root/modules/calib3d/misc/java/test/Calib3dTest.java

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DEFINITIONS

This source file includes following definitions.
  1. testCalibrateCameraListOfMatListOfMatSizeMatMatListOfMatListOfMat
  2. testCalibrateCameraListOfMatListOfMatSizeMatMatListOfMatListOfMatInt
  3. testCalibrationMatrixValues
  4. testComposeRTMatMatMatMatMatMat
  5. testComposeRTMatMatMatMatMatMatMat
  6. testComposeRTMatMatMatMatMatMatMatMat
  7. testComposeRTMatMatMatMatMatMatMatMatMat
  8. testComposeRTMatMatMatMatMatMatMatMatMatMat
  9. testComposeRTMatMatMatMatMatMatMatMatMatMatMat
  10. testComposeRTMatMatMatMatMatMatMatMatMatMatMatMat
  11. testComposeRTMatMatMatMatMatMatMatMatMatMatMatMatMat
  12. testComposeRTMatMatMatMatMatMatMatMatMatMatMatMatMatMat
  13. testConvertPointsFromHomogeneous
  14. testConvertPointsToHomogeneous
  15. testDecomposeProjectionMatrixMatMatMatMat
  16. testDecomposeProjectionMatrixMatMatMatMatMat
  17. testDecomposeProjectionMatrixMatMatMatMatMatMat
  18. testDecomposeProjectionMatrixMatMatMatMatMatMatMat
  19. testDecomposeProjectionMatrixMatMatMatMatMatMatMatMat
  20. testDrawChessboardCorners
  21. testEstimateAffine3DMatMatMatMat
  22. testEstimateAffine3DMatMatMatMatDouble
  23. testEstimateAffine3DMatMatMatMatDoubleDouble
  24. testFilterSpecklesMatDoubleIntDouble
  25. testFilterSpecklesMatDoubleIntDoubleMat
  26. testFindChessboardCornersMatSizeMat
  27. testFindChessboardCornersMatSizeMatInt
  28. testFindCirclesGridMatSizeMat
  29. testFindCirclesGridMatSizeMatInt
  30. testFindFundamentalMatListOfPointListOfPoint
  31. testFindFundamentalMatListOfPointListOfPointInt
  32. testFindFundamentalMatListOfPointListOfPointIntDouble
  33. testFindFundamentalMatListOfPointListOfPointIntDoubleDouble
  34. testFindFundamentalMatListOfPointListOfPointIntDoubleDoubleMat
  35. testFindHomographyListOfPointListOfPoint
  36. testFindHomographyListOfPointListOfPointInt
  37. testFindHomographyListOfPointListOfPointIntDouble
  38. testFindHomographyListOfPointListOfPointIntDoubleMat
  39. testGetOptimalNewCameraMatrixMatMatSizeDouble
  40. testGetOptimalNewCameraMatrixMatMatSizeDoubleSize
  41. testGetOptimalNewCameraMatrixMatMatSizeDoubleSizeRect
  42. testGetOptimalNewCameraMatrixMatMatSizeDoubleSizeRectBoolean
  43. testGetValidDisparityROI
  44. testInitCameraMatrix2DListOfMatListOfMatSize
  45. testInitCameraMatrix2DListOfMatListOfMatSizeDouble
  46. testMatMulDeriv
  47. testProjectPointsMatMatMatMatMatMat
  48. testProjectPointsMatMatMatMatMatMatMat
  49. testProjectPointsMatMatMatMatMatMatMatDouble
  50. testRectify3Collinear
  51. testReprojectImageTo3DMatMatMat
  52. testReprojectImageTo3DMatMatMatBoolean
  53. testReprojectImageTo3DMatMatMatBooleanInt
  54. testRodriguesMatMat
  55. testRodriguesMatMatMat
  56. testRQDecomp3x3MatMatMat
  57. testRQDecomp3x3MatMatMatMat
  58. testRQDecomp3x3MatMatMatMatMat
  59. testRQDecomp3x3MatMatMatMatMatMat
  60. testSolvePnPListOfPoint3ListOfPointMatMatMatMat
  61. testSolvePnPListOfPoint3ListOfPointMatMatMatMatBoolean
  62. testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMat
  63. testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBoolean
  64. testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBooleanInt
  65. testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBooleanIntFloat
  66. testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBooleanIntFloatInt
  67. testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBooleanIntFloatIntMat
  68. testStereoCalibrateListOfMatListOfMatListOfMatMatMatMatMatSizeMatMatMatMat
  69. testStereoCalibrateListOfMatListOfMatListOfMatMatMatMatMatSizeMatMatMatMatTermCriteria
  70. testStereoCalibrateListOfMatListOfMatListOfMatMatMatMatMatSizeMatMatMatMatTermCriteriaInt
  71. testStereoRectifyUncalibratedMatMatMatSizeMatMat
  72. testStereoRectifyUncalibratedMatMatMatSizeMatMatDouble
  73. testValidateDisparityMatMatIntInt
  74. testValidateDisparityMatMatIntIntInt
  75. testComputeCorrespondEpilines
package org.opencv.test.calib3d;

