141 lines
3.4 KiB
C++
141 lines
3.4 KiB
C++
// 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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#ifndef __OPENCV_TEST_PRECOMP_HPP__
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#define __OPENCV_TEST_PRECOMP_HPP__
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#include <opencv2/sfm.hpp>
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#include <opencv2/core/core_c.h>
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#include <opencv2/ts.hpp>
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#include <opencv2/core.hpp>
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#include "scene.h"
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#define OPEN_TESTFILE(FNAME,FS) \
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FS.open(FNAME, FileStorage::READ); \
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if (!FS.isOpened())\
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{\
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std::cerr << "Cannot find file: " << FNAME << std::endl;\
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return;\
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}
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namespace opencv_test
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{
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using namespace cv::sfm;
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template<typename T>
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inline void
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EXPECT_MATRIX_NEAR(const T a, const T b, double tolerance)
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{
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bool dims_match = (a.rows == b.rows) && (a.cols == b.cols);
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EXPECT_EQ((int)a.rows, (int)b.rows);
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EXPECT_EQ((int)a.cols, (int)b.cols);
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if (dims_match)
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{
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for (int r = 0; r < a.rows; ++r)
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{
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for (int c = 0; c < a.cols; ++c)
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{
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EXPECT_NEAR(a(r, c), b(r, c), tolerance) << "r=" << r << ", c=" << c << ".";
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}
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}
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}
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}
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template<typename T>
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inline void
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EXPECT_VECTOR_NEAR(const T a, const T b, double tolerance)
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{
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bool dims_match = (a.rows == b.rows);
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EXPECT_EQ((int)a.rows,(int)b.rows) << "Matrix rows don't match.";
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if (dims_match)
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{
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for (int r = 0; r < a.rows; ++r)
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{
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EXPECT_NEAR(a(r), b(r), tolerance) << "r=" << r << ".";
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}
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}
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}
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template<class T>
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inline double
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cosinusBetweenMatrices(const T &a, const T &b)
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{
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double s = cv::sum( a.mul(b) )[0];
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return ( s / cv::norm(a) / cv::norm(b) );
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}
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// Check that sin(angle(a, b)) < tolerance
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template<typename T>
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inline void
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EXPECT_MATRIX_PROP(const T a, const T b, double tolerance)
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{
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bool dims_match = (a.rows == b.rows) && (a.cols == b.cols);
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EXPECT_EQ((int)a.rows, (int)b.rows);
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EXPECT_EQ((int)a.cols, (int)b.cols);
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if (dims_match)
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{
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double c = cosinusBetweenMatrices(a, b);
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if (c * c < 1)
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{
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double s = sqrt(1 - c * c);
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EXPECT_NEAR(0, s, tolerance);
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}
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}
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}
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struct TwoViewDataSet
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{
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cv::Matx33d K1, K2; // Internal parameters
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cv::Matx33d R1, R2; // Rotation
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cv::Vec3d t1, t2; // Translation
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cv::Matx34d P1, P2; // Projection matrix, P = K(R|t)
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cv::Matx33d F; // Fundamental matrix
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cv::Mat_<double> X; // 3D points
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cv::Mat_<double> x1, x2; // Projected points
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};
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void
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generateTwoViewRandomScene(TwoViewDataSet &data);
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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 = 1e-9 );
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/**
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* 2D tracked points
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* -----------------
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*
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* The format is:
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*
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* row1 : x1 y1 x2 y2 ... x36 y36 for track 1
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* row2 : x1 y1 x2 y2 ... x36 y36 for track 2
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* etc
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*
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* i.e. a row gives the 2D measured position of a point as it is tracked
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* through frames 1 to 36. If there is no match found in a view then x
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* and y are -1.
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*
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* Each row corresponds to a different point.
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*
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*/
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void
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parser_2D_tracks(const std::string &_filename, std::vector<cv::Mat> &points2d );
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} // namespace
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#endif
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