300 lines
11 KiB
C++
300 lines
11 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @file testPinholeCamera.cpp
|
|
* @author Frank Dellaert
|
|
* @brief test PinholeCamera class
|
|
*/
|
|
|
|
#include <CppUnitLite/TestHarness.h>
|
|
#include <gtsam/base/Testable.h>
|
|
#include <gtsam/base/numericalDerivative.h>
|
|
#include <gtsam/geometry/PinholeCamera.h>
|
|
#include <gtsam/geometry/Cal3_S2.h>
|
|
#include <gtsam/geometry/Cal3Bundler.h>
|
|
|
|
#include <cmath>
|
|
#include <iostream>
|
|
|
|
using namespace std;
|
|
using namespace gtsam;
|
|
|
|
typedef PinholeCamera<Cal3_S2> Camera;
|
|
|
|
static const Cal3_S2 K(625, 625, 0, 0, 0);
|
|
|
|
static const Pose3 pose(Matrix3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5));
|
|
static const Camera camera(pose, K);
|
|
|
|
static const Pose3 pose1(Rot3(), Point3(0, 1, 0.5));
|
|
static const Camera camera1(pose1, K);
|
|
|
|
static const Point3 point1(-0.08,-0.08, 0.0);
|
|
static const Point3 point2(-0.08, 0.08, 0.0);
|
|
static const Point3 point3( 0.08, 0.08, 0.0);
|
|
static const Point3 point4( 0.08,-0.08, 0.0);
|
|
|
|
static const Point3 point1_inf(-0.16,-0.16, -1.0);
|
|
static const Point3 point2_inf(-0.16, 0.16, -1.0);
|
|
static const Point3 point3_inf( 0.16, 0.16, -1.0);
|
|
static const Point3 point4_inf( 0.16,-0.16, -1.0);
|
|
|
|
/* ************************************************************************* */
|
|
TEST( PinholeCamera, constructor)
|
|
{
|
|
EXPECT(assert_equal( camera.calibration(), K));
|
|
EXPECT(assert_equal( camera.pose(), pose));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( PinholeCamera, level2)
|
|
{
|
|
// Create a level camera, looking in Y-direction
|
|
Pose2 pose2(0.4,0.3,M_PI/2.0);
|
|
Camera camera = Camera::Level(K, pose2, 0.1);
|
|
|
|
// expected
|
|
Point3 x(1,0,0),y(0,0,-1),z(0,1,0);
|
|
Rot3 wRc(x,y,z);
|
|
Pose3 expected(wRc,Point3(0.4,0.3,0.1));
|
|
EXPECT(assert_equal( camera.pose(), expected));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( PinholeCamera, lookat)
|
|
{
|
|
// Create a level camera, looking in Y-direction
|
|
Point3 C(10.0,0.0,0.0);
|
|
Camera camera = Camera::Lookat(C, Point3(), Point3(0.0,0.0,1.0));
|
|
|
|
// expected
|
|
Point3 xc(0,1,0),yc(0,0,-1),zc(-1,0,0);
|
|
Pose3 expected(Rot3(xc,yc,zc),C);
|
|
EXPECT(assert_equal( camera.pose(), expected));
|
|
|
|
Point3 C2(30.0,0.0,10.0);
|
|
Camera camera2 = Camera::Lookat(C2, Point3(), Point3(0.0,0.0,1.0));
|
|
|
|
Matrix R = camera2.pose().rotation().matrix();
|
|
Matrix I = trans(R)*R;
|
|
EXPECT(assert_equal(I, eye(3)));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( PinholeCamera, project)
|
|
{
|
|
EXPECT(assert_equal( camera.project(point1), Point2(-100, 100) ));
|
|
EXPECT(assert_equal( camera.project(point2), Point2(-100, -100) ));
|
|
EXPECT(assert_equal( camera.project(point3), Point2( 100, -100) ));
|
|
EXPECT(assert_equal( camera.project(point4), Point2( 100, 100) ));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( PinholeCamera, backproject)
|
|
{
|
|
EXPECT(assert_equal( camera.backproject(Point2(-100, 100), 0.5), point1));
|
|
EXPECT(assert_equal( camera.backproject(Point2(-100, -100), 0.5), point2));
|
|
EXPECT(assert_equal( camera.backproject(Point2( 100, -100), 0.5), point3));
|
|
EXPECT(assert_equal( camera.backproject(Point2( 100, 100), 0.5), point4));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( PinholeCamera, backprojectInfinity)
|
|
{
|
|
EXPECT(assert_equal( camera.backprojectPointAtInfinity(Point2(-100, 100)), point1_inf));
|
