97 lines
3.3 KiB
C++
97 lines
3.3 KiB
C++
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/*
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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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namespace opencv_test { namespace {
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/* Check projection errors */
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static void
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check_projection_errors(const cv::Mat& X_estimated, const std::vector<Matx34d>& Ps,
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const std::vector<Mat_<double> >& xs, float err_max2d)
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{
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cv::Mat X;
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euclideanToHomogeneous(X_estimated, X); // 3D point
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for (int m = 0; m < xs.size(); ++m)
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{
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cv::Mat x;
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homogeneousToEuclidean(cv::Mat(Ps[m]) * X, x); // 2d projection
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cv::Mat projerr = xs[m] - x;
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for (int n = 0; n < projerr.cols; ++n)
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{
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double d = cv::norm(projerr.col(n));
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EXPECT_NEAR(0, d, err_max2d);
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}
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}
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}
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#if CERES_FOUND
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TEST(Sfm_reconstruct, twoViewProjectiveOutliers)
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{
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float err_max2d = 1e-7;
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int nviews = 2;
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int npoints = 50;
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bool is_projective = true;
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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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Mat_<double> points3d_estimated;
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std::vector<cv::Mat> Ps_estimated;
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reconstruct(points2d, Ps_estimated, points3d_estimated, K, is_projective);
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/* Check projection errors on GT */
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check_projection_errors(points3d, Ps, points2d, err_max2d);
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/* Check projection errors on estimates */
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std::vector<cv::Matx34d> Ps_estimated_d;
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Ps_estimated_d.resize(Ps_estimated.size());
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for(size_t i=0; i<Ps_estimated.size(); ++i)
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Ps_estimated_d[i] = Ps_estimated[i];
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check_projection_errors(points3d_estimated, Ps_estimated_d, points2d, err_max2d);
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}
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#endif /* CERES_FOUND */
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}} // namespace
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