def test_essential_n_points(pairs_and_their_E):
for f1, f2, E, _ in pairs_and_their_E:
f1 /= np.linalg.norm(f1, axis=1)[:, None]
f2 /= np.linalg.norm(f2, axis=1)[:, None]
result = pygeometry.essential_n_points(f1, f2)
E_found = result[0]
if E_found[0, 0] * E[0, 0] < 0.0:
E_found *= -1.0
assert np.linalg.det(E_found) < 1e-10
assert np.linalg.norm(E - E_found, ord="fro") < 1e-6
def test_essential_n_points(one_pair_and_its_E):
f1, f2, E, _ = one_pair_and_its_E
f1 /= np.linalg.norm(f1, axis=1)[:, None]
f2 /= np.linalg.norm(f2, axis=1)[:, None]
result = pygeometry.essential_n_points(f1, f2)
E_found = result[0]
if E_found[0, 0]*E[0, 0] < 0.:
E_found *= -1.0
assert np.linalg.det(E_found) < 1e-10
assert np.linalg.norm(E-E_found, ord='fro') < 1e-6
