98 lines
3.3 KiB
C++
98 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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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 = cvtest::norm(x_reprojected, points2d[k].col(i), NORM_L2);
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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 = cvtest::norm(X.col(i), points3d.col(i), NORM_L2);
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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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}} // namespace
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