diff options
| author | Sergey Sharybin <sergey.vfx@gmail.com> | 2014-06-18 16:49:17 +0400 |
|---|---|---|
| committer | Campbell Barton <ideasman42@gmail.com> | 2014-06-18 20:09:16 +0400 |
| commit | 306cbb82ecf0d7c1ba4fb0a1240175b1976bd25b (patch) | |
| tree | e9eac65bf57126ac233f22fe88cc00df137ec4e5 /extern/libmv | |
| parent | 47ec0394ca3d03e07c07a67e8f8d1625aedd39dd (diff) | |
GTest unit testing framework
Currently covers only small set of functionality.
Diffstat (limited to 'extern/libmv')
40 files changed, 5434 insertions, 50 deletions
diff --git a/extern/libmv/CMakeLists.txt b/extern/libmv/CMakeLists.txt index c3c5143cc16..62b387e8968 100644 --- a/extern/libmv/CMakeLists.txt +++ b/extern/libmv/CMakeLists.txt @@ -30,6 +30,9 @@ set(INC . ) +set(INC_SYS +) + set(SRC libmv-capi.h libmv-capi_intern.h @@ -67,6 +70,7 @@ if(WITH_LIBMV) libmv/multiview/fundamental.cc libmv/multiview/homography.cc libmv/multiview/panography.cc + libmv/multiview/panography_kernel.cc libmv/multiview/projection.cc libmv/multiview/triangulation.cc libmv/numeric/numeric.cc @@ -92,10 +96,6 @@ if(WITH_LIBMV) libmv/tracking/track_region.cc libmv/tracking/trklt_region_tracker.cc - third_party/gflags/gflags.cc - third_party/gflags/gflags_completions.cc - third_party/gflags/gflags_reporting.cc - libmv-util.h libmv/base/aligned_malloc.h libmv/base/id_generator.h @@ -106,6 +106,7 @@ if(WITH_LIBMV) libmv/image/convolve.h libmv/image/correlation.h libmv/image/image_converter.h + libmv/image/image_drawing.h libmv/image/image.h libmv/image/sample.h libmv/image/tuple.h @@ -113,13 +114,16 @@ if(WITH_LIBMV) libmv/multiview/conditioning.h libmv/multiview/euclidean_resection.h libmv/multiview/fundamental.h + libmv/multiview/homography_error.h libmv/multiview/homography.h libmv/multiview/homography_parameterization.h libmv/multiview/nviewtriangulation.h libmv/multiview/panography.h + libmv/multiview/panography_kernel.h libmv/multiview/projection.h libmv/multiview/resection.h libmv/multiview/triangulation.h + libmv/multiview/two_view_kernel.h libmv/numeric/dogleg.h libmv/numeric/function_derivative.h libmv/numeric/levenberg_marquardt.h @@ -149,18 +153,86 @@ if(WITH_LIBMV) libmv/tracking/track_region.h libmv/tracking/trklt_region_tracker.h + third_party/msinttypes/inttypes.h + third_party/msinttypes/stdint.h + ) + + if(WIN32) + list(APPEND INC + third_party/glog/src/windows + ) + + if(NOT MINGW) + list(APPEND INC + third_party/msinttypes + ) + endif() + endif() + + if(WITH_TESTS) + blender_add_lib(libmv_test_dataset "./libmv/multiview/test_data_sets.cc" "" "") + endif() + + BLENDER_SRC_GTEST("libmv_scoped_ptr" "./libmv/base/scoped_ptr_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_vector" "./libmv/base/vector_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_array_nd" "./libmv/image/array_nd_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_convolve" "./libmv/image/convolve_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_image" "./libmv/image/image_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_sample" "./libmv/image/sample_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_tuple" "./libmv/image/tuple_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_euclidean_resection" "./libmv/multiview/euclidean_resection_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_fundamental" "./libmv/multiview/fundamental_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_homography" "./libmv/multiview/homography_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_nviewtriangulation" "./libmv/multiview/nviewtriangulation_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_panography" "./libmv/multiview/panography_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_projection" "./libmv/multiview/projection_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_resection" "./libmv/multiview/resection_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_triangulation" "./libmv/multiview/triangulation_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_dogleg" "./libmv/numeric/dogleg_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_function_derivative" "./libmv/numeric/function_derivative_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_levenberg_marquardt" "./libmv/numeric/levenberg_marquardt_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_numeric" "./libmv/numeric/numeric_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_poly" "./libmv/numeric/poly_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_camera_intrinsics" "./libmv/simple_pipeline/camera_intrinsics_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_detect" "./libmv/simple_pipeline/detect_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_intersect" "./libmv/simple_pipeline/intersect_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_keyframe_selection" "./libmv/simple_pipeline/keyframe_selection_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_modal_solver" "./libmv/simple_pipeline/modal_solver_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_resect" "./libmv/simple_pipeline/resect_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_brute_region_tracker" "./libmv/tracking/brute_region_tracker_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_klt_region_tracker" "./libmv/tracking/klt_region_tracker_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") + BLENDER_SRC_GTEST("libmv_pyramid_region_tracker" "./libmv/tracking/pyramid_region_tracker_test.cc" "libmv_test_dataset;extern_libmv;extern_ceres") +else() + list(APPEND SRC + libmv-capi_stub.cc + ) +endif() + +blender_add_lib(extern_libmv "${SRC}" "${INC}" "${INC_SYS}") + +if(WITH_LIBMV) + add_subdirectory(third_party) +endif() + +# make GLog a separate target, so it can be used for gtest as well. +if(WITH_LIBMV OR WITH_TESTS) + # We compile GLog together with GFlag so we don't worry about + # adding extra lib to linker. + set(GLOG_SRC + third_party/gflags/gflags.cc + third_party/gflags/gflags_completions.cc + third_party/gflags/gflags_reporting.cc + third_party/gflags/config.h third_party/gflags/gflags/gflags_completions.h third_party/gflags/gflags/gflags_declare.h third_party/gflags/gflags/gflags.h third_party/gflags/mutex.h third_party/gflags/util.h - third_party/msinttypes/inttypes.h - third_party/msinttypes/stdint.h ) if(WIN32) - list(APPEND SRC + list(APPEND GLOG_SRC third_party/glog/src/logging.cc third_party/glog/src/raw_logging.cc third_party/glog/src/utilities.cc @@ -185,18 +257,8 @@ if(WITH_LIBMV) third_party/glog/src/windows/port.h third_party/glog/src/windows/config.h ) - - list(APPEND INC - third_party/glog/src/windows - ) - - if(NOT MINGW) - list(APPEND INC - third_party/msinttypes - ) - endif() else() - list(APPEND SRC + list(APPEND GLOG_SRC third_party/glog/src/demangle.cc third_party/glog/src/logging.cc third_party/glog/src/raw_logging.cc @@ -228,14 +290,14 @@ if(WITH_LIBMV) third_party/glog/src/utilities.h ) endif() -else() - list(APPEND SRC - libmv-capi_stub.cc + + set(GLOG_INC + third_party/gflags + third_party/glog/src ) -endif() -blender_add_lib(extern_libmv "${SRC}" "${INC}" "${INC_SYS}") + set(GLOG_INC_SYS + ) -if(WITH_LIBMV) - add_subdirectory(third_party) + blender_add_lib(extern_glog "${GLOG_SRC}" "${GLOG_INC}" "${GLOG_INC_SYS}") endif() diff --git a/extern/libmv/SConscript b/extern/libmv/SConscript index dc129501847..a267c96520e 100644 --- a/extern/libmv/SConscript +++ b/extern/libmv/SConscript @@ -44,6 +44,8 @@ if env['WITH_BF_LIBMV']: else: src = env.Glob("libmv-capi_stub.cc") +src = [src for src in src if src.find('_test.cc') == -1] + env.BlenderLib ( libname = 'extern_libmv', sources=src, includes=Split(incs), defines=defs, libtype=['extern', 'player'], priority=[20,137] ) if env['WITH_BF_LIBMV']: diff --git a/extern/libmv/bundle.sh b/extern/libmv/bundle.sh index e8e698a89f2..36df51770c5 100755 --- a/extern/libmv/bundle.sh +++ b/extern/libmv/bundle.sh @@ -30,15 +30,20 @@ rm -rf $tmp chmod 664 ./third_party/glog/src/windows/*.cc ./third_party/glog/src/windows/*.h ./third_party/glog/src/windows/glog/*.h -sources=`find ./libmv -type f -iname '*.cc' -or -iname '*.cpp' -or -iname '*.c' | sed -r 's/^\.\//\t\t/' | sort -d` -headers=`find ./libmv -type f -iname '*.h' | sed -r 's/^\.\//\t\t/' | sort -d` +sources=`find ./libmv -type f -iname '*.cc' -or -iname '*.cpp' -or -iname '*.c' | grep -v _test.cc | grep -v test_data_sets | sed -r 's/^\.\//\t\t/' | sort -d` +headers=`find ./libmv -type f -iname '*.h' | grep -v test_data_sets | sed -r 's/^\.\//\t\t/' | sort -d` -third_sources=`find ./third_party -type f -iname '*.cc' -or -iname '*.cpp' -or -iname '*.c' | grep -v glog | grep -v ceres | sed -r 's/^\.\//\t\t/' | sort -d` -third_headers=`find ./third_party -type f -iname '*.h' | grep -v glog | grep -v ceres | sed -r 's/^\.