--- a/UnitTestsSources/UnitTestsMain.cpp	Wed Feb 14 09:18:06 2018 +0100
+++ b/UnitTestsSources/UnitTestsMain.cpp	Wed Feb 14 11:29:26 2018 +0100
@@ -25,6 +25,7 @@
 #include "../Framework/Layers/FrameRenderer.h"
 #include "../Framework/Layers/LayerSourceBase.h"
 #include "../Framework/Toolbox/DownloadStack.h"
+#include "../Framework/Toolbox/FiniteProjectiveCamera.h"
 #include "../Framework/Toolbox/OrthancSlicesLoader.h"
 #include "../Framework/Volumes/ImageBuffer3D.h"
 #include "../Framework/Volumes/SlicedVolumeBase.h"
@@ -136,11 +137,81 @@
 TEST(GeometryToolbox, Interpolation)
 {
   // https://en.wikipedia.org/wiki/Bilinear_interpolation#Application_in_image_processing
-  ASSERT_FLOAT_EQ(146.1f, OrthancStone::GeometryToolbox::ComputeBilinearInterpolation(20.5f, 14.2f, 91, 210, 162, 95));
+  ASSERT_FLOAT_EQ(146.1f, OrthancStone::GeometryToolbox::ComputeBilinearInterpolation
+                  (20.5f, 14.2f, 91, 210, 162, 95));
+
+  ASSERT_FLOAT_EQ(123.35f, OrthancStone::GeometryToolbox::ComputeTrilinearInterpolation
+                  (20.5f, 15.2f, 5.7f,
+                   91, 210, 162, 95,
+                   51, 190, 80, 92));
+}
+
+
+TEST(FiniteProjectiveCamera, Decomposition)
+{
+  // Example 6.2 of "Multiple View Geometry in Computer Vision - 2nd
+  // edition" (page 163)
+  const double p[12] = {
+    3.53553e+2,  3.39645e+2,  2.77744e+2, -1.44946e+6,
+    -1.03528e+2, 2.33212e+1,  4.59607e+2, -6.32525e+5,
+    7.07107e-1,  -3.53553e-1, 6.12372e-1, -9.18559e+2
+  };
+
+  OrthancStone::FiniteProjectiveCamera camera(p);
+  ASSERT_EQ(3u, camera.GetMatrix().size1());
+  ASSERT_EQ(4u, camera.GetMatrix().size2());
+  ASSERT_EQ(3u, camera.GetIntrinsicParameters().size1());
+  ASSERT_EQ(3u, camera.GetIntrinsicParameters().size2());
+  ASSERT_EQ(3u, camera.GetRotation().size1());
+  ASSERT_EQ(3u, camera.GetRotation().size2());
+  ASSERT_EQ(3u, camera.GetCenter().size());
+
+  ASSERT_NEAR(1000.0, camera.GetCenter()[0], 0.01);
+  ASSERT_NEAR(2000.0, camera.GetCenter()[1], 0.01);
+  ASSERT_NEAR(1500.0, camera.GetCenter()[2], 0.01);
 
-  ASSERT_FLOAT_EQ(123.35f, OrthancStone::GeometryToolbox::ComputeTrilinearInterpolation(20.5f, 15.2f, 5.7f,
-                                                                                        91, 210, 162, 95,
-                                                                                        51, 190, 80, 92));
+  ASSERT_NEAR(468.2, camera.GetIntrinsicParameters() (0, 0), 0.1);
+  ASSERT_NEAR(91.2,  camera.GetIntrinsicParameters() (0, 1), 0.1);
+  ASSERT_NEAR(300.0, camera.GetIntrinsicParameters() (0, 2), 0.1);
+  ASSERT_NEAR(427.2, camera.GetIntrinsicParameters() (1, 1), 0.1);
+  ASSERT_NEAR(200.0, camera.GetIntrinsicParameters() (1, 2), 0.1);
+  ASSERT_NEAR(1.0,   camera.GetIntrinsicParameters() (2, 2), 0.1);
+
+  ASSERT_NEAR(0, camera.GetIntrinsicParameters() (1, 0), 0.0000001);
+  ASSERT_NEAR(0, camera.GetIntrinsicParameters() (2, 0), 0.0000001);
+  ASSERT_NEAR(0, camera.GetIntrinsicParameters() (2, 1), 0.0000001);
+
+  ASSERT_NEAR(0.41380,  camera.GetRotation() (0, 0), 0.00001);
+  ASSERT_NEAR(0.90915,  camera.GetRotation() (0, 1), 0.00001);
+  ASSERT_NEAR(0.04708,  camera.GetRotation() (0, 2), 0.00001);
+  ASSERT_NEAR(-0.57338, camera.GetRotation() (1, 0), 0.00001);
+  ASSERT_NEAR(0.22011,  camera.GetRotation() (1, 1), 0.00001);
+  ASSERT_NEAR(0.78917,  camera.GetRotation() (1, 2), 0.00001);
+  ASSERT_NEAR(0.70711,  camera.GetRotation() (2, 0), 0.00001);
+  ASSERT_NEAR(-0.35355, camera.GetRotation() (2, 1), 0.00001);
+  ASSERT_NEAR(0.61237,  camera.GetRotation() (2, 2), 0.00001);
+
+  ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation()));
+
+  OrthancStone::FiniteProjectiveCamera camera2(camera.GetIntrinsicParameters(),
+                                               camera.GetRotation(),
+                                               camera.GetCenter());
+  ASSERT_EQ(3u, camera2.GetMatrix().size1());
+  ASSERT_EQ(4u, camera2.GetMatrix().size2());
+  ASSERT_EQ(3u, camera2.GetIntrinsicParameters().size1());
+  ASSERT_EQ(3u, camera2.GetIntrinsicParameters().size2());
+  ASSERT_EQ(3u, camera2.GetRotation().size1());
+  ASSERT_EQ(3u, camera2.GetRotation().size2());
+  ASSERT_EQ(3u, camera2.GetCenter().size());
+
+  for (size_t i = 0; i < 3; i++)
+  {
+    for (size_t j = 0; j < 4; j++)
+    {
+      ASSERT_NEAR(camera.GetMatrix() (i, j),
+                  camera2.GetMatrix() (i, j), 0.00000001);
+    }
+  }
 }