|
EXPECT(assert_equal( camera.backprojectPointAtInfinity(Point2(-100, -100)), point2_inf));
|
|
EXPECT(assert_equal( camera.backprojectPointAtInfinity(Point2( 100, -100)), point3_inf));
|
|
EXPECT(assert_equal( camera.backprojectPointAtInfinity(Point2( 100, 100)), point4_inf));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( PinholeCamera, backproject2)
|
|
{
|
|
Point3 origin;
|
|
Rot3 rot(1., 0., 0., 0., 0., 1., 0., -1., 0.); // a camera1 looking down
|
|
Camera camera(Pose3(rot, origin), K);
|
|
|
|
Point3 actual = camera.backproject(Point2(), 1.);
|
|
Point3 expected(0., 1., 0.);
|
|
pair<Point2, bool> x = camera.projectSafe(expected);
|
|
|
|
EXPECT(assert_equal(expected, actual));
|
|
EXPECT(assert_equal(Point2(), x.first));
|
|
EXPECT(x.second);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( PinholeCamera, backprojectInfinity2)
|
|
{
|
|
Point3 origin;
|
|
Rot3 rot(1., 0., 0., 0., 0., 1., 0., -1., 0.); // a camera1 looking down
|
|
Camera camera(Pose3(rot, origin), K);
|
|
|
|
Point3 actual = camera.backprojectPointAtInfinity(Point2());
|
|
Point3 expected(0., 1., 0.);
|
|
Point2 x = camera.projectPointAtInfinity(expected);
|
|
|
|
EXPECT(assert_equal(expected, actual));
|
|
EXPECT(assert_equal(Point2(), x));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( PinholeCamera, backprojectInfinity3)
|
|
{
|
|
Point3 origin;
|
|
Rot3 rot(1., 0., 0., 0., 1., 0., 0., 0., 1.); // identity
|
|
Camera camera(Pose3(rot, origin), K);
|
|
|
|
Point3 actual = camera.backprojectPointAtInfinity(Point2());
|
|
Point3 expected(0., 0., 1.);
|
|
Point2 x = camera.projectPointAtInfinity(expected);
|
|
|
|
EXPECT(assert_equal(expected, actual));
|
|
EXPECT(assert_equal(Point2(), x));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
static Point2 project3(const Pose3& pose, const Point3& point, const Cal3_S2& cal) {
|
|
return Camera(pose,cal).project(point);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( PinholeCamera, Dproject)
|
|
{
|
|
Matrix Dpose, Dpoint, Dcal;
|
|
Point2 result = camera.project(point1, Dpose, Dpoint, Dcal);
|
|
Matrix numerical_pose = numericalDerivative31(project3, pose, point1, K);
|
|
Matrix Hexpected2 = numericalDerivative32(project3, pose, point1, K);
|
|
Matrix numerical_cal = numericalDerivative33(project3, pose, point1, K);
|
|
EXPECT(assert_equal(Point2(-100, 100), result));
|
|
EXPECT(assert_equal(numerical_pose, Dpose, 1e-7));
|
|
EXPECT(assert_equal(Hexpected2, Dpoint, 1e-7));
|
|
EXPECT(assert_equal(numerical_cal, Dcal, 1e-7));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
static Point2 projectInfinity3(const Pose3& pose, const Point3& point3D, const Cal3_S2& cal) {
|
|
return Camera(pose,cal).projectPointAtInfinity(point3D);
|
|
}
|
|
|
|
TEST( PinholeCamera, Dproject_Infinity)
|
|
{
|
|
Matrix Dpose, Dpoint, Dcal;
|
|
Point3 point3D(point1.x(), point1.y(), -10.0); // a point in front of the camera1
|
|
|
|
// test Projection
|
|
Point2 actual = camera.projectPointAtInfinity(point3D, Dpose, Dpoint, Dcal);
|
|
Point2 expected(-5.0, 5.0);
|
|
EXPECT(assert_equal(actual, expected, 1e-7));
|
|
|
|
// test Jacobians
|
|
Matrix numerical_pose = numericalDerivative31(projectInfinity3, pose, point3D, K);
|
|
Matrix Hexpected2 = numericalDerivative32(projectInfinity3, pose, point3D, K);
|
|
Matrix numerical_point2x2 = Hexpected2.block(0,0,2,2); // only the direction to the point matters
|
|
Matrix numerical_cal = numericalDerivative33(projectInfinity3, pose, point3D, K);
|
|
EXPECT(assert_equal(numerical_pose, Dpose, 1e-7));
