#include "../FMatrix.hh"
#include "../FMatrixEstimation.hh"
#include "../PMatrixEstimation.hh"
#include "../PMatrixLinear.hh"
#include "../Triangulation.hh"
#include "../../Base/Math/Random.hh"
#define FMATRIX_FILENAME_SUFFIX ".FMatrix"
#define CORRESPONDENCE_FILENAME_SUFFIX ".corresp"
using namespace BIAS;
using namespace std;
int main()
{
double rangle = 0;
for (unsigned int i=0; i<2; i++) {
if (R[2][2] < 0.0) {
for (unsigned int y=0;y<3;y++) {
R[1][y] *= -1.0;
R[2][y] *= -1.0;
}
}
if (C[0] * R[0][2] >0.0) C[0] *= -1.0;
if (C[1] * R[1][2] >0.0) C[1] *= -1.0;
TheoP1 = K * TheoP1;
cout <<"epipoles are "<<epi1<<" and "<<epi2 <<endl;
TheoP1.GetC(VC1);
cout <<"validated epipoles are "<<epi1<<" and "<<epi2 <<endl;
double BaselineMagnitude = (i==0)?1:-1;
cout << " TheoP2 = " << TheoP2 << endl;
cout << "Direct P2 = " << P2 << endl;
cout <<"computed epipoles are "<<epi1<<" and "<<epi2 <<endl<<endl<<endl;
}
return 0;
}