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89 lines
3.5 KiB
89 lines
3.5 KiB
/* |
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* Software License Agreement (BSD License) |
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* |
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* Copyright (c) 2009, Willow Garage, Inc. |
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* All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* * Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* * Redistributions in binary form must reproduce the above |
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* copyright notice, this list of conditions and the following |
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* disclaimer in the documentation and/or other materials provided |
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* with the distribution. |
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* * Neither the name of Willow Garage, Inc. nor the names of its |
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* contributors may be used to endorse or promote products derived |
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* from this software without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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*/ |
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#if CERES_FOUND |
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#include "test_precomp.hpp" |
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#include <opencv2/sfm/simple_pipeline.hpp> |
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using namespace cv; |
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using namespace cv::sfm; |
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using namespace cvtest; |
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using namespace std; |
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const string SFM_DIR = "sfm"; |
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const string TRACK_FILENAME = "backyard_tracks.txt"; |
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TEST(Sfm_simple_pipeline, backyard) |
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{ |
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string trackFilename = |
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string(TS::ptr()->get_data_path()) + SFM_DIR + "/" + TRACK_FILENAME; |
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// Get tracks from file: check backyard.blend file |
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std::vector<Mat> points2d; |
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parser_2D_tracks( trackFilename, points2d ); |
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// Initial reconstruction |
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int keyframe1 = 1, keyframe2 = 30; |
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// Camera data |
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double focal_length = 860.986572265625; // f = 24mm (checked debugging blender) |
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double principal_x = 400, principal_y = 225, k1 = -0.158, k2 = 0.131, k3 = 0; |
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int refine_intrinsics = SFM_REFINE_FOCAL_LENGTH | SFM_REFINE_PRINCIPAL_POINT | SFM_REFINE_RADIAL_DISTORTION_K1 | SFM_REFINE_RADIAL_DISTORTION_K2; |
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int select_keyframes = 0; // disable automatic keyframes selection |
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int verbosity_level = -1; // mute logs |
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libmv_CameraIntrinsicsOptions camera_instrinsic_options = |
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libmv_CameraIntrinsicsOptions(SFM_DISTORTION_MODEL_POLYNOMIAL, |
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focal_length, principal_x, principal_y, |
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k1, k2, k3); |
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libmv_ReconstructionOptions reconstruction_options(keyframe1, keyframe2, refine_intrinsics, select_keyframes, verbosity_level); |
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Ptr<SFMLibmvEuclideanReconstruction> euclidean_reconstruction = |
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SFMLibmvEuclideanReconstruction::create(camera_instrinsic_options, reconstruction_options); |
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// Run reconstruction pipeline |
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euclidean_reconstruction->run(points2d); |
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double error = euclidean_reconstruction->getError(); |
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//cout << "euclidean_reconstruction error = " << error << endl; |
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EXPECT_LE( error, 1.4 ); // actually 1.38671 |
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// UPDATE: 1.38894 |
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} |
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#endif /* CERES_FOUND */
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