88 lines
3.5 KiB
C++
88 lines
3.5 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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#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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namespace opencv_test { namespace {
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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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}} // namespace
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#endif /* CERES_FOUND */
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