\//\t\t/' | sort -d` +third_sources=`find ./third_party -type f -iname '*.cc' -or -iname '*.cpp' -or -iname '*.c' | grep -v glog | grep -v gflags | grep -v ceres | sed -r 's/^\.\//\t\t/' | sort -d` +third_headers=`find ./third_party -type f -iname '*.h' | grep -v glog | grep -v gflags | grep -v ceres | sed -r 's/^\.\//\t\t/' | sort -d` third_glog_sources=`find ./third_party -type f -iname '*.cc' -or -iname '*.cpp' -or -iname '*.c' | grep glog | grep -v windows | sed -r 's/^\.\//\t\t\t/' | sort -d` third_glog_headers=`find ./third_party -type f -iname '*.h' | grep glog | grep -v windows | sed -r 's/^\.\//\t\t\t/' | sort -d` +third_gflags_sources=`find ./third_party -type f -iname '*.cc' -or -iname '*.cpp' -or -iname '*.c' | grep gflags | grep -v windows | sed -r 's/^\.\//\t\t/' | sort -d` +third_gflags_headers=`find ./third_party -type f -iname '*.h' | grep gflags | grep -v windows | sed -r 's/^\.\//\t\t/' | sort -d` + +tests=`find ./libmv -type f -iname '*_test.cc' | sort -d | awk ' { name=gensub(".*/([A-Za-z_]+)_test.cc", "\\\\1", $1); printf("\tBLENDER_SRC_GTEST(\"libmv_%s\" \"%s\" \"libmv_test_dataset;extern_libmv;extern_ceres\")\n", name, $1) } '` + src_dir=`find ./libmv -type f -iname '*.cc' -exec dirname {} \; -or -iname '*.cpp' -exec dirname {} \; -or -iname '*.c' -exec dirname {} \; | sed -r 's/^\.\//\t\t/' | sort -d | uniq` src_third_dir=`find ./third_party -type f -iname '*.cc' -exec dirname {} \; -or -iname '*.cpp' -exec dirname {} \; -or -iname '*.c' -exec dirname {} \; | grep -v ceres | sed -r 's/^\.\//\t\t/' | sort -d | uniq` src="" @@ -118,6 +123,9 @@ set(INC . ) +set(INC_SYS +) + set(SRC libmv-capi.h libmv-capi_intern.h @@ -148,9 +156,7 @@ if(WITH_LIBMV) libmv-capi.cc libmv-util.cc ${sources} - ${third_sources} - libmv-util.h ${headers} @@ -158,7 +164,46 @@ ${third_headers} ) if(WIN32) - list(APPEND SRC + list(APPEND INC + third_party/glog/src/windows + ) + + if(NOT MINGW) + list(APPEND INC + third_party/msinttypes + ) + endif() + endif() + + if(WITH_TESTS) + blender_add_lib(libmv_test_dataset "./libmv/multiview/test_data_sets.cc" "${INC}" "${INC_SYS}") + endif() + +${tests} +else() + list(APPEND SRC + libmv-capi_stub.cc + ) +endif() + +blender_add_lib(extern_libmv "\${SRC}" "\${INC}" "\${INC_SYS}") + +if(WITH_LIBMV) + add_subdirectory(third_party) +endif() + +# make GLog a separate target, so it can be used for gtest as well. +if(WITH_LIBMV OR WITH_TESTS) + # We compile GLog together with GFlag so we don't worry about + # adding extra lib to linker. + set(GLOG_SRC +${third_gflags_sources} + +${third_gflags_headers} + ) + + if(WIN32) + list(APPEND GLOG_SRC third_party/glog/src/logging.cc third_party/glog/src/raw_logging.cc third_party/glog/src/utilities.cc @@ -183,33 +228,23 @@ ${third_headers} third_party/glog/src/windows/port.h third_party/glog/src/windows/config.h ) - - list(APPEND INC - third_party/glog/src/windows - ) - - if(NOT MINGW) - list(APPEND INC - third_party/msinttypes - ) - endif() else() - list(APPEND SRC + list(APPEND GLOG_SRC ${third_glog_sources} ${third_glog_headers} ) endif() -else() - list(APPEND SRC - libmv-capi_stub.cc + + set(GLOG_INC + third_party/gflags + third_party/glog/src ) -endif() -blender_add_lib(extern_libmv "\${SRC}" "\${INC}" "\${INC_SYS}") + set(GLOG_INC_SYS + ) -if(WITH_LIBMV) - add_subdirectory(third_party) + blender_add_lib(extern_glog "\${GLOG_SRC}" "\${GLOG_INC}" "\${GLOG_INC_SYS}") endif() EOF @@ -254,6 +289,8 @@ ${win_src} else: src = env.Glob("libmv-capi_stub.cc") +src = [src for src in src if src.find('_test.cc') == -1] + env.BlenderLib ( libname = 'extern_libmv', sources=src, includes=Split(incs), defines=defs, libtype=['extern', 'player'], priority=[20,137] ) if env['WITH_BF_LIBMV']: diff --git a/extern/libmv/files.txt b/extern/libmv/files.txt index 60a99307835..f1eb9580ff5 100644 --- a/extern/libmv/files.txt +++ b/extern/libmv/files.txt @@ -2,60 +2,92 @@ libmv/base/aligned_malloc.cc libmv/base/aligned_malloc.h libmv/base/id_generator.h libmv/base/scoped_ptr.h +libmv/base/scoped_ptr_test.cc libmv/base/vector.h +libmv/base/vector_test.cc libmv/base/vector_utils.h libmv/image/array_nd.cc libmv/image/array_nd.h +libmv/image/array_nd_test.cc libmv/image/convolve.cc libmv/image/convolve.h +libmv/image/convolve_test.cc libmv/image/correlation.h libmv/image/image_converter.h +libmv/image/image_drawing.h libmv/image/image.h +libmv/image/image_test.cc libmv/image/sample.h +libmv/image/sample_test.cc libmv/image/tuple.h +libmv/image/tuple_test.cc libmv/logging/logging.h libmv/multiview/conditioning.cc libmv/multiview/conditioning.h libmv/multiview/euclidean_resection.cc libmv/multiview/euclidean_resection.h +libmv/multiview/euclidean_resection_test.cc libmv/multiview/fundamental.cc libmv/multiview/fundamental.h +libmv/multiview/fundamental_test.cc libmv/multiview/homography.cc +libmv/multiview/homography_error.h libmv/multiview/homography.h libmv/multiview/homography_parameterization.h +libmv/multiview/homography_test.cc libmv/multiview/nviewtriangulation.h +libmv/multiview/nviewtriangulation_test.cc libmv/multiview/panography.cc libmv/multiview/panography.h +libmv/multiview/panography_kernel.cc +libmv/multiview/panography_kernel.h +libmv/multiview/panography_test.cc libmv/multiview/projection.cc libmv/multiview/projection.h +libmv/multiview/projection_test.cc libmv/multiview/resection.h +libmv/multiview/resection_test.cc +libmv/multiview/test_data_sets.cc +libmv/multiview/test_data_sets.h libmv/multiview/triangulation.cc libmv/multiview/triangulation.h +libmv/multiview/triangulation_test.cc +libmv/multiview/two_view_kernel.h libmv/numeric/dogleg.h +libmv/numeric/dogleg_test.cc libmv/numeric/function_derivative.h +libmv/numeric/function_derivative_test.cc libmv/numeric/levenberg_marquardt.h +libmv/numeric/levenberg_marquardt_test.cc libmv/numeric/numeric.cc libmv/numeric/numeric.h +libmv/numeric/numeric_test.cc libmv/numeric/poly.cc libmv/numeric/poly.h +libmv/numeric/poly_test.cc libmv/simple_pipeline/bundle.cc libmv/simple_pipeline/bundle.h libmv/simple_pipeline/callbacks.h libmv/simple_pipeline/camera_intrinsics.cc libmv/simple_pipeline/camera_intrinsics.h libmv/simple_pipeline/camera_intrinsics_impl.h +libmv/simple_pipeline/camera_intrinsics_test.cc libmv/simple_pipeline/detect.cc libmv/simple_pipeline/detect.h +libmv/simple_pipeline/detect_test.cc libmv/simple_pipeline/distortion_models.cc libmv/simple_pipeline/distortion_models.h libmv/simple_pipeline/initialize_reconstruction.cc libmv/simple_pipeline/initialize_reconstruction.h libmv/simple_pipeline/intersect.cc libmv/simple_pipeline/intersect.h +libmv/simple_pipeline/intersect_test.cc libmv/simple_pipeline/keyframe_selection.cc libmv/simple_pipeline/keyframe_selection.h +libmv/simple_pipeline/keyframe_selection_test.cc libmv/simple_pipeline/modal_solver.cc libmv/simple_pipeline/modal_solver.h +libmv/simple_pipeline/modal_solver_test.cc libmv/simple_pipeline/pipeline.cc libmv/simple_pipeline/pipeline.h libmv/simple_pipeline/reconstruction.cc @@ -64,16 +96,20 @@ libmv/simple_pipeline/reconstruction_scale.cc libmv/simple_pipeline/reconstruction_scale.h libmv/simple_pipeline/resect.cc libmv/simple_pipeline/resect.h +libmv/simple_pipeline/resect_test.cc libmv/simple_pipeline/tracks.cc libmv/simple_pipeline/tracks.h libmv/tracking/brute_region_tracker.cc libmv/tracking/brute_region_tracker.h +libmv/tracking/brute_region_tracker_test.cc libmv/tracking/hybrid_region_tracker.cc libmv/tracking/hybrid_region_tracker.h libmv/tracking/klt_region_tracker.cc libmv/tracking/klt_region_tracker.h +libmv/tracking/klt_region_tracker_test.cc libmv/tracking/pyramid_region_tracker.cc libmv/tracking/pyramid_region_tracker.h +libmv/tracking/pyramid_region_tracker_test.cc libmv/tracking/region_tracker.h libmv/tracking/retrack_region_tracker.cc libmv/tracking/retrack_region_tracker.h diff --git a/extern/libmv/libmv/base/scoped_ptr_test.cc b/extern/libmv/libmv/base/scoped_ptr_test.cc new file mode 100644 index 00000000000..ce1d56b500a --- /dev/null +++ b/extern/libmv/libmv/base/scoped_ptr_test.cc @@ -0,0 +1,79 @@ +// Copyright (c) 2009 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include "libmv/base/scoped_ptr.h" +#include "testing/testing.h" + +namespace libmv { +namespace { + +struct FreeMe { + FreeMe(int *freed) : freed(freed) {} + ~FreeMe() { (*freed)++; } + int *freed; +}; + +TEST(ScopedPtr, NullDoesNothing) { + scoped_ptr<FreeMe> x(NULL); + // Does nothing. +} + +TEST(ScopedPtr, FreesWhenOutOfScope) { + int frees = 0; + { + scoped_ptr<FreeMe> scoped(new FreeMe(&frees)); + EXPECT_EQ(0, frees); + } + EXPECT_EQ(1, frees); +} + +TEST(ScopedPtr, Operators) { + int tag = 123; + scoped_ptr<FreeMe> scoped(new