// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.

if (typeof module !== 'undefined' && module.exports) {
  // The environment is Node.js
  var cv = require('./opencv.js'); // eslint-disable-line no-var
}

QUnit.module('Camera Calibration and 3D Reconstruction', {});

QUnit.test('constants', function(assert) {
  assert.strictEqual(typeof cv.LMEDS, 'number');
  assert.strictEqual(typeof cv.RANSAC, 'number');
  assert.strictEqual(typeof cv.RHO, 'number');
});

QUnit.test('findHomography', function(assert) {
  let srcPoints = cv.matFromArray(4, 1, cv.CV_32FC2, [
    56,
    65,
    368,
    52,
    28,
    387,
    389,
    390,
  ]);
  let dstPoints = cv.matFromArray(4, 1, cv.CV_32FC2, [
    0,
    0,
    300,
    0,
    0,
    300,
    300,
    300,
  ]);

  const mat = cv.findHomography(srcPoints, dstPoints);

  assert.ok(mat instanceof cv.Mat);
});

QUnit.test('Rodrigues', function(assert) {
  // Converts a rotation matrix to a rotation vector and vice versa
  // data64F is the output array
  const rvec0 = cv.matFromArray(1, 3, cv.CV_64F, [1,1,1]);
  let rMat0 = new cv.Mat();
  let rvec1 = new cv.Mat();

  // Args: input Mat, output Mat. The function mutates the output Mat, so the function does not return anything.
  // cv.Rodrigues (InputArray=src, OutputArray=dst, jacobian=0)
  // https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#void%20Rodrigues(InputArray%20src,%20OutputArray%20dst,%20OutputArray%20jacobian)
  // vec to Mat, starting number is 3 long and each element is 1.
  cv.Rodrigues(rvec0, rMat0);

  assert.ok(rMat0.data64F.length == 9);
  assert.ok(0.23 > rMat0.data64F[0] > 0.22);

  // convert Mat to Vec, should be same as what we started with, 3 long and each item should be a 1.
  cv.Rodrigues(rMat0, rvec1);

  assert.ok(rvec1.data64F.length == 3);
  assert.ok(1.01 > rvec1.data64F[0] > 0.9);
  // Answer should be around 1: 0.9999999999999999
});