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#include "test_precomp.hpp"
#include "opencv2/core/affine.hpp"
#include "opencv2/calib3d.hpp"
#include <iostream>

TEST(Calib3d_Affine3f, accuracy)
{
    cv::Vec3d rvec(0.2, 0.5, 0.3);
    cv::Affine3d affine(rvec);

    cv::Mat expected;
    cv::Rodrigues(rvec, expected);


    ASSERT_EQ(0, norm(cv::Mat(affine.matrix, false).colRange(0, 3).rowRange(0, 3) != expected));
    ASSERT_EQ(0, norm(cv::Mat(affine.linear()) != expected));


    cv::Matx33d R = cv::Matx33d::eye();

    double angle = 50;
    R.val[0] = R.val[4] = std::cos(CV_PI*angle/180.0);
    R.val[3] = std::sin(CV_PI*angle/180.0);
    R.val[1] = -R.val[3];


    cv::Affine3d affine1(cv::Mat(cv::Vec3d(0.2, 0.5, 0.3)).reshape(1, 1), cv::Vec3d(4, 5, 6));
    cv::Affine3d affine2(R, cv::Vec3d(1, 1, 0.4));

    cv::Affine3d result = affine1.inv() * affine2;

    expected = cv::Mat(affine1.matrix.inv(cv::DECOMP_SVD)) * cv::Mat(affine2.matrix, false);


    cv::Mat diff;
    cv::absdiff(expected, result.matrix, diff);

    ASSERT_LT(cv::norm(diff, cv::NORM_INF), 1e-15);
}
