114 lines
3.5 KiB
C++
114 lines
3.5 KiB
C++
/*
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* testTrifocal.cpp
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* @brief trifocal tensor estimation
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* Created on: Feb 9, 2010
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* @author: Frank Dellaert
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*/
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#include <iostream>
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#include <boost/foreach.hpp>
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#include <boost/assign/std/list.hpp> // for operator +=
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using namespace boost::assign;
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#include <CppUnitLite/TestHarness.h>
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#include "tensors.h"
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#include "tensorInterface.h"
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#include "projectiveGeometry.h"
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using namespace std;
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using namespace gtsam;
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using namespace tensors;
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/* ************************************************************************* */
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// Indices
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Index<3, 'a'> a, _a;
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Index<3, 'b'> b, _b;
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Index<3, 'c'> c, _c;
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Index<3, 'd'> d, _d;
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Index<3, 'e'> e, _e;
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Index<3, 'f'> f, _f;
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Index<3, 'g'> g, _g;
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Index<4, 'A'> A;
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/* ************************************************************************* */
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// 3 Camera setup in trifocal stereo setup, -1,0,1
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/* ************************************************************************* */
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double left__[4][3] = { { 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1 }, { -1, 0, 0 } };
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double middle[4][3] = { { 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1 }, { +0, 0, 0 } };
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double right_[4][3] = { { 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1 }, { +1, 0, 0 } };
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ProjectiveCamera ML(left__), MM(middle), MR(right_);
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// Cube
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Point3h P1 = point3h(-1, -1, 3 - 1, 1);
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Point3h P2 = point3h(-1, -1, 3 + 1, 1);
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Point3h P3 = point3h(-1, +1, 3 - 1, 1);
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Point3h P4 = point3h(-1, +1, 3 + 1, 1);
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Point3h P5 = point3h(+1, -1, 3 - 1, 1);
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Point3h P6 = point3h(+1, -1, 3 + 1, 1);
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Point3h P7 = point3h(+1, +1, 3 - 1, 1);
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Point3h P8 = point3h(+1, +1, 3 + 1, 1);
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/* ************************************************************************* */
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// Manohar's homework
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TEST(Tensors, TrifocalTensor)
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{
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// Checked with MATLAB !
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double t[3][3][3] = {
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{ { -0.301511, 0, 0 }, { 0, -0.603023, 0 }, { 0, 0,-0.603023 } },
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{ { 0, 0.301511, 0 }, { 0, 0, 0 }, { 0, 0, 0 } },
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{ { 0, 0, 0.301511 }, { 0, 0, 0 }, { 0, 0, 0 } }
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};
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TrifocalTensor T(t);
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list<Point3h> points;
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points += P1, P2, P3, P4, P5, P6, P7, P8;
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Eta3 eta;
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list<Triplet> triplets;
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double data[3][3] = { { 0, 0, 0 }, { 0, 0, 0 }, { 0, 0, 0 } };
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Tensor2<3,3> zero(data);
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BOOST_FOREACH(const Point3h& P, points) {
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// form triplet
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Triplet p(ML(a,A)*P(A), MM(b,A)*P(A), MR(c,A)*P(A));
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// check trifocal constraint
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Tensor2<3,3> T1 = T(_a,b,c) * p.first(a);
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Tensor2<3,3> T2 = eta(_d,_b,_e) * p.second(d);
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Tensor2<3,3> T3 = eta(_f,_c,_g) * p.third(f);
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CHECK(assert_equality(zero(_e,_g), (T1(b,c) * T2(_b,_e)) * T3(_c,_g),1e-4));
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triplets += p;
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}
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// We will form the rank 5 tensor by multiplying a rank 3 and rank 2
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// Let's check the answer for the first point:
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Triplet p = triplets.front();
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// This checks the rank 3 (with answer checked in MATLAB);
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double matlab3[3][3][3] = {
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{ { -0, -0, 0}, { 4, 2, -4}, { 2, 1, -2}},
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{ { -4, -2, 4}, {-0, -0, 0}, {-2, -1, 2}},
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{ { -2, -1, 2}, { 2, 1, -2}, {-0, -0, 0}}
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};
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Tensor3<3,3,3> expected3(matlab3);
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CHECK(assert_equality(expected3(a,_b,_e), p.first(a)* (eta(_d,_b,_e) * p.second(d))));
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// This checks the rank 2 (with answer checked in MATLAB);
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double matlab2[3][3] = { {0, -2, -1}, {2, 0, 0}, {1, 0, 0}};
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Tensor2<3,3> expected2(matlab2);
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CHECK(assert_equality(expected2(_c,_g), eta(_f,_c,_g) * p.third(f)));
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TrifocalTensor actual = estimateTrifocalTensor(triplets);
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CHECK(assert_equality(T(_a,b,c),actual(_a,b,c),1e-6));
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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