// Copyright (c) 2018, ETH Zurich and UNC Chapel Hill.
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// Author: Johannes L. Schoenberger (jsch at inf.ethz.ch)

#define TEST_NAME "estimators/homography_matrix"
#include "util/testing.h"

#include <Eigen/Core>
#include <Eigen/Geometry>

#include "estimators/homography_matrix.h"

using namespace colmap;

BOOST_AUTO_TEST_CASE(TestEstimate) {
  for (double x = 0; x < 10; ++x) {
    Eigen::Matrix3d H0;
    H0 << x, 0.2, 0.3, 30, 0.2, 0.1, 0.3, 20, 1;

    std::vector<Eigen::Vector2d> src;
    src.emplace_back(x, 0);
    src.emplace_back(1, 0);
    src.emplace_back(2, 1);
    src.emplace_back(10, 30);

    std::vector<Eigen::Vector2d> dst;

    for (size_t i = 0; i < 4; ++i) {
      const Eigen::Vector3d dsth = H0 * src[i].homogeneous();
      dst.push_back(dsth.hnormalized());
    }

    HomographyMatrixEstimator est_tform;
    const auto models = est_tform.Estimate(src, dst);

    std::vector<double> residuals;
    est_tform.Residuals(src, dst, models[0], &residuals);

    for (size_t i = 0; i < 4; ++i) {
      BOOST_CHECK(residuals[i] < 1e-6);
    }
  }
}
