def test_essential_five_points(one_pair_and_its_E):
f1, f2, E, _ = one_pair_and_its_E
result = pygeometry.essential_five_points(f1[0:5, :], f2[0:5, :])
# run over the N solutions, looking for the exact one
for E_found in result:
if E_found[0, 0]*E[0, 0] < 0.:
E_found *= -1.0
good_det = np.linalg.det(E_found) < 1e-10
is_exact = np.linalg.norm(E-E_found, ord='fro') < 1e-6
if good_det and is_exact:
exact_found = True
assert exact_found
def test_essential_five_points(pairs_and_their_E):
exact_found = 0
for f1, f2, E, _ in pairs_and_their_E:
result = pygeometry.essential_five_points(f1[0:5, :], f2[0:5, :])
# run over the N solutions, looking for the exact one
for E_found in result:
if E_found[0, 0] * E[0, 0] < 0.0:
E_found *= -1.0
good_det = np.linalg.det(E_found) < 1e-10
is_exact = np.linalg.norm(E - E_found, ord="fro") < 1e-6
exact_found += good_det and is_exact
exacts = len(pairs_and_their_E) - 2
assert exact_found >= exacts