FreeMe(&tag)); + EXPECT_EQ(123, *(scoped->freed)); + EXPECT_EQ(123, *((*scoped).freed)); +} + +TEST(ScopedPtr, Reset) { + int frees = 0; + scoped_ptr<FreeMe> scoped(new FreeMe(&frees)); + EXPECT_EQ(0, frees); + scoped.reset(new FreeMe(&frees)); + EXPECT_EQ(1, frees); +} + +TEST(ScopedPtr, ReleaseAndGet) { + int frees = 0; + FreeMe *allocated = new FreeMe(&frees); + FreeMe *released = NULL; + { + scoped_ptr<FreeMe> scoped(allocated); + EXPECT_EQ(0, frees); + EXPECT_EQ(allocated, scoped.get()); + released = scoped.release(); + EXPECT_EQ(0, frees); + EXPECT_EQ(released, allocated); + } + EXPECT_EQ(0, frees); + delete released; +} + +} // namespace +} // namespace libmv diff --git a/extern/libmv/libmv/base/vector_test.cc b/extern/libmv/libmv/base/vector_test.cc new file mode 100644 index 00000000000..f17718c3926 --- /dev/null +++ b/extern/libmv/libmv/base/vector_test.cc @@ -0,0 +1,223 @@ +// Copyright (c) 2009 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include "libmv/base/vector.h" +#include "libmv/numeric/numeric.h" +#include "testing/testing.h" +#include <algorithm> + +namespace { +using namespace libmv; + +// This uses a Vec2d which is a fixed-size vectorizable Eigen type. It is +// necessary to test vectorizable types to ensure that the alignment asserts +// trigger if the alignment is not correct. +TEST(VectorAlignmentTest, PushBack) { + Vec2 x1, x2; + x1 << 1, 2; + x2 << 3, 4; + + vector<Vec2> vs; + vs.push_back(x1); + EXPECT_EQ(1, vs.size()); + EXPECT_EQ(1, vs.capacity()); + + vs.push_back(x2); + EXPECT_EQ(2, vs.size()); + EXPECT_EQ(2, vs.capacity()); + + // The following is necessary because of some bug in gtest; the expected + // parameter can't be a fixed size vectorizable type with alignment + // requirements. + Vec x1r = x1; + Vec x2r = x2; + EXPECT_EQ(x1r, vs[0]); + EXPECT_EQ(x2r, vs[1]); + + vs.push_back(x2); + vs.push_back(x2); + vs.push_back(x2); + EXPECT_EQ(5, vs.size()); + EXPECT_EQ(8, vs.capacity()); +} + +// Count the number of destruct calls to test that the destructor gets called. +int foo_construct_calls = 0; +int foo_destruct_calls = 0; + +struct Foo { + public: + Foo() : value(5) { foo_construct_calls++; } + ~Foo() { foo_destruct_calls++; } + int value; +}; + +struct VectorTest : public testing::Test { + VectorTest() { + foo_construct_calls = 0; + foo_destruct_calls = 0; + } +}; + +TEST_F(VectorTest, EmptyVectorDoesNotConstruct) { + { + vector<Foo> v; + EXPECT_EQ(0, v.size()); + EXPECT_EQ(0, v.capacity()); + } + EXPECT_EQ(0, foo_construct_calls); + EXPECT_EQ(0, foo_destruct_calls); +} + +TEST_F(VectorTest, DestructorGetsCalled) { + { + vector<Foo> v; + v.resize(5); + } + EXPECT_EQ(5, foo_construct_calls); + EXPECT_EQ(5, foo_destruct_calls); +} + +TEST_F(VectorTest, ReserveDoesNotCallConstructorsOrDestructors) { + vector<Foo> v; + EXPECT_EQ(0, v.size()); + EXPECT_EQ(0, v.capacity()); + EXPECT_EQ(0, foo_construct_calls); + EXPECT_EQ(0, foo_destruct_calls); + + v.reserve(5); + EXPECT_EQ(0, v.size()); + EXPECT_EQ(5, v.capacity()); + EXPECT_EQ(0, foo_construct_calls); + EXPECT_EQ(0, foo_destruct_calls); +} + +TEST_F(VectorTest, ResizeConstructsAndDestructsAsExpected) { + vector<Foo> v; + + // Create one object. + v.resize(1); + EXPECT_EQ(1, v.size()); + EXPECT_EQ(1, v.capacity()); + EXPECT_EQ(1, foo_construct_calls); + EXPECT_EQ(0, foo_destruct_calls); + EXPECT_EQ(5, v[0].value); + + // Create two more. + v.resize(3); + EXPECT_EQ(3, v.size()); + EXPECT_EQ(3, v.capacity()); + EXPECT_EQ(3, foo_construct_calls); + EXPECT_EQ(0, foo_destruct_calls); + + // Delete the last one. + v.resize(2); + EXPECT_EQ(2, v.size()); + EXPECT_EQ(3, v.capacity()); + EXPECT_EQ(3, foo_construct_calls); + EXPECT_EQ(1, foo_destruct_calls); + + // Delete the remaining two. + v.resize(0); + EXPECT_EQ(0, v.size()); + EXPECT_EQ(3, v.capacity()); + EXPECT_EQ(3, foo_construct_calls); + EXPECT_EQ(3, foo_destruct_calls); +} + +TEST_F(VectorTest, PushPopBack) { + vector<Foo> v; + + Foo foo; + foo.value = 10; + v.push_back(foo); + EXPECT_EQ(1, v.size()); + EXPECT_EQ(10, v.back().value); + + v.pop_back(); + EXPECT_EQ(0, v.size()); + EXPECT_EQ(1, foo_construct_calls); + EXPECT_EQ(1, foo_destruct_calls); +} + +TEST_F(VectorTest, CopyConstructor) { + vector<int> a; + a.push_back(1); + a.push_back(5); + a.push_back(3); + + vector<int> b(a); + EXPECT_EQ(a.size(), b.size()); + //EXPECT_EQ(a.capacity(), b.capacity()); + for (int i = 0; i < a.size(); ++i) { + EXPECT_EQ(a[i], b[i]); + } +} + +TEST_F(VectorTest, OperatorEquals) { + vector<int> a, b; + a.push_back(1); + a.push_back(5); + a.push_back(3); + + b = a; + + EXPECT_EQ(a.size(), b.size()); + //EXPECT_EQ(a.capacity(), b.capacity()); + for (int i = 0; i < a.size(); ++i) { + EXPECT_EQ(a[i], b[i]); + } +} + +TEST_F(VectorTest, STLFind) { + vector<int> a; + a.push_back(1); + a.push_back(5); + a.push_back(3); + + // Find return an int * + EXPECT_EQ(std::find(&a[0], &a[2], 1) == &a[0], true); + EXPECT_EQ(std::find(&a[0], &a[2], 5) == &a[1], true); + EXPECT_EQ(std::find(&a[0], &a[2], 3) == &a[2], true); + + // Find return a const int * + EXPECT_EQ(std::find(a.begin(), a.end(), 1) == &a[0], true); + EXPECT_EQ(std::find(a.begin(), a.end(), 5) == &a[1], true); + EXPECT_EQ(std::find(a.begin(), a.end(), 3) == &a[2], true); + + // Search value that are not in the vector + EXPECT_EQ(std::find(a.begin(), a.end(), 0) == a.end(), true); + EXPECT_EQ(std::find(a.begin(), a.end(), 52) == a.end(), true); +} + +TEST(Vector, swap) { + vector<int> a, b; + a.push_back(1); + a.push_back(2); + b.push_back(3); + a.swap(b); + EXPECT_EQ(1, a.size()); + EXPECT_EQ(3, a[0]); + EXPECT_EQ(2, b.size()); + EXPECT_EQ(1, b[0]); + EXPECT_EQ(2, b[1]); +} + +} // namespace diff --git a/extern/libmv/libmv/image/array_nd_test.cc b/extern/libmv/libmv/image/array_nd_test.cc new file mode 100644 index 00000000000..313f21b60e9 --- /dev/null +++ b/extern/libmv/libmv/image/array_nd_test.cc @@ -0,0 +1,324 @@ +// Copyright (c) 2007, 2008 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include "libmv/image/array_nd.h" +#include "testing/testing.h" + +using libmv::ArrayND; +using libmv::Array3D; +using libmv::Array3Df; + +namespace { + +TEST(ArrayND, EmptyConstructor) { + ArrayND<int, 2> a; + + EXPECT_EQ(0, a.Shape(0)); + EXPECT_EQ(0, a.Shape(1)); +} + +TEST(ArrayND, IndexConstructor) { + int s[] = {1, 2, 3}; + ArrayND<int, 3>::Index shape(s); + ArrayND<int, 3> a(shape); + + EXPECT_EQ(1, a.Shape(0)); + EXPECT_EQ(2, a.Shape(1)); + EXPECT_EQ(3, a.Shape(2)); +} + +TEST(ArrayND, PointerConstructor) { + int s[] = {1, 2, 3}; + ArrayND<int, 3> a(s); + + EXPECT_EQ(1, a.Shape(0)); + EXPECT_EQ(2, a.Shape(1)); + EXPECT_EQ(3, a.Shape(2)); +} + +TEST(ArrayND, CopyConstructor) { + int s[] = {1, 2, 3}; + ArrayND<int, 3> a(s); + a(0, 1, 1) = 3; + a(0, 1, 2) = 3; + ArrayND<int, 3> b(a); + EXPECT_EQ(1, b.Shape(0)); + EXPECT_EQ(2, b.Shape(1)); + EXPECT_EQ(3, b.Shape(2)); + EXPECT_EQ(3, b(0, 1, 1)); + b(0, 1, 2) = 2; + EXPECT_EQ(3, a(0, 1, 2)); +} + +TEST(ArrayND, Assignation) { + int s[] = {1, 2, 3}; + ArrayND<int, 3> a(s); + a(0, 1, 1) = 3; + a(0, 1, 2) = 3; + ArrayND<int, 3> b; + b = a; + EXPECT_EQ(1, b.Shape(0)); + EXPECT_EQ(2, b.Shape(1)); + EXPECT_EQ(3, b.Shape(2)); + EXPECT_EQ(3, b(0, 1, 1)); + b(0, 1, 2) = 2; + EXPECT_EQ(3, a(0, 1, 2)); +} + +TEST(ArrayND, Fill) { + int s[] = {2, 2}; + ArrayND<int, 2> a(s); + a.Fill(42); + EXPECT_EQ(42, a(0, 0)); + EXPECT_EQ(42, a(0, 1)); + EXPECT_EQ(42, a(1, 0)); + EXPECT_EQ(42, a(1, 1)); +} + +TEST(ArrayND, Size) { + int s[] = {1, 2, 3}; + ArrayND<int, 3>::Index shape(s); + ArrayND<int, 3> a(shape); + + int l[] = {0, 1, 2}; + ArrayND<int, 3>::Index last(l); + + EXPECT_EQ(a.Size(), a.Offset(last)+1); + EXPECT_TRUE(a.Contains(last)); + EXPECT_FALSE(a.Contains(shape)); +} + +TEST(ArrayND, MemorySizeInBytes) { + int s[] = {2, 3}; + ArrayND<int, 2>::Index shape(s); + ArrayND<int, 2> a(shape); + + int size = 24 + sizeof(a); + EXPECT_EQ(size, a.MemorySizeInBytes()); +} + +TEST(ArrayND, Parenthesis) { + typedef ArrayND<int, 2>::Index Index; + + int s[] = {3, 3}; + ArrayND<int, 2> a(s); + + *(a.Data()+0) = 0; + *(a.Data()+5) = 5; + + int i1[] = {0, 0}; + EXPECT_EQ(0, a(Index(i1))); + int i2[] = {1, 2}; + EXPECT_EQ(5, a(Index(i2))); +} + +TEST(ArrayND, 1DConstructor) { + ArrayND<int, 1> a(3); + + EXPECT_EQ(3, a.Shape(0)); +} + +TEST(ArrayND, 2DConstructor) { + ArrayND<int, 2> a(1, 2); + + EXPECT_EQ(1, a.Shape(0)); + EXPECT_EQ(2, a.Shape(1)); +} + +TEST(ArrayND, 3DConstructor) { + ArrayND<int, 3> a(1, 2, 3); + + EXPECT_EQ(1, a.Shape(0)); + EXPECT_EQ(2, a.Shape(1)); + EXPECT_EQ(3, a.Shape(2)); +} + +TEST(ArrayND, 1DAccessor) { + ArrayND<int, 1> a(3); + a(0) = 1; + a(1) = 2; + + EXPECT_EQ(1, a(0)); + EXPECT_EQ(2, a(1)); + EXPECT_EQ(1, *(a.Data())); + EXPECT_EQ(2, *(a.Data() + a.Stride(0))); +} + +TEST(ArrayND, 2DAccessor) { + ArrayND<int, 