import org.opencv.calib3d.Calib3d;
import org.opencv.core.Core;
import org.opencv.core.CvType;
import org.opencv.core.Mat;
import org.opencv.core.MatOfDouble;
import org.opencv.core.MatOfPoint2f;
import org.opencv.core.MatOfPoint3f;
import org.opencv.core.Point;
import org.opencv.core.Scalar;
import org.opencv.core.Size;
import org.opencv.test.OpenCVTestCase;
import org.opencv.imgproc.Imgproc;

public class Calib3dTest extends OpenCVTestCase {

    public void testCalibrateCameraListOfMatListOfMatSizeMatMatListOfMatListOfMat() {
        fail("Not yet implemented");
    }

    public void testCalibrateCameraListOfMatListOfMatSizeMatMatListOfMatListOfMatInt() {
        fail("Not yet implemented");
    }

    public void testCalibrationMatrixValues() {
        fail("Not yet implemented");
    }

    public void testComposeRTMatMatMatMatMatMat() {
        Mat rvec1 = new Mat(3, 1, CvType.CV_32F);
        rvec1.put(0, 0, 0.5302828, 0.19925919, 0.40105945);
        Mat tvec1 = new Mat(3, 1, CvType.CV_32F);
        tvec1.put(0, 0, 0.81438506, 0.43713298, 0.2487897);
        Mat rvec2 = new Mat(3, 1, CvType.CV_32F);
        rvec2.put(0, 0, 0.77310503, 0.76209372, 0.30779448);
        Mat tvec2 = new Mat(3, 1, CvType.CV_32F);
        tvec2.put(0, 0, 0.70243168, 0.4784472, 0.79219002);

        Mat rvec3 = new Mat();
        Mat tvec3 = new Mat();

        Mat outRvec = new Mat(3, 1, CvType.CV_32F);
        outRvec.put(0, 0, 1.418641, 0.88665926, 0.56020796);
        Mat outTvec = new Mat(3, 1, CvType.CV_32F);
        outTvec.put(0, 0, 1.4560841, 1.0680628, 0.81598103);

        Calib3d.composeRT(rvec1, tvec1, rvec2, tvec2, rvec3, tvec3);

        assertMatEqual(outRvec, rvec3, EPS);
        assertMatEqual(outTvec, tvec3, EPS);
    }

    public void testComposeRTMatMatMatMatMatMatMat() {
        fail("Not yet implemented");
    }

    public void testComposeRTMatMatMatMatMatMatMatMat() {
        fail("Not yet implemented");
    }

    public void testComposeRTMatMatMatMatMatMatMatMatMat() {
        fail("Not yet implemented");
    }

    public void testComposeRTMatMatMatMatMatMatMatMatMatMat() {
        fail("Not yet implemented");
    }

