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F now works (mysteriously)

release/4.3a0
Frank Dellaert 2010-10-05 13:57:24 +00:00
parent 4169e08215
commit 8dd9f03992
1 changed files with 30 additions and 30 deletions
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60
geometry/tests/testFundamental.cpp
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@ -72,36 +72,36 @@ Point3h P7 = point3h(+1, +1, 3 - 1, 1);
Point3h P8 = point3h(+1, +1, 3 + 1, 1); Point3h P8 = point3h(+1, +1, 3 + 1, 1);
/* ************************************************************************* */ /* ************************************************************************* */
//TEST( Tensors, FundamentalMatrix2) TEST( Tensors, FundamentalMatrix2)
//{ {
// // The matrix A is rank-deficient, but as checked below this one // The correct fundamental matrix is given by formula 9.1 in HZ 2nd ed., p. 244
// // out of many in the zero-error subspace is a correct F for the rig // F = \hat(e')P'P+
// double f[3][3] = {{-0, 5.06764, -0.840876} // and is very simple
// ,{-4.62947, 1.25142, 1.99583e+16} double f[3][3] = {{0,0,0}
// ,{-1.70847, -1.99583e+16, 1} ,{0,0,-1}
// }; ,{0,1,0}
// FundamentalMatrix F(f); };
// FundamentalMatrix F(f);
// list<Point3h> points;
// Point3h P9 = point3h(-2,3,4,1); // Create a list of correspondences
// Point3h P10 = point3h(1,1,5,1); list<Point3h> points;
// points += P1, P2, P3, P4, P5, P6, P7, P8, P9, P10; Point3h P9 = point3h(-2,3,4,1);
// list<Correspondence> correspondences; Point3h P10 = point3h(1,1,5,1);
// BOOST_FOREACH(const Point3h& P, points) { points += P1, P2, P3, P4, P5, P6, P7, P8, P9, P10;
// print(P(A)); list<Correspondence> correspondences;
// Correspondence p(ML(a,A)*P(A), MR(b,A)*P(A)); BOOST_FOREACH(const Point3h& P, points) {
// print(ML(a,A)*P(A));print(MR(b,A)*P(A)); Correspondence p(ML(a,A)*P(A), MR(b,A)*P(A));
//// DOUBLES_EQUAL(0,F(a,b) * p.first(a) * p.second(b),1e-9); // checked here for cube DOUBLES_EQUAL(0,F(a,b) * p.first(a) * p.second(b),1e-9);
// correspondences += p; correspondences += p;
// } }
//
// // let's check it for another arbitrary point // let's check it for another arbitrary point
// Point2h left(ML(a,A)*P9(A)), right(MR(b,A)*P9(A)); Point2h left(ML(a,A)*P9(A)), right(MR(b,A)*P9(A));
//// DOUBLES_EQUAL(0,F(a,b) * left(a) * right(b),1e-9); DOUBLES_EQUAL(0,F(a,b) * left(a) * right(b),1e-9);
//
// FundamentalMatrix actual = estimateFundamentalMatrix(correspondences); FundamentalMatrix actual = estimateFundamentalMatrix(correspondences);
// CHECK(assert_equality(F(a,b),actual(a,b)*(1.0/actual(2,2)),0.1)); CHECK(assert_equivalent(F(a,b),actual(a,b),0.1));
//} }
/* ************************************************************************* */ /* ************************************************************************* */
int main() { int main() {