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Added another TrifocalTensor estimation test

release/4.3a0
Manohar Paluri 2010-02-22 21:45:15 +00:00
parent fbbdd0be3e
commit 443d304a7c
1 changed files with 45 additions and 0 deletions
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45
cpp/testTrifocal.cpp
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@ -62,6 +62,7 @@ TEST(Tensors, TrifocalTensor)
{ { 0, 0, 0.301511 }, { 0, 0, 0 }, { 0, 0, 0 } }
};
TrifocalTensor T(t);
//print(T(a,b,c));
list<Point3h> points;
points += P1, P2, P3, P4, P5, P6, P7, P8;
@ -101,9 +102,53 @@ TEST(Tensors, TrifocalTensor)
CHECK(assert_equality(expected2(_c,_g), eta(_f,_c,_g) * p.third(f)));
TrifocalTensor actual = estimateTrifocalTensor(triplets);
//print(actual(a,b,c));
CHECK(assert_equality(T(_a,b,c),actual(_a,b,c),1e-6));
}
TEST(Tensors, TrifocalTensor1){
// Manually clicked points
// Points in frame1
// 339 336 281 51 367 265 135
// 152 344 246 210 76 248 246
// Points in frame2
// 380 381 311 108 395 294 161
// 148 340 242 208 73 243 242
// Points in frame3
// 440 441 360 181 444 344 207
// 151 343 246 212 74 247 245
Triplet p1(point2h(339,152,1), point2h(380,148,1), point2h(440,151,1));
Triplet p2(point2h(336,344,1), point2h(381,340,1), point2h(441,343,1));
Triplet p3(point2h(281,246,1), point2h(311,242,1), point2h(360,246,1));
Triplet p4(point2h(51,210,1 ), point2h(108,208,1), point2h(181,212,1));
Triplet p5(point2h(367,76,1 ), point2h(395,73,1 ), point2h(444,74,1) );
Triplet p6(point2h(265,248,1), point2h(294,243,1), point2h(344,247,1));
Triplet p7(point2h(135,246,1), point2h(161,242,1), point2h(207,245,1));
list<Triplet> triplets;
triplets += p1, p2, p3, p4, p5, p6, p7;
// Checked with MATLAB !
/*double t[3][3][3] = {
{ { -0.0145,0.0081,0.0000}, {-0.0004,-0.0180,0.0000}, {0.2334,-0.6283,-0.0230}},
{ { -0.0162,-0.0001,0.0000}, {0.0049,-0.0075,0.0000}, {0.7406,0.0209,-0.0140}},
{ { -0.0001,-0.0000,-0.0000}, {-0.0000,-0.0001,0.0000}, {0.0096,0.0063,-0.0000}}
};*/
double t[3][3][3] = {
{ { 0.0145,0.0004,-0.2334}, {-0.0081,0.0180,0.6283}, {0.0000,0.0000,0.0230}},
{ { 0.0162,-0.0049,-0.7406}, {0.0001,-0.0075,-0.0209}, {0.0000,0.0000,0.0140}},
{ { 0.0001,-0.0000,-0.0096}, {0.0000,0.0001,-0.0063}, {0.0000,-0.0000,-0.0000}}
};
TrifocalTensor T(t);
TrifocalTensor actual = estimateTrifocalTensor(triplets);
print(T(_a,b,c));
print(actual(_a,b,c));
CHECK(assert_equality(T(_a,b,c), actual(_a,b,c),1e-1));
}
/* ************************************************************************* */
int main() {
TestResult tr;