    public void testComposeRTMatMatMatMatMatMatMatMatMatMatMat() {
        fail("Not yet implemented");
    }

    public void testComposeRTMatMatMatMatMatMatMatMatMatMatMatMat() {
        fail("Not yet implemented");
    }

    public void testComposeRTMatMatMatMatMatMatMatMatMatMatMatMatMat() {
        fail("Not yet implemented");
    }

    public void testComposeRTMatMatMatMatMatMatMatMatMatMatMatMatMatMat() {
        fail("Not yet implemented");
        // Mat dr3dr1;
        // Mat dr3dt1;
        // Mat dr3dr2;
        // Mat dr3dt2;
        // Mat dt3dr1;
        // Mat dt3dt1;
        // Mat dt3dr2;
        // Mat dt3dt2;
        // , dr3dr1, dr3dt1, dr3dr2, dr3dt2, dt3dr1, dt3dt1, dt3dr2, dt3dt2);
        // [0.97031879, -0.091774099, 0.38594806;
        // 0.15181915, 0.98091727, -0.44186208;
        // -0.39509675, 0.43839464, 0.93872648]
        // [0, 0, 0;
        // 0, 0, 0;
        // 0, 0, 0]
        // [1.0117353, 0.16348237, -0.083180845;
        // -0.1980398, 1.006078, 0.30299222;
        // 0.075766489, -0.32784501, 1.0163091]
        // [0, 0, 0;
        // 0, 0, 0;
        // 0, 0, 0]
        // [0, 0, 0;
        // 0, 0, 0;
        // 0, 0, 0]
        // [0.69658804, 0.018115902, 0.7172426;
        // 0.51114357, 0.68899536, -0.51382649;
        // -0.50348526, 0.72453934, 0.47068608]
        // [0.18536358, -0.20515044, -0.48834875;
        // -0.25120571, 0.29043972, 0.60573936;
        // 0.35370794, -0.69923931, 0.45781645]
        // [1, 0, 0;
        // 0, 1, 0;
        // 0, 0, 1]
    }

    public void testConvertPointsFromHomogeneous() {
        fail("Not yet implemented");
    }

    public void testConvertPointsToHomogeneous() {
        fail("Not yet implemented");
    }

    public void testDecomposeProjectionMatrixMatMatMatMat() {
        fail("Not yet implemented");
    }

    public void testDecomposeProjectionMatrixMatMatMatMatMat() {
        fail("Not yet implemented");
    }

    public void testDecomposeProjectionMatrixMatMatMatMatMatMat() {
        fail("Not yet implemented");
    }

    public void testDecomposeProjectionMatrixMatMatMatMatMatMatMat() {
        fail("Not yet implemented");
    }

    public void testDecomposeProjectionMatrixMatMatMatMatMatMatMatMat() {
        fail("Not yet implemented");
    }

    public void testDrawChessboardCorners() {
        fail("Not yet implemented");
    }

    public void testEstimateAffine3DMatMatMatMat() {
        fail("Not yet implemented");
    }

    public void testEstimateAffine3DMatMatMatMatDouble() {
        fail("Not yet implemented");
    }

    public void testEstimateAffine3DMatMatMatMatDoubleDouble() {
        fail("Not yet implemented");
    }

    public void testFilterSpecklesMatDoubleIntDouble() {
        gray_16s_1024.copyTo(dst);
        Point center = new Point(gray_16s_1024.rows() / 2., gray_16s_1024.cols() / 2.);
        Imgproc.circle(dst, center, 1, Scalar.all(4096));

        assertMatNotEqual(gray_16s_1024, dst);
        Calib3d.filterSpeckles(dst, 1024.0, 100, 0.);
        assertMatEqual(gray_16s_1024, dst);
    }

    public void testFilterSpecklesMatDoubleIntDoubleMat() {
        fail("Not yet implemented");
    }