2> a(3, 3); + a(0, 0) = 1; + a(1, 1) = 2; + + EXPECT_EQ(1, a(0, 0)); + EXPECT_EQ(2, a(1, 1)); + EXPECT_EQ(1, *(a.Data())); + EXPECT_EQ(2, *(a.Data() + a.Stride(0) + a.Stride(1))); +} + +TEST(ArrayND, 3DAccessor) { + ArrayND<int, 3> a(3, 3, 3); + a(0, 0, 0) = 1; + a(1, 1, 1) = 2; + + EXPECT_EQ(1, a(0, 0, 0)); + EXPECT_EQ(2, a(1, 1, 1)); + EXPECT_EQ(1, *(a.Data())); + EXPECT_EQ(2, *(a.Data() + a.Stride(0) + a.Stride(1) + a.Stride(2))); +} + +TEST(ArrayND, CopyFrom) { + ArrayND<int, 3> a(2, 2, 1); + a(0, 0, 0) = 1; + a(0, 1, 0) = 2; + a(1, 0, 0) = 3; + a(1, 1, 0) = 4; + ArrayND<float, 3> b; + b.CopyFrom(a); + EXPECT_FLOAT_EQ(1.f, b(0, 0, 0)); + EXPECT_FLOAT_EQ(2.f, b(0, 1, 0)); + EXPECT_FLOAT_EQ(3.f, b(1, 0, 0)); + EXPECT_FLOAT_EQ(4.f, b(1, 1, 0)); +} + +TEST(ArrayND, MultiplyElements) { + ArrayND<int, 3> a(2, 2, 1); + a(0, 0, 0) = 1; + a(0, 1, 0) = 2; + a(1, 0, 0) = 3; + a(1, 1, 0) = 4; + ArrayND<int, 3> b(2, 2, 1); + b(0, 0, 0) = 6; + b(0, 1, 0) = 5; + b(1, 0, 0) = 4; + b(1, 1, 0) = 3; + ArrayND<int, 3> c; + MultiplyElements(a, b, &c); + EXPECT_FLOAT_EQ(6, c(0, 0, 0)); + EXPECT_FLOAT_EQ(10, c(0, 1, 0)); + EXPECT_FLOAT_EQ(12, c(1, 0, 0)); + EXPECT_FLOAT_EQ(12, c(1, 1, 0)); +} + +TEST(ArrayND, IsEqualOperator) { + ArrayND<int, 3> a(2, 2, 1); + a(0, 0, 0) = 1; + a(0, 1, 0) = 2; + a(1, 0, 0) = 3; + a(1, 1, 0) = 4; + ArrayND<int, 3> b(2, 2, 1); + b(0, 0, 0) = 1; + b(0, 1, 0) = 2; + b(1, 0, 0) = 3; + b(1, 1, 0) = 4; + EXPECT_TRUE(a == b); + EXPECT_FALSE(a != b); + b(1, 1, 0) = 5; + EXPECT_TRUE(a != b); + EXPECT_FALSE(a == b); +} + +TEST(Array3D, Sizes) { + Array3D<int> array; + EXPECT_EQ(array.Height(), 0); + EXPECT_EQ(array.Width(), 0); + EXPECT_EQ(array.Depth(), 0); + EXPECT_EQ(array.Shape(0), 0); +} + +TEST(Array3D, CopyConstructor) { + Array3D<int> array(10, 10); + array(0, 0) = 1; + array(0, 1) = 1; + Array3D<int> copy(array); + EXPECT_EQ(copy.Height(), 10); + EXPECT_EQ(copy.Width(), 10); + EXPECT_EQ(copy.Depth(), 1); + EXPECT_EQ(copy(0, 0), 1); + copy(0, 1) = 2; + EXPECT_EQ(array(0, 1), 1); +} + +TEST(Array3D, Assignation) { + Array3D<int> array(10, 10); + array(0, 0) = 1; + array(0, 1) = 1; + Array3D<int> copy; + copy = array; + EXPECT_EQ(copy.Height(), 10); + EXPECT_EQ(copy.Width(), 10); + EXPECT_EQ(copy.Depth(), 1); + EXPECT_EQ(copy(0, 0), 1); + copy(0, 1) = 2; + EXPECT_EQ(array(0, 1), 1); +} + +TEST(Array3D, Parenthesis) { + Array3D<int> array(1, 2, 3); + array(0, 1, 0) = 3; + EXPECT_EQ(array(0, 1), 3); +} + +TEST(Array3Df, SplitChannels) { + Array3Df array(1, 2, 3); + array(0, 0, 0) = 1; + array(0, 1, 0) = 1; + array(0, 0, 1) = 2; + array(0, 1, 1) = 2; + array(0, 0, 2) = 3; + array(0, 1, 2) = 3; + Array3Df c0, c1, c2; + SplitChannels(array, &c0, &c1, &c2); + for (int row = 0; row < 1; ++row) { + for (int column = 0; column < 2; ++column) { + EXPECT_EQ(array(row, column, 0), c0(row, column)); + EXPECT_EQ(array(row, column, 1), c1(row, column)); + EXPECT_EQ(array(row, column, 2), c2(row, column)); + } + } +} + +TEST(ArrayND, MultiplyElementsGeneric) { + ArrayND<double, 5> A; + ArrayND<int, 5> B; + ArrayND<double, 5> C; + int shape[] = {1, 3, 5, 7, 1}; + A.Resize(shape); + B.Resize(shape); + + A.Fill(1.1); + B.Fill(2); + MultiplyElements(A, B, &C); + + ArrayND<double, 5>::Index cIndex; + for (int d0 = 0; d0 < shape[0]; ++d0) + for (int d1 = 0; d1 < shape[1]; ++d1) + for (int d2 = 0; d2 < shape[2]; ++d2) + for (int d3 = 0; d3 < shape[3]; ++d3) + for (int d4 = 0; d4 < shape[4]; ++d4) { + cIndex(0) = d0; + cIndex(1) = d1; + cIndex(2) = d2; + cIndex(3) = d3; + cIndex(4) = d4; + EXPECT_EQ(2.2, C(cIndex)); + } +} + +} // namespace diff --git a/extern/libmv/libmv/image/convolve_test.cc b/extern/libmv/libmv/image/convolve_test.cc new file mode 100644 index 00000000000..0cdef8e1e72 --- /dev/null +++ b/extern/libmv/libmv/image/convolve_test.cc @@ -0,0 +1,110 @@ +// Copyright (c) 2007, 2008 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include <iostream> + +#include "libmv/image/convolve.h" +#include "libmv/image/image.h" +#include "libmv/numeric/numeric.h" +#include "testing/testing.h" + +using namespace libmv; + +namespace { + +TEST(Convolve, ComputeGaussianKernel) { + Vec kernel, derivative; + ComputeGaussianKernel(1, &kernel, &derivative); + EXPECT_EQ(7, kernel.size()); + // TODO(keir): Put in a more thorough test here! +} + +TEST(Convolve, ConvolveGaussian) { + FloatImage im(10, 10); + im.Fill(1); + FloatImage blured; + ConvolveGaussian(im, 3, &blured); + EXPECT_NEAR(im(5, 5), 1, 1e-7); +} + +TEST(Convolve, BoxFilterHorizontal) { + FloatImage im(10, 10), convolved, filtered; + im.Fill(1); + BoxFilterHorizontal(im, 3, &filtered); + Vec kernel(3); + kernel.setConstant(1.); + ConvolveHorizontal(im, kernel, &convolved); + EXPECT_EQ(filtered(5, 5), 3); + EXPECT_TRUE(filtered == convolved); +} + +TEST(Convolve, BoxFilter) { + FloatImage image(5, 5), filtered; + // A single 1.0 inside a 5x5 image should expand to a 3x3 square. + image.Fill(0); + image(2, 2) = 1.0; + BoxFilter(image, 3, &filtered); + for (int j = 0; j < 5; j++) { + for (int i = 0; i < 5; i++) { + if (i == 0 || i == 4 || j == 0 || j == 4) { + EXPECT_EQ(0.0, filtered(j, i)); + } else { + EXPECT_EQ(1.0, filtered(j, i)); + } + } + } +} + +TEST(Convolve, BlurredImageAndDerivativesChannelsFlat) { + FloatImage im(10, 10), blurred_and_derivatives; + im.Fill(1); + BlurredImageAndDerivativesChannels(im, 1.0, &blurred_and_derivatives); + EXPECT_NEAR(blurred_and_derivatives(5, 5, 0), 1.0, 1e-7); + EXPECT_NEAR(blurred_and_derivatives(5, 5, 1), 0.0, 1e-7); + EXPECT_NEAR(blurred_and_derivatives(5, 5, 2), 0.0, 1e-7); +} + +TEST(Convolve, BlurredImageAndDerivativesChannelsHorizontalSlope) { + FloatImage image(10, 10), blurred_and_derivatives; + for (int j = 0; j < 10; ++j) { + for (int i = 0; i < 10; ++i) { + image(j, i) = 2*i; + } + } + BlurredImageAndDerivativesChannels(image, 0.9, &blurred_and_derivatives); + EXPECT_NEAR(blurred_and_derivatives(5, 5, 0), 10.0, 1e-7); + EXPECT_NEAR(blurred_and_derivatives(5, 5, 1), 2.0, 1e-7); + EXPECT_NEAR(blurred_and_derivatives(5, 5, 2), 0.0, 1e-7); +} + +TEST(Convolve, BlurredImageAndDerivativesChannelsVerticalSlope) { + FloatImage image(10, 10), blurred_and_derivatives; + for (int j = 0; j < 10; ++j) { + for (int i = 0; i < 10; ++i) { + image(j, i) = 2*j; + } + } + BlurredImageAndDerivativesChannels(image, 0.9, &blurred_and_derivatives); + EXPECT_NEAR(blurred_and_derivatives(5, 5, 0), 10.0, 1e-7); + EXPECT_NEAR(blurred_and_derivatives(5, 5, 1), 0.0, 1e-7); + EXPECT_NEAR(blurred_and_derivatives(5, 5, 2), 2.0, 1e-7); +} + +} // namespace diff --git a/extern/libmv/libmv/image/image_drawing.h b/extern/libmv/libmv/image/image_drawing.h new file mode 100644 index 00000000000..f50e48b75a3 --- /dev/null +++ b/extern/libmv/libmv/image/image_drawing.h @@ -0,0 +1,285 @@ +// Copyright (c) 2009 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +// Generic Image Processing Algorithm (GIPA) +// Use an ImageModel class that must implement the following : +// +// ::Contains(int y, int x) <= Tell if a point is inside or not the image +// ::operator(int y,int x) <= Modification accessor over the pixel (y,x) +// ::Width() +// ::Height() + +#ifndef LIBMV_IMAGE_IMAGE_DRAWING_H +#define LIBMV_IMAGE_IMAGE_DRAWING_H + +namespace libmv { + +/// Put the pixel in the image to the given color only if the point (xc,yc) +/// is inside the image. +template <class Image, class Color> +inline void safePutPixel(int yc, int xc, const Color & col, Image *pim) { + if (!pim) + return; + if (pim->Contains(yc, xc)) { + (*pim)(yc, xc) = col; + } +} +/// Put the pixel in the image to the given color only if the point (xc,yc) +/// is inside the image. This function support multi-channel color +/// \note The color pointer col must have size as the image depth +template <class Image, class Color> +inline void safePutPixel(int yc, int xc, const Color *col, Image *pim) { + if (!pim) + return; + if (pim->Contains(yc, xc)) { + for (int i = 0; i < pim->Depth(); ++i) + (*pim)(yc, xc, i) = *(col + i); + } +} + +// Bresenham approach to draw ellipse. +// http://raphaello.univ-fcomte.fr/ig/algorithme/ExemplesGLUt/BresenhamEllipse.htm +// Add the rotation of the ellipse. +// As the algo. use symmetry we must use 4 rotations. +template <class Image, class Color> +void DrawEllipse(int xc, int yc, int radiusA, int radiusB, + const Color &col, Image *pim, double angle = 0.0) { + int a = radiusA; + int b = radiusB; + + // Counter Clockwise rotation matrix. + double matXY[4] = { cos(angle), sin(angle), + -sin(angle), cos(angle)}; + int x, y; + double d1, d2; + x = 0; + y = b; + d1 = b*b - a*a*b + a*a/4; + + float rotX = (matXY[0] * x + matXY[1] * y); + float rotY = (matXY[2] * x + matXY[3] * y); + safePutPixel(yc + rotY, xc + rotX, col, pim); + rotX = (matXY[0] * x - matXY[1] * y); + rotY = (matXY[2] * x - matXY[3] * y); + safePutPixel(yc + rotY, xc + rotX, col, pim); + rotX = (-matXY[0] * x - matXY[1] * y); + rotY = (-matXY[2] * x - matXY[3] * y); + safePutPixel(yc + rotY, xc + rotX, col, pim); + rotX = (-matXY[0] * x + matXY[1] * y); + rotY = (-matXY[2] * x + matXY[3] * y); + safePutPixel(yc + rotY, xc + rotX, col, pim); + + while (a*a*(y-.5) > b*b*(x+1)) { + if (d1 < 0) { + d1 += b*b*(2*x+3); + ++x; + } else { + d1 += b*b*(2*x+3) + a*a*(-2*y+2); + ++x; + --y; + } + rotX = (matXY[0] * x + matXY[1] * y); + rotY = (matXY[2] * x + matXY[3] * y); + safePutPixel(yc + rotY, xc + rotX, col, pim); + rotX = (matXY[0] * x - matXY[1] * y); + rotY = (matXY[2] * x - matXY[3] * y); + safePutPixel(yc + rotY, xc + rotX, col, pim); + rotX = (-matXY[0] * x - matXY[1] * y); + rotY = (-matXY[2] * x - matXY[3] * y); + safePutPixel(yc + rotY, xc + rotX, col, pim); + rotX = (-matXY[0] * x + matXY[1] * y); + rotY = (-matXY[2] * x + matXY[3] * y); + safePutPixel(yc + rotY, xc + rotX, col, pim); + } + d2 = b*b*(x+.5)*(x+.5) + a*a*(y-1)*(y-1) - a*a*b*b; + while (y > 0) { + if (d2 < 0) { + d2 += b*b*(2*x+2) + a*a*(-2*y+3); + --y; + ++x; + } else { + d2 += a*a*(-2*y+3); + --y; + } + rotX = (matXY[0] * x + matXY[1] * y); + rotY = (matXY[2] * x + matXY[3] * y); + safePutPixel(yc + rotY, xc + rotX, col, pim); + rotX = (matXY[0] * x - matXY[1] * y); + rotY = (matXY[2] * x - matXY[3] * y); + safePutPixel(yc + rotY, xc + rotX, col, pim); + rotX = (-matXY[0] * x - matXY[1] * y); + rotY = (-matXY[2] * x - matXY[3] * y); + safePutPixel(yc + rotY, xc + rotX, col, pim); + rotX = (-matXY[0] * x + matXY[1] * y); + rotY = (-matXY[2] * x + matXY[3] * y); + safePutPixel(yc + rotY, xc + rotX, col, pim); + } +} + +// Bresenham approach do not allow to draw concentric circle without holes. +// So it's better the use the Andres method. +// http://fr.wikipedia.org/wiki/Algorithme_de_tracé_de_cercle_d'Andres. +template <class Image, class Color> +void DrawCircle(int x, int y, int radius, const Color &col, Image *pim) { + Image &im = *pim; + if ( im.Contains(y + radius, x + radius) + || im.Contains(y + radius, x - radius) + || im.Contains(y - radius, x + radius) + || im.Contains(y - radius, x - radius)) { + int x1 = 0; + int y1 = radius; + int d = radius - 1; + while (y1 >= x1) { + // Draw the point for each octant. + safePutPixel( y1 + y, x1 + x, col, pim); + safePutPixel( x1 + y, y1 + x, col, pim); + safePutPixel( y1 + y, -x1 + x, col, pim); + safePutPixel( x1 + y, -y1 + x, col, pim); + safePutPixel(-y1 + y, x1 + x, col, pim); + safePutPixel(-x1 + y, y1 + x, col, pim); + safePutPixel(-y1 + y, -x1 + x, col, pim); + safePutPixel(-x1 + y, -y1 + x, col, pim); + if (d >= 2 * x1) { + d = d - 2 * x1 - 1; + x1 += 1; + } else { + if (d <= 2 * (radius - y1)) { + d = d + 2 * y1 - 1; + y1 -= 1; + } else { + d = d + 2 * (y1 - x1 - 1); + y1 -= 1; + x1 += 1; + } + } + } + } +} + +// Bresenham algorithm +template <class Image, class Color> +void DrawLine(int xa, int ya, int xb, int yb, const Color &col, Image *pim) { + Image &im = *pim; + + // If one point is outside the image + // Replace the outside point by the intersection of the line and + // the limit (either x=width or y=height). + if (!im.Contains(ya, xa) || !im.Contains(yb, xb)) { + int width = pim->Width(); + int height = pim->Height(); + const bool xdir = xa < xb, ydir = ya < yb; + float nx0 = xa, nx1 = xb, ny0 = ya, ny1 = yb, + &xleft = xdir?nx0:nx1, &yleft = xdir?ny0:ny1, + &xright = xdir?nx1:nx0, &yright = xdir?ny1:ny0, + &xup = ydir?nx0:nx1, &yup = ydir?ny0:ny1, + &xdown = ydir?nx1:nx0, &ydown = ydir?ny1:ny0; + + if (xright < 0 || xleft >= width) return; + if (xleft < 0) { + yleft -= xleft*(yright - yleft)/(xright - xleft); + xleft = 0; + } + if (xright >= width) { + yright -= (xright - width)*(yright - yleft)/(xright - xleft); + xright = width - 1; + } + if (ydown < 0 || yup >= height) return; + if (yup < 0) { + xup -= yup*(xdown - xup)/(ydown - yup); + yup = 0; + } + if (ydown >= height) { + xdown -= (ydown - height)*(xdown - xup)/(ydown - yup); + ydown = height - 1; + } + + xa = (int) xleft; + xb = (int) xright; + ya = (int) yleft; + yb = (int) yright; + } + + int xbas, xhaut, ybas, yhaut; + // Check the condition ybas < yhaut. + if (ya <= yb) { + xbas = xa; + ybas = ya; + xhaut = xb; + yhaut = yb; + } else { + xbas = xb; + ybas = yb; + xhaut = xa; + yhaut = ya; + } + // Initialize slope. + int x, y, dx, dy, incrmX, incrmY, dp, N, S; + dx = xhaut - xbas; + dy = yhaut - ybas; + if (dx > 0) { // If xhaut > xbas we will increment X. + incrmX = 1; + } else { + incrmX = -1; // else we will decrement X. + dx *= -1; + } + if (dy > 0) { // Positive slope will increment X. + incrmY = 1; + } else { // Negative slope. + incrmY = -1; + } + if (dx >= dy) { + dp = 2 * dy - dx; + S = 2 * dy; + N = 2 * (dy - dx); + y = ybas; + x = xbas; + while (x != xhaut) { + safePutPixel(y, x, col, pim); + x += incrmX; + if (dp <= 0) { // Go in direction of the South Pixel. + dp += S; + } else { // Go to the North. + dp += N; + y+=incrmY; + } + } + } else { + dp = 2 * dx - dy; + S = 2 * dx; + N = 2 * (dx - dy); + x = xbas; + y = ybas; + while (y < yhaut) { + safePutPixel(y, x, col, pim); + y += incrmY; + if (dp <= 0) { // Go in direction of the South Pixel. + dp += S; + } else { // Go to the North. + dp += N; + x += incrmX; + } + } + } + safePutPixel(y, x, col, pim); +} + +} // namespace libmv + +#endif // LIBMV_IMAGE_IMAGE_DRAWING_H diff --git a/extern/libmv/libmv/image/image_test.cc b/extern/libmv/libmv/image/image_test.cc new file mode 100644 index 00000000000..241f49f2244 --- /dev/null +++ b/extern/libmv/libmv/image/image_test.cc @@ -0,0 +1,45 @@ +// Copyright (c) 2007, 2008 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include <iostream> + +#include "libmv/image/image.h" +#include "testing/testing.h" + +using libmv::Image; +using libmv::Array3Df; + +namespace { + +TEST(Image, SimpleImageAccessors) { + Array3Df *array = new Array3Df(2, 3); + Image image(array); + EXPECT_EQ(array, image.AsArray3Df()); + EXPECT_TRUE(NULL == image.AsArray3Du()); +} + +TEST(Image, MemorySizeInBytes) { + Array3Df *array = new Array3Df(2, 3); + Image image(array); + int size = sizeof(image) + array->MemorySizeInBytes(); + EXPECT_EQ(size, image.MemorySizeInBytes()); +} + +} // namespace diff --git a/extern/libmv/libmv/image/sample_test.cc b/extern/libmv/libmv/image/sample_test.cc new file mode 100644 index 00000000000..c8a0ce470c2 --- /dev/null +++ b/extern/libmv/libmv/image/sample_test.cc @@ -0,0 +1,89 @@ +// Copyright (c) 2007, 2008 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include "libmv/image/sample.h" +#include "testing/testing.h" + +using namespace libmv; + +namespace { + +TEST(Image, Nearest) { + Array3Du image(2, 2); + image(0, 0) = 0; + image(0, 1) = 1; + image(1, 0) = 2; + image(1, 1) = 3; + EXPECT_EQ(0, SampleNearest(image, -0.4f, -0.4f)); + EXPECT_EQ(0, SampleNearest(image, 0.4f, 0.4f)); + EXPECT_EQ(3, SampleNearest(image, 0.6f, 0.6f)); + EXPECT_EQ(3, SampleNearest(image, 1.4f, 1.4f)); +} + +TEST(Image, Linear) { + Array3Df image(2, 2); + image(0, 0) = 0; + image(0, 1) = 1; + image(1, 0) = 2; + image(1, 1) = 3; + EXPECT_EQ(1.5, SampleLinear(image, 0.5, 0.5)); +} + +TEST(Image, DownsampleBy2) { + Array3Df image(2, 2); + image(0, 0) = 0; + image(0, 1) = 1; + image(1, 0) = 2; + image(1, 1) = 3; + Array3Df resampled_image; + DownsampleChannelsBy2(image, &resampled_image); + ASSERT_EQ(1, resampled_image.Height()); + ASSERT_EQ(1, resampled_image.Width()); + ASSERT_EQ(1, resampled_image.Depth()); + EXPECT_FLOAT_EQ(6./4., resampled_image(0, 0)); +} + +TEST(Image, DownsampleBy2MultiChannel) { + Array3Df image(2, 2, 3); + image(0, 0, 0) = 0; + image(0, 1, 0) = 1; + image(1, 0, 0) = 2; + image(1, 1, 0) = 3; + + image(0, 0, 1) = 5; + image(0, 1, 1) = 6; + image(1, 0, 1) = 7; + image(1, 1, 1) = 8; + + image(0, 0, 2) = 9; + image(0, 1, 2) = 10; + image(1, 0, 2) = 11; + image(1, 1, 2) = 12; + + Array3Df resampled_image; + DownsampleChannelsBy2(image, &resampled_image); + ASSERT_EQ(1, resampled_image.Height()); + ASSERT_EQ(1, resampled_image.Width()); + ASSERT_EQ(3, resampled_image.Depth()); + EXPECT_FLOAT_EQ((0+1+2+3)/4., resampled_image(0, 0, 0)); + EXPECT_FLOAT_EQ((5+6+7+8)/4., resampled_image(0, 0, 1)); + EXPECT_FLOAT_EQ((9+10+11+12)/4., resampled_image(0, 0, 2)); +} +} // namespace diff --git a/extern/libmv/libmv/image/tuple_test.cc b/extern/libmv/libmv/image/tuple_test.cc new file mode 100644 index 00000000000..df44e5638b5 --- /dev/null +++ b/extern/libmv/libmv/image/tuple_test.cc @@ -0,0 +1,83 @@ +// Copyright (c) 2007, 2008 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include "libmv/image/tuple.h" +#include "testing/testing.h" + +#include <algorithm> + +using libmv::Tuple; + +namespace { + +TEST(Tuple, InitConstantValue) { + Tuple<int, 3> t(5); + EXPECT_EQ(t(0), 5); + EXPECT_EQ(t(0), 5); + EXPECT_EQ(t(0), 5); +} + +TEST(Tuple, InitFromPointer) { + float vals[3] = {1.0f, 2.0f, 3.0f}; + + Tuple<float, 3> t(vals); + for (int i = 0; i < 3; i++) + EXPECT_EQ(t(i), vals[i]); + + Tuple<int, 3> b(t); + EXPECT_EQ(b(0), int(vals[0])); + EXPECT_EQ(b(1), int(vals[1])); + EXPECT_EQ(b(2), int(vals[2])); +} + +TEST(Tuple, Swap) { + unsigned char vala[3] = {1, 2, 3}; + unsigned char valb[3] = {4, 5, 6}; + + Tuple<unsigned char, 3> a(vala); + Tuple<unsigned char, 3> b(valb); + + std::swap(a, b); + + EXPECT_EQ(a(0), int(valb[0])); + EXPECT_EQ(a(1), int(valb[1])); + EXPECT_EQ(a(2), int(valb[2])); + EXPECT_EQ(b(0), int(vala[0])); + EXPECT_EQ(b(1), int(vala[1])); + EXPECT_EQ(b(2), int(vala[2])); +} + +TEST(Tuple, IsEqualOperator) { + Tuple<int, 3> a; + a(0) = 1; + a(1) = 2; + a(2) = 3; + Tuple<int, 3> b; + b(0) = 1; + b(1) = 2; + b(2) = 3; + EXPECT_TRUE(a == b); + EXPECT_FALSE(a != b); + b(1) = 5; + EXPECT_TRUE(a != b); + EXPECT_FALSE(a == b); +} + +} // namespace diff --git a/extern/libmv/libmv/multiview/euclidean_resection_test.cc b/extern/libmv/libmv/multiview/euclidean_resection_test.cc new file mode 100644 index 00000000000..5ec9dbda3cf --- /dev/null +++ b/extern/libmv/libmv/multiview/euclidean_resection_test.cc @@ -0,0 +1,237 @@ +// Copyright (c) 2009 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include "libmv/multiview/euclidean_resection.h" +#include "libmv/numeric/numeric.h" +#include "libmv/logging/logging.h" +#include "libmv/multiview/projection.h" +#include "testing/testing.h" + +using namespace libmv::euclidean_resection; +using namespace libmv; + +// Generates all necessary inputs and expected outputs for EuclideanResection. +void CreateCameraSystem(const Mat3& KK, + const Mat3X& x_image, + const Vec& X_distances, + const Mat3& R_input, + const Vec3& T_input, + Mat2X *x_camera, + Mat3X *X_world, + Mat3 *R_expected, + Vec3 *T_expected) { + int num_points = x_image.cols(); + + Mat3X x_unit_cam(3, num_points); + x_unit_cam = KK.inverse() * x_image; + + // Create normalized camera coordinates to be used as an input to the PnP + // function, instead of using NormalizeColumnVectors(&x_unit_cam). + *x_camera = x_unit_cam.block(0, 0, 2, num_points); + for (int i = 0; i < num_points; ++i) { + x_unit_cam.col(i).normalize(); + } + + // Create the 3D points in the camera system. + Mat X_camera(3, num_points); + for (int i = 0; i < num_points; ++i) { + X_camera.col(i) = X_distances(i) * x_unit_cam.col(i); + } + + // Apply the transformation to the camera 3D points + Mat translation_matrix(3, num_points); + translation_matrix.row(0).setConstant(T_input(0)); + translation_matrix.row(1).setConstant(T_input(1)); + translation_matrix.row(2).setConstant(T_input(2)); + + *X_world = R_input * X_camera + translation_matrix; + + // Create the expected result for comparison. + *R_expected = R_input.transpose(); + *T_expected = *R_expected * (-T_input); +}; + +TEST(AbsoluteOrientation, QuaternionSolution) { + int num_points = 4; + Mat X; + Mat Xp; + X = 100 * Mat::Random(3, num_points); + + // Create a random translation and rotation. + Mat3 R_input; + R_input = Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ()) + * Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitY()) + * Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ()); + + Vec3 t_input; + t_input.setRandom(); + t_input = 100 * t_input; + + Mat translation_matrix(3, num_points); + translation_matrix.row(0).setConstant(t_input(0)); + translation_matrix.row(1).setConstant(t_input(1)); + translation_matrix.row(2).setConstant(t_input(2)); + + // Create the transformed 3D points Xp as Xp = R * X + t. + Xp = R_input * X + translation_matrix; + + // Output variables. + Mat3 R; + Vec3 t; + + AbsoluteOrientation(X, Xp, &R, &t); + + EXPECT_MATRIX_NEAR(t, t_input, 1e-6); + EXPECT_MATRIX_NEAR(R, R_input, 1e-8); +} + +TEST(EuclideanResection, Points4KnownImagePointsRandomTranslationRotation) { + // In this test only the translation and rotation are random. The image + // points are selected from a real case and are well conditioned. + Vec2i image_dimensions; + image_dimensions << 1600, 1200; + + Mat3 KK; + KK << 2796, 0, 804, + 0 , 2796, 641, + 0, 0, 1; + + // The real image points. + int num_points = 4; + Mat3X x_image(3, num_points); + x_image << 1164.06, 734.948, 749.599, 430.727, + 681.386, 844.59, 496.315, 580.775, + 1, 1, 1, 1; + + + // A vector of the 4 distances to the 3D points. + Vec X_distances = 100 * Vec::Random(num_points).array().abs(); + + // Create the random camera motion R and t that resection should recover. + Mat3 R_input; + R_input = Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ()) + * Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitY()) + * Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ()); + + Vec3 T_input; + T_input.setRandom(); + T_input = 100 * T_input; + + // Create the camera system, also getting the expected result of the + // transformation. + Mat3 R_expected; + Vec3 T_expected; + Mat3X X_world; + Mat2X x_camera; + CreateCameraSystem(KK, x_image, X_distances, R_input, T_input, + &x_camera, &X_world, &R_expected, &T_expected); + + // Finally, run the code under test. + Mat3 R_output; + Vec3 T_output; + EuclideanResection(x_camera, X_world, + &R_output, &T_output, + RESECTION_ANSAR_DANIILIDIS); + + EXPECT_MATRIX_NEAR(T_output, T_expected, 1e-5); + EXPECT_MATRIX_NEAR(R_output, R_expected, 1e-7); + + // For now, the EPnP doesn't have a non-linear optimization step and so is + // not precise enough with only 4 points. + // + // TODO(jmichot): Reenable this test when there is nonlinear refinement. +#if 0 + R_output.setIdentity(); + T_output.setZero(); + + EuclideanResection(x_camera, X_world, + &R_output, &T_output, + RESECTION_EPNP); + + EXPECT_MATRIX_NEAR(T_output, T_expected, 1e-5); + EXPECT_MATRIX_NEAR(R_output, R_expected, 1e-7);*/ +#endif +} + +// TODO(jmichot): Reduce the code duplication here with the code above. +TEST(EuclideanResection, Points6AllRandomInput) { + Mat3 KK; + KK << 2796, 0, 804, + 0 , 2796, 641, + 0, 0, 1; + + // Create random image points for a 1600x1200 image. + int w = 1600; + int h = 1200; + int num_points = 6; + Mat3X x_image(3, num_points); + x_image.row(0) = w * Vec::Random(num_points).array().abs(); + x_image.row(1) = h * Vec::Random(num_points).array().abs(); + x_image.row(2).setOnes(); + + // Normalized camera coordinates to be used as an input to the PnP function. + Mat2X x_camera; + Vec X_distances = 100 * Vec::Random(num_points).array().abs(); + + // Create the random camera motion R and t that resection should recover. + Mat3 R_input; + R_input = Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ()) + * Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitY()) + * Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ()); + + Vec3 T_input; + T_input.setRandom(); + T_input = 100 * T_input; + + // Create the camera system. + Mat3 R_expected; + Vec3 T_expected; + Mat3X X_world; + CreateCameraSystem(KK, x_image, X_distances, R_input, T_input, + &x_camera, &X_world, &R_expected, &T_expected); + + // Test each of the resection methods. + { + Mat3 R_output; + Vec3 T_output; + EuclideanResection(x_camera, X_world, + &R_output, &T_output, + RESECTION_ANSAR_DANIILIDIS); + EXPECT_MATRIX_NEAR(T_output, T_expected, 1e-5); + EXPECT_MATRIX_NEAR(R_output, R_expected, 1e-7); + } + { + Mat3 R_output; + Vec3 T_output; + EuclideanResection(x_camera, X_world, + &R_output, &T_output, + RESECTION_EPNP); + EXPECT_MATRIX_NEAR(T_output, T_expected, 1e-5); + EXPECT_MATRIX_NEAR(R_output, R_expected, 1e-7); + } + { + Mat3 R_output; + Vec3 T_output; + EuclideanResection(x_image, X_world, KK, + &R_output, &T_output); + EXPECT_MATRIX_NEAR(T_output, T_expected, 1e-5); + EXPECT_MATRIX_NEAR(R_output, R_expected, 1e-7); + } +} diff --git a/extern/libmv/libmv/multiview/fundamental_test.cc b/extern/libmv/libmv/multiview/fundamental_test.cc new file mode 100644 index 00000000000..da0eb449b8f --- /dev/null +++ b/extern/libmv/libmv/multiview/fundamental_test.cc @@ -0,0 +1,162 @@ +// Copyright (c) 2007, 2008 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include <iostream> + +#include "libmv/logging/logging.h" +#include "libmv/multiview/conditioning.h" +#include "libmv/multiview/fundamental.h" +#include "libmv/multiview/projection.h" +#include "libmv/multiview/test_data_sets.h" +#include "libmv/numeric/numeric.h" +#include "testing/testing.h" + +namespace { + +using namespace libmv; + +TEST(Fundamental, FundamentalFromProjections) { + Mat34 P1_gt, P2_gt; + P1_gt << 1, 0, 0, 0, + 0, 1, 0, 0, + 0, 0, 1, 0; + P2_gt << 