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96 lines
3.3 KiB
96 lines
3.3 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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#include "test_precomp.hpp" |
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using namespace cv; |
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using namespace cv::sfm; |
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using namespace std; |
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static void |
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checkTriangulation(int nviews, int npoints, bool is_projective, float err_max2d, float err_max3d) |
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{ |
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std::vector<Mat_<double> > points2d; |
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std::vector<cv::Matx33d> Rs; |
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std::vector<cv::Vec3d> ts; |
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std::vector<cv::Matx34d> Ps; |
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Matx33d K; |
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Mat_<double> points3d; |
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generateScene(nviews, npoints, is_projective, K, Rs, ts, Ps, points3d, points2d); |
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// get 3d points |
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cv::Mat X, X_homogeneous; |
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std::vector<Mat_<double> > Ps_d(Ps.size()); |
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for(size_t i=0; i<Ps.size(); ++i) |
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Ps_d[i] = cv::Mat_<double>(Ps[i]); |
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triangulatePoints(points2d, Ps_d, X); |
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euclideanToHomogeneous(X, X_homogeneous); |
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for (int i = 0; i < npoints; ++i) |
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{ |
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for (int k = 0; k < nviews; ++k) |
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{ |
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cv::Mat x_reprojected; |
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homogeneousToEuclidean( cv::Mat(Ps[k])*X_homogeneous.col(i), x_reprojected ); |
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// Check reprojection error. Should be nearly zero. |
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double error = norm( x_reprojected - points2d[k].col(i) ); |
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EXPECT_LE(error*error, err_max2d); |
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} |
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// Check 3d error. Should be nearly zero. |
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double error = norm( X.col(i) - points3d.col(i) ); |
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EXPECT_LE(error*error, err_max3d); |
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} |
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} |
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TEST(Sfm_triangulate, TriangulateDLT) |
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{ |
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int nviews = 2; |
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int npoints = 30; |
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bool is_projective = true; |
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checkTriangulation(nviews, npoints, is_projective, 1e-7, 1e-9); |
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} |
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TEST(Sfm_triangulate, NViewTriangulate_FiveViews) |
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{ |
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int nviews = 5; |
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int npoints = 6; |
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bool is_projective = true; |
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checkTriangulation(nviews, npoints, is_projective, 1e-7, 1e-9); |
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}
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