    public void testFindChessboardCornersMatSizeMat() {
        Size patternSize = new Size(9, 6);
        MatOfPoint2f corners = new MatOfPoint2f();
        Calib3d.findChessboardCorners(grayChess, patternSize, corners);
        assertTrue(!corners.empty());
    }

    public void testFindChessboardCornersMatSizeMatInt() {
        Size patternSize = new Size(9, 6);
        MatOfPoint2f corners = new MatOfPoint2f();
        Calib3d.findChessboardCorners(grayChess, patternSize, corners, Calib3d.CALIB_CB_ADAPTIVE_THRESH + Calib3d.CALIB_CB_NORMALIZE_IMAGE
                + Calib3d.CALIB_CB_FAST_CHECK);
        assertTrue(!corners.empty());
    }

    public void testFindCirclesGridMatSizeMat() {
        int size = 300;
        Mat img = new Mat(size, size, CvType.CV_8U);
        img.setTo(new Scalar(255));
        Mat centers = new Mat();

        assertFalse(Calib3d.findCirclesGrid(img, new Size(5, 5), centers));

        for (int i = 0; i < 5; i++)
            for (int j = 0; j < 5; j++) {
                Point pt = new Point(size * (2 * i + 1) / 10, size * (2 * j + 1) / 10);
                Imgproc.circle(img, pt, 10, new Scalar(0), -1);
            }

        assertTrue(Calib3d.findCirclesGrid(img, new Size(5, 5), centers));

        assertEquals(25, centers.rows());
        assertEquals(1, centers.cols());
        assertEquals(CvType.CV_32FC2, centers.type());
    }

    public void testFindCirclesGridMatSizeMatInt() {
        int size = 300;
        Mat img = new Mat(size, size, CvType.CV_8U);
        img.setTo(new Scalar(255));
        Mat centers = new Mat();

        assertFalse(Calib3d.findCirclesGrid(img, new Size(3, 5), centers, Calib3d.CALIB_CB_CLUSTERING
                | Calib3d.CALIB_CB_ASYMMETRIC_GRID));

        int step = size * 2 / 15;
        int offsetx = size / 6;
        int offsety = (size - 4 * step) / 2;
        for (int i = 0; i < 3; i++)
            for (int j = 0; j < 5; j++) {
                Point pt = new Point(offsetx + (2 * i + j % 2) * step, offsety + step * j);
                Imgproc.circle(img, pt, 10, new Scalar(0), -1);
            }

        assertTrue(Calib3d.findCirclesGrid(img, new Size(3, 5), centers, Calib3d.CALIB_CB_CLUSTERING
                | Calib3d.CALIB_CB_ASYMMETRIC_GRID));

        assertEquals(15, centers.rows());
        assertEquals(1, centers.cols());
        assertEquals(CvType.CV_32FC2, centers.type());
    }

    public void testFindFundamentalMatListOfPointListOfPoint() {
        int minFundamentalMatPoints = 8;

        MatOfPoint2f pts = new MatOfPoint2f();
        pts.alloc(minFundamentalMatPoints);

        for (int i = 0; i < minFundamentalMatPoints; i++) {
            double x = Math.random() * 100 - 50;
            double y = Math.random() * 100 - 50;
            pts.put(i, 0, x, y); //add(new Point(x, y));
        }

        Mat fm = Calib3d.findFundamentalMat(pts, pts);

        truth = new Mat(3, 3, CvType.CV_64F);
        truth.put(0, 0, 0, -0.577, 0.288, 0.577, 0, 0.288, -0.288, -0.288, 0);
        assertMatEqual(truth, fm, EPS);
    }

    public void testFindFundamentalMatListOfPointListOfPointInt() {
        fail("Not yet implemented");
    }

    public void testFindFundamentalMatListOfPointListOfPointIntDouble() {
        fail("Not yet implemented");
    }

    public void testFindFundamentalMatListOfPointListOfPointIntDoubleDouble() {
        fail("Not yet implemented");
    }

    public void testFindFundamentalMatListOfPointListOfPointIntDoubleDoubleMat() {
        fail("Not yet implemented");
    }

    public void testFindHomographyListOfPointListOfPoint() {
        final int NUM = 20;