1, 1, 1, 3, + 0, 2, 0, 3, + 0, 1, 1, 0; + Mat3 F_gt; + FundamentalFromProjections(P1_gt, P2_gt, &F_gt); + + Mat34 P1, P2; + ProjectionsFromFundamental(F_gt, &P1, &P2); + + Mat3 F; + FundamentalFromProjections(P1, P2, &F); + + EXPECT_MATRIX_PROP(F_gt, F, 1e-6); +} + +TEST(Fundamental, PreconditionerFromPoints) { + int n = 4; + Mat points(2, n); + points << 0, 0, 1, 1, + 0, 2, 1, 3; + + Mat3 T; + PreconditionerFromPoints(points, &T); + + Mat normalized_points; + ApplyTransformationToPoints(points, T, &normalized_points); + + Vec mean, variance; + MeanAndVarianceAlongRows(normalized_points, &mean, &variance); + + EXPECT_NEAR(0, mean(0), 1e-8); + EXPECT_NEAR(0, mean(1), 1e-8); + EXPECT_NEAR(2, variance(0), 1e-8); + EXPECT_NEAR(2, variance(1), 1e-8); +} + +TEST(Fundamental, EssentialFromFundamental) { + TwoViewDataSet d = TwoRealisticCameras(); + + Mat3 E_from_Rt; + EssentialFromRt(d.R1, d.t1, d.R2, d.t2, &E_from_Rt); + + Mat3 E_from_F; + EssentialFromFundamental(d.F, d.K1, d.K2, &E_from_F); + + EXPECT_MATRIX_PROP(E_from_Rt, E_from_F, 1e-6); +} + +TEST(Fundamental, MotionFromEssential) { + TwoViewDataSet d = TwoRealisticCameras(); + + Mat3 E; + EssentialFromRt(d.R1, d.t1, d.R2, d.t2, &E); + + Mat3 R; + Vec3 t; + RelativeCameraMotion(d.R1, d.t1, d.R2, d.t2, &R, &t); + NormalizeL2(&t); + + std::vector<Mat3> Rs; + std::vector<Vec3> ts; + MotionFromEssential(E, &Rs, &ts); + bool one_solution_is_correct = false; + for (size_t i = 0; i < Rs.size(); ++i) { + if (FrobeniusDistance(Rs[i], R) < 1e-8 && DistanceL2(ts[i], t) < 1e-8) { + one_solution_is_correct = true; + break; + } + } + EXPECT_TRUE(one_solution_is_correct); +} + +TEST(Fundamental, MotionFromEssentialChooseSolution) { + TwoViewDataSet d = TwoRealisticCameras(); + + Mat3 E; + EssentialFromRt(d.R1, d.t1, d.R2, d.t2, &E); + + Mat3 R; + Vec3 t; + RelativeCameraMotion(d.R1, d.t1, d.R2, d.t2, &R, &t); + NormalizeL2(&t); + + std::vector<Mat3> Rs; + std::vector<Vec3> ts; + MotionFromEssential(E, &Rs, &ts); + + Vec2 x1, x2; + MatrixColumn(d.x1, 0, &x1); + MatrixColumn(d.x2, 0, &x2); + int solution = MotionFromEssentialChooseSolution(Rs, ts, d.K1, x1, d.K2, x2); + + EXPECT_LE(0, solution); + EXPECT_LE(solution, 3); + EXPECT_LE(FrobeniusDistance(Rs[solution], R), 1e-8); + EXPECT_LE(DistanceL2(ts[solution], t), 1e-8); +} + +TEST(Fundamental, MotionFromEssentialAndCorrespondence) { + TwoViewDataSet d = TwoRealisticCameras(); + + Mat3 E; + EssentialFromRt(d.R1, d.t1, d.R2, d.t2, &E); + + Mat3 R; + Vec3 t; + RelativeCameraMotion(d.R1, d.t1, d.R2, d.t2, &R, &t); + NormalizeL2(&t); + + Vec2 x1, x2; + MatrixColumn(d.x1, 0, &x1); + MatrixColumn(d.x2, 0, &x2); + + Mat3 R_estimated; + Vec3 t_estimated; + MotionFromEssentialAndCorrespondence(E, d.K1, x1, d.K2, x2, + &R_estimated, &t_estimated); + + EXPECT_LE(FrobeniusDistance(R_estimated, R), 1e-8); + EXPECT_LE(DistanceL2(t_estimated, t), 1e-8); +} + +} // namespace diff --git a/extern/libmv/libmv/multiview/homography_error.h b/extern/libmv/libmv/multiview/homography_error.h new file mode 100644 index 00000000000..f8b9d45e73c --- /dev/null +++ b/extern/libmv/libmv/multiview/homography_error.h @@ -0,0 +1,248 @@ +// Copyright (c) 2011 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#ifndef LIBMV_MULTIVIEW_HOMOGRAPHY_ERRORS_H_ +#define LIBMV_MULTIVIEW_HOMOGRAPHY_ERRORS_H_ + +#include "libmv/multiview/projection.h" + +namespace libmv { +namespace homography { +namespace homography2D { + + /** + * Structure for estimating the asymmetric error between a vector x2 and the + * transformed x1 such that + * Error = ||x2 - Psi(H * x1)||^2 + * where Psi is the function that transforms homogeneous to euclidean coords. + * \note It should be distributed as Chi-squared with k = 2. + */ +struct AsymmetricError { + /** + * Computes the asymmetric residuals between a set of 2D points x2 and the + * transformed 2D point set x1 such that + * Residuals_i = x2_i - Psi(H * x1_i) + * where Psi is the function that transforms homogeneous to euclidean coords. + * + * \param[in] H The 3x3 homography matrix. + * The estimated homography should approximatelly hold the condition y = H x. + * \param[in] x1 A set of 2D points (2xN or 3xN matrix of column vectors). + * \param[in] x2 A set of 2D points (2xN or 3xN matrix of column vectors). + * \param[out] dx A 2xN matrix of column vectors of residuals errors + */ + static void Residuals(const Mat &H, const Mat &x1, + const Mat &x2, Mat2X *dx) { + dx->resize(2, x1.cols()); + Mat3X x2h_est; + if (x1.rows() == 2) + x2h_est = H * EuclideanToHomogeneous(static_cast<Mat2X>(x1)); + else + x2h_est = H * x1; + dx->row(0) = x2h_est.row(0).array() / x2h_est.row(2).array(); + dx->row(1) = x2h_est.row(1).array() / x2h_est.row(2).array(); + if (x2.rows() == 2) + *dx = x2 - *dx; + else + *dx = HomogeneousToEuclidean(static_cast<Mat3X>(x2)) - *dx; + } + /** + * Computes the asymmetric residuals between a 2D point x2 and the transformed + * 2D point x1 such that + * Residuals = x2 - Psi(H * x1) + * where Psi is the function that transforms homogeneous to euclidean coords. + * + * \param[in] H The 3x3 homography matrix. + * The estimated homography should approximatelly hold the condition y = H x. + * \param[in] x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) + * \param[in] x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) + * \param[out] dx A vector of size 2 of the residual error + */ + static void Residuals(const Mat &H, const Vec &x1, + const Vec &x2, Vec2 *dx) { + Vec3 x2h_est; + if (x1.rows() == 2) + x2h_est = H * EuclideanToHomogeneous(static_cast<Vec2>(x1)); + else + x2h_est = H * x1; + if (x2.rows() == 2) + *dx = x2 - x2h_est.head<2>() / x2h_est[2]; + else + *dx = HomogeneousToEuclidean(static_cast<Vec3>(x2)) - + x2h_est.head<2>() / x2h_est[2]; + } + /** + * Computes the squared norm of the residuals between a set of 2D points x2 + * and the transformed 2D point set x1 such that + * Error = || x2 - Psi(H * x1) ||^2 + * where Psi is the function that transforms homogeneous to euclidean coords. + * + * \param[in] H The 3x3 homography matrix. + * The estimated homography should approximatelly hold the condition y = H x. + * \param[in] x1 A set of 2D points (2xN or 3xN matrix of column vectors). + * \param[in] x2 A set of 2D points (2xN or 3xN matrix of column vectors). + * \return The squared norm of the asymmetric residuals errors + */ + static double Error(const Mat &H, const Mat &x1, const Mat &x2) { + Mat2X dx; + Residuals(H, x1, x2, &dx); + return dx.squaredNorm(); + } + /** + * Computes the squared norm of the residuals between a 2D point x2 and the + * transformed 2D point x1 such that rms = || x2 - Psi(H * x1) ||^2 + * where Psi is the function that transforms homogeneous to euclidean coords. + * + * \param[in] H The 3x3 homography matrix. + * The estimated homography should approximatelly hold the condition y = H x. + * \param[in] x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) + * \param[in] x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) + * \return The squared norm of the asymmetric residual error + */ + static double Error(const Mat &H, const Vec &x1, const Vec &x2) { + Vec2 dx; + Residuals(H, x1, x2, &dx); + return dx.squaredNorm(); + } +}; + + /** + * Structure for estimating the symmetric error + * between a vector x2 and the transformed x1 such that + * Error = ||x2 - Psi(H * x1)||^2 + ||x1 - Psi(H^-1 * x2)||^2 + * where Psi is the function that transforms homogeneous to euclidean coords. + * \note It should be distributed as Chi-squared with k = 4. + */ +struct SymmetricError { + /** + * Computes the squared norm of the residuals between x2 and the + * transformed x1 such that + * Error = ||x2 - Psi(H * x1)||^2 + ||x1 - Psi(H^-1 * x2)||^2 + * where Psi is the function that transforms homogeneous to euclidean coords. + * + * \param[in] H The 3x3 homography matrix. + * The estimated homography should approximatelly hold the condition y = H x. + * \param[in] x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) + * \param[in] x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) + * \return The squared norm of the symmetric residuals errors + */ + static double Error(const Mat &H, const Vec &x1, const Vec &x2) { + // TODO(keir): This is awesomely inefficient because it does a 3x3 + // inversion for each evaluation. + Mat3 Hinv = H.inverse(); + return AsymmetricError::Error(H, x1, x2) + + AsymmetricError::Error(Hinv, x2, x1); + } + // TODO(julien) Add residuals function \see AsymmetricError +}; + /** + * Structure for estimating the algebraic error (cross product) + * between a vector x2 and the transformed x1 such that + * Error = ||[x2] * H * x1||^^2 + * where [x2] is the skew matrix of x2. + */ +struct AlgebraicError { + // TODO(julien) Make