added unit tests

cpp/testSimpleCamera.cpp

@@ -69,6 +69,23 @@ TEST( SimpleCamera, backproject)
   CHECK(assert_equal( camera.backproject(Point2( 100,  100), 0.5),  point4));
 }
 
+/* ************************************************************************* */
+TEST( SimpleCamera, backproject2)
+{
+	Point3 origin;
+	Rot3 rot(1., 0., 0., 0., 0., 1., 0., -1., 0.); // a camera looking down
+	SimpleCamera camera(K, Pose3(rot, origin));
+
+
+	Point3 actual = camera.backproject(Point2(), 1.);
+	Point3 expected(0., 1., 0.);
+	pair<Point2, bool> x = camera.projectSafe(expected);
+
+	CHECK(assert_equal(expected, actual));
+	CHECK(assert_equal(Point2(), x.first));
+	CHECK(x.second);
+}
+
 /* ************************************************************************* */
 Point2 project2(const Pose3& pose, const Point3& point) {
 	return project(SimpleCamera(K,pose), point);