        MatOfPoint2f originalPoints = new MatOfPoint2f();
        originalPoints.alloc(NUM);
        MatOfPoint2f transformedPoints = new MatOfPoint2f();
        transformedPoints.alloc(NUM);

        for (int i = 0; i < NUM; i++) {
            double x = Math.random() * 100 - 50;
            double y = Math.random() * 100 - 50;
            originalPoints.put(i, 0, x, y);
            transformedPoints.put(i, 0, y, x);
        }

        Mat hmg = Calib3d.findHomography(originalPoints, transformedPoints);

        truth = new Mat(3, 3, CvType.CV_64F);
        truth.put(0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1);

        assertMatEqual(truth, hmg, EPS);
    }

    public void testFindHomographyListOfPointListOfPointInt() {
        fail("Not yet implemented");
    }

    public void testFindHomographyListOfPointListOfPointIntDouble() {
        fail("Not yet implemented");
    }

    public void testFindHomographyListOfPointListOfPointIntDoubleMat() {
        fail("Not yet implemented");
    }

    public void testGetOptimalNewCameraMatrixMatMatSizeDouble() {
        fail("Not yet implemented");
    }

    public void testGetOptimalNewCameraMatrixMatMatSizeDoubleSize() {
        fail("Not yet implemented");
    }

    public void testGetOptimalNewCameraMatrixMatMatSizeDoubleSizeRect() {
        fail("Not yet implemented");
    }

    public void testGetOptimalNewCameraMatrixMatMatSizeDoubleSizeRectBoolean() {
        fail("Not yet implemented");
    }

    public void testGetValidDisparityROI() {
        fail("Not yet implemented");
    }

    public void testInitCameraMatrix2DListOfMatListOfMatSize() {
        fail("Not yet implemented");
    }

    public void testInitCameraMatrix2DListOfMatListOfMatSizeDouble() {
        fail("Not yet implemented");
    }

    public void testMatMulDeriv() {
        fail("Not yet implemented");
    }

    public void testProjectPointsMatMatMatMatMatMat() {
        fail("Not yet implemented");
    }

    public void testProjectPointsMatMatMatMatMatMatMat() {
        fail("Not yet implemented");
    }

    public void testProjectPointsMatMatMatMatMatMatMatDouble() {
        fail("Not yet implemented");
    }

    public void testRectify3Collinear() {
        fail("Not yet implemented");
    }

    public void testReprojectImageTo3DMatMatMat() {
        Mat transformMatrix = new Mat(4, 4, CvType.CV_64F);
        transformMatrix.put(0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);

        Mat disparity = new Mat(matSize, matSize, CvType.CV_32F);

        float[] disp = new float[matSize * matSize];
        for (int i = 0; i < matSize; i++)
            for (int j = 0; j < matSize; j++)
                disp[i * matSize + j] = i - j;
        disparity.put(0, 0, disp);

        Mat _3dPoints = new Mat();

        Calib3d.reprojectImageTo3D(disparity, _3dPoints, transformMatrix);

        assertEquals(CvType.CV_32FC3, _3dPoints.type());
        assertEquals(matSize, _3dPoints.rows());
        assertEquals(matSize, _3dPoints.cols());

        truth = new Mat(matSize, matSize, CvType.CV_32FC3);

        float[] _truth = new float[matSize * matSize * 3];
        for (int i = 0; i < matSize; i++)
            for (int j = 0; j < matSize; j++) {
                _truth[(i * matSize + j) * 3 + 0] = i;
                _truth[(i * matSize + j) * 3 + 1] = j;
                _truth[(i * matSize + j) * 3 + 2] = i - j;
            }
        truth.put(0, 0, _truth);

        assertMatEqual(truth, _3dPoints, EPS);
    }

    public void testReprojectImageTo3DMatMatMatBoolean() {
        Mat transformMatrix = new Mat(4, 4, CvType.CV_64F);
        transformMatrix.put(0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);