|
|
EXPECT(assert_equal(numerical_point2x2, Dpoint, 1e-7));
|
|
EXPECT(assert_equal(numerical_cal, Dcal, 1e-7));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
static Point2 project4(const Camera& camera, const Point3& point) {
|
|
return camera.project2(point);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( PinholeCamera, Dproject2)
|
|
{
|
|
Matrix Dcamera, Dpoint;
|
|
Point2 result = camera.project2(point1, Dcamera, Dpoint);
|
|
Matrix Hexpected1 = numericalDerivative21(project4, camera, point1);
|
|
Matrix Hexpected2 = numericalDerivative22(project4, camera, point1);
|
|
EXPECT(assert_equal(result, Point2(-100, 100) ));
|
|
EXPECT(assert_equal(Hexpected1, Dcamera, 1e-7));
|
|
EXPECT(assert_equal(Hexpected2, Dpoint, 1e-7));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
static double range0(const Camera& camera, const Point3& point) {
|
|
return camera.range(point);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( PinholeCamera, range0) {
|
|
Matrix D1; Matrix D2;
|
|
double result = camera.range(point1, D1, D2);
|
|
Matrix Hexpected1 = numericalDerivative21(range0, camera, point1);
|
|
Matrix Hexpected2 = numericalDerivative22(range0, camera, point1);
|
|
EXPECT_DOUBLES_EQUAL(point1.distance(camera.pose().translation()), result,
|
|
1e-9);
|
|
EXPECT(assert_equal(Hexpected1, D1, 1e-7));
|
|
EXPECT(assert_equal(Hexpected2, D2, 1e-7));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
static double range1(const Camera& camera, const Pose3& pose) {
|
|
return camera.range(pose);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( PinholeCamera, range1) {
|
|
Matrix D1; Matrix D2;
|
|
double result = camera.range(pose1, D1, D2);
|
|
Matrix Hexpected1 = numericalDerivative21(range1, camera, pose1);
|
|
Matrix Hexpected2 = numericalDerivative22(range1, camera, pose1);
|
|
EXPECT_DOUBLES_EQUAL(1, result, 1e-9);
|
|
EXPECT(assert_equal(Hexpected1, D1, 1e-7));
|
|
EXPECT(assert_equal(Hexpected2, D2, 1e-7));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
typedef PinholeCamera<Cal3Bundler> Camera2;
|
|
static const Cal3Bundler K2(625, 1e-3, 1e-3);
|
|
static const Camera2 camera2(pose1, K2);
|
|
static double range2(const Camera& camera, const Camera2& camera2) {
|
|
return camera.range<Cal3Bundler>(camera2);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( PinholeCamera, range2) {
|
|
Matrix D1; Matrix D2;
|
|
double result = camera.range<Cal3Bundler>(camera2, D1, D2);
|
|
Matrix Hexpected1 = numericalDerivative21(range2, camera, camera2);
|
|
Matrix Hexpected2 = numericalDerivative22(range2, camera, camera2);
|
|
EXPECT_DOUBLES_EQUAL(1, result, 1e-9);
|
|
EXPECT(assert_equal(Hexpected1, D1, 1e-7));
|
|
EXPECT(assert_equal(Hexpected2, D2, 1e-7));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
static const CalibratedCamera camera3(pose1);
|
|
static double range3(const Camera& camera, const CalibratedCamera& camera3) {
|
|
return camera.range(camera3);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( PinholeCamera, range3) {
|
|
Matrix D1; Matrix D2;
|
|
double result = camera.range(camera3, D1, D2);
|
|
Matrix Hexpected1 = numericalDerivative21(range3, camera, camera3);
|
|
Matrix Hexpected2 = numericalDerivative22(range3, camera, camera3);
|
|
EXPECT_DOUBLES_EQUAL(1, result, 1e-9);
|
|
EXPECT(assert_equal(Hexpected1, D1, 1e-7));
|
|
EXPECT(assert_equal(Hexpected2, D2, 1e-7));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
|
|
/* ************************************************************************* */
|
|
|
|
|