()), 0);
        ASSERT_GT(static_cast<int>(translations.size()), 0);
        ASSERT_GT(static_cast<int>(normals.size()), 0);

        ASSERT_EQ(rotations.size(), normals.size());
        ASSERT_EQ(translations.size(), normals.size());

        ASSERT_TRUE(containsValidMotion(rotations, translations, normals));

        decomposeHomographyMat(_H, _K, rotations, noArray(), noArray());
        ASSERT_GT(static_cast<int>(rotations.size()), 0);
    }

private:

    void buildTestDataSet()
    {
        _K = Matx33d(1.0,   0.0,    0.0,
                     0.0,   1.0,    0.0,
                     0.0,   0.0,    1.0);

        _H = Matx33d(-16.9507,  -0.221925,  -14.9252,
                     -4.29529,  -14.8487,   -10.1566,
                     4.06517,   -11.1937,   1.0);

        //expected solution for the given homography and intrinsic matrices
        _R = Matx33d(0.942846,  -0.0248848, 0.332299,
                     0.242688,  0.734634,   -0.633574,
                     -0.228352, 0.678007,   0.698686);

        _t = Vec3d(0.330964, 0.798468, -0.502904);
        _n = Vec3d(-0.00350954, 0.0747496, 0.997196);
    }

    bool containsValidMotion(std::vector<Mat>& rotations,
                             std::vector<Mat>& translations,
                             std::vector<Mat>& normals
                             )
    {
        double max_error = 1.0;

        vector<Mat>::iterator riter = rotations.begin();
        vector<Mat>::iterator titer = translations.begin();
        vector<Mat>::iterator niter = normals.begin();

        for (;
             riter != rotations.end() && titer != translations.end() && niter != normals.end();
             ++riter, ++titer, ++niter) {

            double rdist = norm(*riter, _R, NORM_INF);
            double tdist = norm(*titer, _t, NORM_INF);
            double ndist = norm(*niter, _n, NORM_INF);

            if (   rdist < max_error
                && tdist < max_error
                && ndist < max_error )
                return true;
        }

        return false;
    }

    Matx33d _R, _K, _H;
    Vec3d _t, _n;
};

TEST(Calib3d_DecomposeHomography, regression) { CV_HomographyDecompTest test; test.safe_run(); }