        Mat disparity = new Mat(matSize, matSize, CvType.CV_32F);

        float[] disp = new float[matSize * matSize];
        for (int i = 0; i < matSize; i++)
            for (int j = 0; j < matSize; j++)
                disp[i * matSize + j] = i - j;
        disp[0] = -Float.MAX_VALUE;
        disparity.put(0, 0, disp);

        Mat _3dPoints = new Mat();

        Calib3d.reprojectImageTo3D(disparity, _3dPoints, transformMatrix, true);

        assertEquals(CvType.CV_32FC3, _3dPoints.type());
        assertEquals(matSize, _3dPoints.rows());
        assertEquals(matSize, _3dPoints.cols());

        truth = new Mat(matSize, matSize, CvType.CV_32FC3);

        float[] _truth = new float[matSize * matSize * 3];
        for (int i = 0; i < matSize; i++)
            for (int j = 0; j < matSize; j++) {
                _truth[(i * matSize + j) * 3 + 0] = i;
                _truth[(i * matSize + j) * 3 + 1] = j;
                _truth[(i * matSize + j) * 3 + 2] = i - j;
            }
        _truth[2] = 10000;
        truth.put(0, 0, _truth);

        assertMatEqual(truth, _3dPoints, EPS);
    }

    public void testReprojectImageTo3DMatMatMatBooleanInt() {
        Mat transformMatrix = new Mat(4, 4, CvType.CV_64F);
        transformMatrix.put(0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);

        Mat disparity = new Mat(matSize, matSize, CvType.CV_32F);

        float[] disp = new float[matSize * matSize];
        for (int i = 0; i < matSize; i++)
            for (int j = 0; j < matSize; j++)
                disp[i * matSize + j] = i - j;
        disparity.put(0, 0, disp);

        Mat _3dPoints = new Mat();

        Calib3d.reprojectImageTo3D(disparity, _3dPoints, transformMatrix, false, CvType.CV_16S);

        assertEquals(CvType.CV_16SC3, _3dPoints.type());
        assertEquals(matSize, _3dPoints.rows());
        assertEquals(matSize, _3dPoints.cols());

        truth = new Mat(matSize, matSize, CvType.CV_16SC3);

        short[] _truth = new short[matSize * matSize * 3];
        for (short i = 0; i < matSize; i++)
            for (short j = 0; j < matSize; j++) {
                _truth[(i * matSize + j) * 3 + 0] = i;
                _truth[(i * matSize + j) * 3 + 1] = j;
                _truth[(i * matSize + j) * 3 + 2] = (short) (i - j);
            }
        truth.put(0, 0, _truth);

        assertMatEqual(truth, _3dPoints, EPS);
    }

    public void testRodriguesMatMat() {
        Mat r = new Mat(3, 1, CvType.CV_32F);
        Mat R = new Mat(3, 3, CvType.CV_32F);

        r.put(0, 0, Math.PI, 0, 0);

        Calib3d.Rodrigues(r, R);

        truth = new Mat(3, 3, CvType.CV_32F);
        truth.put(0, 0, 1, 0, 0, 0, -1, 0, 0, 0, -1);
        assertMatEqual(truth, R, EPS);

        Mat r2 = new Mat();
        Calib3d.Rodrigues(R, r2);

        assertMatEqual(r, r2, EPS);
    }

    public void testRodriguesMatMatMat() {
        fail("Not yet implemented");
    }

    public void testRQDecomp3x3MatMatMat() {
        fail("Not yet implemented");
    }

    public void testRQDecomp3x3MatMatMatMat() {
        fail("Not yet implemented");
    }

    public void testRQDecomp3x3MatMatMatMatMat() {
        fail("Not yet implemented");
    }

    public void testRQDecomp3x3MatMatMatMatMatMat() {
        fail("Not yet implemented");
    }

    public void testSolvePnPListOfPoint3ListOfPointMatMatMatMat() {
        Mat intrinsics = Mat.eye(3, 3, CvType.CV_32F);
        intrinsics.put(0, 0, 400);
        intrinsics.put(1, 1, 400);
        intrinsics.put(0, 2, 640 / 2);
        intrinsics.put(1, 2, 480 / 2);

        final int minPnpPointsNum = 4;

