125 lines
2.8 KiB
C++
125 lines
2.8 KiB
C++
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// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html.
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#include "test_precomp.hpp"
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namespace opencv_test {
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void generateTwoViewRandomScene( TwoViewDataSet &data )
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{
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vector<Mat_<double> > points2d;
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vector<cv::Matx33d> Rs;
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vector<cv::Vec3d> ts;
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vector<cv::Matx34d> Ps;
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Matx33d K;
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Mat_<double> points3d;
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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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generateScene(nviews, npoints, is_projective, K, Rs, ts, Ps, points3d, points2d);
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// Internal parameters (same K)
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data.K1 = K;
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data.K2 = K;
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// Rotation
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data.R1 = Rs[0];
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data.R2 = Rs[1];
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// Translation
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data.t1 = ts[0];
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data.t2 = ts[1];
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// Projection matrix, P = K(R|t)
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data.P1 = Ps[0];
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data.P2 = Ps[1];
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// Fundamental matrix
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fundamentalFromProjections( data.P1, data.P2, data.F );
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// 3D points
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data.X = points3d;
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// Projected points
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data.x1 = points2d[0];
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data.x2 = points2d[1];
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}
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/** Check the properties of a fundamental matrix:
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*
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* 1. The determinant is 0 (rank deficient)
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* 2. The condition x'T*F*x = 0 is satisfied to precision.
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*/
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void
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expectFundamentalProperties( const cv::Matx33d &F,
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const cv::Mat_<double> &ptsA,
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const cv::Mat_<double> &ptsB,
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double precision )
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{
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EXPECT_NEAR( 0, determinant(F), precision );
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int n = ptsA.cols;
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EXPECT_EQ( n, ptsB.cols );
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cv::Mat_<double> x1, x2;
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euclideanToHomogeneous( ptsA, x1 );
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euclideanToHomogeneous( ptsB, x2 );
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for( int i = 0; i < n; ++i )
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{
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double residual = Vec3d(x2(0,i),x2(1,i),x2(2,i)).ddot( F * Vec3d(x1(0,i),x1(1,i),x1(2,i)) );
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EXPECT_NEAR( 0.0, residual, precision );
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}
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}
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void
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parser_2D_tracks(const string &_filename, std::vector<Mat> &points2d )
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{
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std::ifstream myfile(_filename.c_str());
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if (!myfile.is_open())
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CV_Error(cv::Error::StsError, string("Unable to read file: ") + _filename + "\n");
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else {
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double x, y;
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string line_str;
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Mat nan_mat = Mat(2, 1 , CV_64F, -1);
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int n_frames = 0, n_tracks = 0, track = 0;
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while ( getline(myfile, line_str) )
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{
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std::istringstream line(line_str);
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if ( track > n_tracks )
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{
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n_tracks = track;
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for (int i = 0; i < n_frames; ++i)
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cv::hconcat(points2d[i], nan_mat, points2d[i]);
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}
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for (int frame = 1; line >> x >> y; ++frame)
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{
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if ( frame > n_frames )
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{
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n_frames = frame;
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points2d.push_back(nan_mat);
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}
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points2d[frame-1].at<double>(0,track) = x;
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points2d[frame-1].at<double>(1,track) = y;
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}
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++track;
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}
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myfile.close();
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}
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}
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} // namespace
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