// This file is part of the AliceVision project.

// Copyright (c) 2020 AliceVision contributors.

// This Source Code Form is subject to the terms of the Mozilla Public License,

// v. 2.0. If a copy of the MPL was not distributed with this file,

// You can obtain one at https://mozilla.org/MPL/2.0/.

#include <aliceVision/camera/Distortion.hpp>

#include <aliceVision/camera/DistortionBrown.hpp>

#include <aliceVision/camera/DistortionFisheye.hpp>

#include <aliceVision/camera/DistortionFisheye1.hpp>

#include <aliceVision/camera/DistortionRadial.hpp>

#define BOOST_TEST_MODULE distortion

#include <boost/test/unit_test.hpp>

#include <boost/test/floating_point_comparison.hpp>

#include <aliceVision/unitTest.hpp>

using namespace aliceVision;

using namespace aliceVision::camera;

//-----------------

BOOST_AUTO_TEST_CASE(distortion_distort_undistort)

{

std::array<std::unique_ptr<Distortion>, 6> distortionsModels;

distortionsModels[0].reset(new DistortionBrown(-0.25349, 0.11868, -0.00028, 0.00005, 0.0000001));

distortionsModels[1].reset(new DistortionFisheye(0.02, -0.03, 0.1, -0.2));

distortionsModels[2].reset(new DistortionFisheye1(0.02));

distortionsModels[3].reset(new DistortionRadialK1(0.02));

distortionsModels[4].reset(new DistortionRadialK3(-1.8061369278146561e-01, 1.8759742680633607e-01, -2.5341468279930644e-02));

distortionsModels[5].reset(new DistortionRadialK3PT(-1.8061369278146561e-01, 1.8759742680633607e-01, -2.5341468279930644e-02));

const double epsilon = 1e-4;

const std::size_t numPts{1000};

for(std::size_t i = 0; i < numPts; ++i)

{

// random point in [-lim, lim]x[-lim, lim]

const double lim{0.8};

const Vec2 ptImage = lim*Vec2::Random();

for(const auto& model : distortionsModels)

{

const auto distorted = model->addDistortion(ptImage);

const auto undistorted = model->removeDistortion(distorted);

// distortion actually happened

BOOST_CHECK(!(distorted == ptImage));

EXPECT_MATRIX_CLOSE_FRACTION(ptImage, undistorted, epsilon);

}

}

}