        MatOfPoint3f points3d = new MatOfPoint3f();
        points3d.alloc(minPnpPointsNum);
        MatOfPoint2f points2d = new MatOfPoint2f();
        points2d.alloc(minPnpPointsNum);

        for (int i = 0; i < minPnpPointsNum; i++) {
            double x = Math.random() * 100 - 50;
            double y = Math.random() * 100 - 50;
            points2d.put(i, 0, x, y); //add(new Point(x, y));
            points3d.put(i, 0, 0, y, x); // add(new Point3(0, y, x));
        }

        Mat rvec = new Mat();
        Mat tvec = new Mat();
        Calib3d.solvePnP(points3d, points2d, intrinsics, new MatOfDouble(), rvec, tvec);

        Mat truth_rvec = new Mat(3, 1, CvType.CV_64F);
        truth_rvec.put(0, 0, 0, Math.PI / 2, 0);

        Mat truth_tvec = new Mat(3, 1, CvType.CV_64F);
        truth_tvec.put(0, 0, -320, -240, 400);

        assertMatEqual(truth_rvec, rvec, EPS);
        assertMatEqual(truth_tvec, tvec, EPS);
    }

    public void testSolvePnPListOfPoint3ListOfPointMatMatMatMatBoolean() {
        fail("Not yet implemented");
    }

    public void testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMat() {
        fail("Not yet implemented");
    }

    public void testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBoolean() {
        fail("Not yet implemented");
    }

    public void testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBooleanInt() {
        fail("Not yet implemented");
    }

    public void testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBooleanIntFloat() {
        fail("Not yet implemented");
    }

    public void testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBooleanIntFloatInt() {
        fail("Not yet implemented");
    }

    public void testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBooleanIntFloatIntMat() {
        fail("Not yet implemented");
    }

    public void testStereoCalibrateListOfMatListOfMatListOfMatMatMatMatMatSizeMatMatMatMat() {
        fail("Not yet implemented");
    }

    public void testStereoCalibrateListOfMatListOfMatListOfMatMatMatMatMatSizeMatMatMatMatTermCriteria() {
        fail("Not yet implemented");
    }

    public void testStereoCalibrateListOfMatListOfMatListOfMatMatMatMatMatSizeMatMatMatMatTermCriteriaInt() {
        fail("Not yet implemented");
    }

    public void testStereoRectifyUncalibratedMatMatMatSizeMatMat() {
        fail("Not yet implemented");
    }

    public void testStereoRectifyUncalibratedMatMatMatSizeMatMatDouble() {
        fail("Not yet implemented");
    }

    public void testValidateDisparityMatMatIntInt() {
        fail("Not yet implemented");
    }

    public void testValidateDisparityMatMatIntIntInt() {
        fail("Not yet implemented");
    }

    public void testComputeCorrespondEpilines()
    {
        Mat fundamental = new Mat(3, 3, CvType.CV_64F);
        fundamental.put(0, 0, 0, -0.577, 0.288, 0.577, 0, 0.288, -0.288, -0.288, 0);
        MatOfPoint2f left = new MatOfPoint2f();
        left.alloc(1);
        left.put(0, 0, 2, 3); //add(new Point(x, y));
        Mat lines = new Mat();
        Mat truth = new Mat(1, 1, CvType.CV_32FC3);
        truth.put(0, 0, -0.70735186, 0.70686162, -0.70588124);
        Calib3d.computeCorrespondEpilines(left, 1, fundamental, lines);
        assertMatEqual(truth, lines, EPS);
    }
}
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