an AlgebraicError2Rows and AlgebraicError3Rows + + /** + * Computes the algebraic residuals (cross product) between a set of 2D + * points x2 and the transformed 2D point set x1 such that + * [x2] * H * x1 where [x2] is the skew matrix of x2. + * + * \param[in] H The 3x3 homography matrix. + * The estimated homography should approximatelly hold the condition y = H x. + * \param[in] x1 A set of 2D points (2xN or 3xN matrix of column vectors). + * \param[in] x2 A set of 2D points (2xN or 3xN matrix of column vectors). + * \param[out] dx A 3xN matrix of column vectors of residuals errors + */ + static void Residuals(const Mat &H, const Mat &x1, + const Mat &x2, Mat3X *dx) { + dx->resize(3, x1.cols()); + Vec3 col; + for (int i = 0; i < x1.cols(); ++i) { + Residuals(H, x1.col(i), x2.col(i), &col); + dx->col(i) = col; + } + } + /** + * Computes the algebraic residuals (cross product) between a 2D point x2 + * and the transformed 2D point x1 such that + * [x2] * H * x1 where [x2] is the skew matrix of x2. + * + * \param[in] H The 3x3 homography matrix. + * The estimated homography should approximatelly hold the condition y = H x. + * \param[in] x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) + * \param[in] x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) + * \param[out] dx A vector of size 3 of the residual error + */ + static void Residuals(const Mat &H, const Vec &x1, + const Vec &x2, Vec3 *dx) { + Vec3 x2h_est; + if (x1.rows() == 2) + x2h_est = H * EuclideanToHomogeneous(static_cast<Vec2>(x1)); + else + x2h_est = H * x1; + if (x2.rows() == 2) + *dx = SkewMat(EuclideanToHomogeneous(static_cast<Vec2>(x2))) * x2h_est; + else + *dx = SkewMat(x2) * x2h_est; + // TODO(julien) This is inefficient since it creates an + // identical 3x3 skew matrix for each evaluation. + } + /** + * Computes the squared norm of the algebraic residuals between a set of 2D + * points x2 and the transformed 2D point set x1 such that + * [x2] * H * x1 where [x2] is the skew matrix of x2. + * + * \param[in] H The 3x3 homography matrix. + * The estimated homography should approximatelly hold the condition y = H x. + * \param[in] x1 A set of 2D points (2xN or 3xN matrix of column vectors). + * \param[in] x2 A set of 2D points (2xN or 3xN matrix of column vectors). + * \return The squared norm of the asymmetric residuals errors + */ + static double Error(const Mat &H, const Mat &x1, const Mat &x2) { + Mat3X dx; + Residuals(H, x1, x2, &dx); + return dx.squaredNorm(); + } + /** + * Computes the squared norm of the algebraic residuals between a 2D point x2 + * and the transformed 2D point x1 such that + * [x2] * H * x1 where [x2] is the skew matrix of x2. + * + * \param[in] H The 3x3 homography matrix. + * The estimated homography should approximatelly hold the condition y = H x. + * \param[in] x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) + * \param[in] x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) + * \return The squared norm of the asymmetric residual error + */ + static double Error(const Mat &H, const Vec &x1, const Vec &x2) { + Vec3 dx; + Residuals(H, x1, x2, &dx); + return dx.squaredNorm(); + } +}; +// TODO(keir): Add error based on ideal points. + +} // namespace homography2D +// TODO(julien) add homography3D errors +} // namespace homography +} // namespace libmv + +#endif // LIBMV_MULTIVIEW_HOMOGRAPHY_ERRORS_H_ diff --git a/extern/libmv/libmv/multiview/homography_test.cc b/extern/libmv/libmv/multiview/homography_test.cc new file mode 100644 index 00000000000..8d7266e3d11 --- /dev/null +++ b/extern/libmv/libmv/multiview/homography_test.cc @@ -0,0 +1,261 @@ +// Copyright (c) 2011 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include "testing/testing.h" +#include "libmv/logging/logging.h" +#include "libmv/multiview/projection.h" +#include "libmv/multiview/homography.h" + +namespace { +using namespace libmv; + +namespace { + +// Check whether homography transform M actually transforms +// given vectors x1 to x2. Used to check validness of a reconstructed +// homography matrix. +// TODO(sergey): Consider using this in all tests since possible homography +// matrix is not fixed to a single value and different-looking matrices +// might actually crrespond to the same exact transform. +void CheckHomography2DTransform(const Mat3 &H, + const Mat &x1, + const Mat &x2) { + for (int i = 0; i < x2.cols(); ++i) { + Vec3 x2_expected = x2.col(i); + Vec3 x2_observed = H * x1.col(i); + x2_observed /= x2_observed(2); + EXPECT_MATRIX_NEAR(x2_expected, x2_observed, 1e-8); + } +} + +} // namespace + +TEST(Homography2DTest, Rotation45AndTranslationXY) { + Mat x1(3, 4); + x1 << 0, 1, 0, 5, + 0, 0, 2, 3, + 1, 1, 1, 1; + + double angle = 45.0; + Mat3 m; + m << cos(angle), -sin(angle), -2, + sin(angle), cos(angle), 5, + 0, 0, 1; + + Mat x2 = x1; + // Transform point from ground truth matrix + for (int i = 0; i < x2.cols(); ++i) + x2.col(i) = m * x1.col(i); + + Mat3 homography_mat; + EXPECT_TRUE(Homography2DFromCorrespondencesLinear(x1, x2, &homography_mat)); + VLOG(1) << "Mat Homography2D "; + VLOG(1) << homography_mat; + VLOG(1) << "Mat GT "; + VLOG(1) << m; + EXPECT_MATRIX_NEAR(homography_mat, m, 1e-8); +} + +TEST(Homography2DTest, AffineGeneral4) { + // TODO(julien) find why it doesn't work with 4 points!!! + Mat x1(3, 4); + x1 << 0, 1, 0, 2, + 0, 0, 1, 2, + 1, 1, 1, 1; + Mat3 m; + m << 3, -1, 4, + 6, -2, -3, + 0, 0, 1; + + Mat x2 = x1; + for (int i = 0; i < x2.cols(); ++i) { + x2.col(i) = m * x1.col(i); + } + + Mat3 homography_mat; + EXPECT_TRUE(Homography2DFromCorrespondencesLinear(x1, x2, &homography_mat)); + VLOG(1) << "Mat Homography2D"; + VLOG(1) << homography_mat; + CheckHomography2DTransform(homography_mat, x1, x2); + + // Test with euclidean coordinates + Mat eX1, eX2; + HomogeneousToEuclidean(x1, &eX1); + HomogeneousToEuclidean(x2, &eX2); + homography_mat.setIdentity(); + EXPECT_TRUE(Homography2DFromCorrespondencesLinear(eX1, eX2, &homography_mat)); + + VLOG(1) << "Mat Homography2D "; + VLOG(1) << homography_mat; + CheckHomography2DTransform(homography_mat, x1, x2); +} + +TEST(Homography2DTest, AffineGeneral5) { + Mat x1(3, 5); + x1 << 0, 1, 0, 2, 5, + 0, 0, 1, 2, 2, + 1, 1, 1, 1, 1; + Mat3 m; + m << 3, -1, 4, + 6, -2, -3, + 0, 0, 1; + + Mat x2 = x1; + for (int i = 0; i < x2.cols(); ++i) + x2.col(i) = m * x1.col(i); + + Mat3 homography_mat; + EXPECT_TRUE(Homography2DFromCorrespondencesLinear(x1, x2, &homography_mat)); + + VLOG(1) << "Mat Homography2D "; + VLOG(1) << homography_mat; + EXPECT_MATRIX_NEAR(homography_mat, m, 1e-8); + + // Test with euclidean coordinates + Mat eX1, eX2; + HomogeneousToEuclidean(x1, &eX1); + HomogeneousToEuclidean(x2, &eX2); + homography_mat.setIdentity(); + EXPECT_TRUE(Homography2DFromCorrespondencesLinear(eX1, eX2, &homography_mat)); + + VLOG(1) << "Mat Homography2D "; + VLOG(1) << homography_mat; + EXPECT_MATRIX_NEAR(homography_mat, m, 1e-8); +} + +TEST(Homography2DTest, HomographyGeneral) { + Mat x1(3, 4); + x1 << 0, 1, 0, 5, + 0, 0, 2, 3, + 1, 1, 1, 1; + Mat3 m; + m << 3, -1, 4, + 6, -2, -3, + 1, -3, 1; + + Mat x2 = x1; + for (int i = 0; i < x2.cols(); ++i) + x2.col(i) = m * x1.col(i); + + Mat3 homography_mat; + EXPECT_TRUE(Homography2DFromCorrespondencesLinear(x1, x2, &homography_mat)); + + VLOG(1) << "Mat Homography2D "; + VLOG(1) << homography_mat; + EXPECT_MATRIX_NEAR(homography_mat, m, 1e-8); +} + +TEST(Homography3DTest, RotationAndTranslationXYZ) { + Mat x1(4, 5); + x1 << 0, 0, 1, 5, 2, + 0, 1, 2, 3, 5, + 0, 2, 0, 1, 5, + 1, 1, 1, 1, 1; + Mat4 M; + M.setIdentity(); + /* + M = AngleAxisd(45.0, Vector3f::UnitZ()) + * AngleAxisd(25.0, Vector3f::UnitX()) + * AngleAxisd(5.0, Vector3f::UnitZ());*/ + + // Rotation on x + translation + double angle = 45.0; + Mat4 rot; + rot << 1, 0, 0, 1, + 0, cos(angle), -sin(angle), 3, + 0, sin(angle), cos(angle), -2, + 0, 0, 0, 1; + M *= rot; + // Rotation on y + angle = 25.0; + rot << cos(angle), 0, sin(angle), 0, + 0, 1, 0, 0, + -sin(angle), 0, cos(angle), 0, + 0, 0, 0, 1; + M *= rot; + // Rotation on z + angle = 5.0; + rot << cos(angle), -sin(angle), 0, 0, + sin(angle), cos(angle), 0, 0, + 0, 0, 1, 0, + 0, 0, 0, 1; + M *= rot; + Mat x2 = x1; + for (int i = 0; i < x2.cols(); ++i) { + x2.col(i) = M * x1.col(i); + } + + Mat4 homography_mat; + EXPECT_TRUE(Homography3DFromCorrespondencesLinear(x1, x2, &homography_mat)); + + VLOG(1) << "Mat Homography3D " << homography_mat; + VLOG(1) << "Mat GT " << M; + EXPECT_MATRIX_NEAR(homography_mat, M, 1e-8); +} + +TEST(Homography3DTest, AffineGeneral) { + Mat x1(4, 5); + x1 << 0, 0, 1, 5, 2, + 0, 1, 2, 3, 5, + 0, 2, 0, 1, 5, + 1, 1, 1, 1, 1; + Mat4 m; + m << 3, -1, 4, 1, + 6, -2, -3, -6, + 1, 0, 1, 2, + 0, 0, 0, 1; + + Mat x2 = x1; + for (int i = 0; i < x2.cols(); ++i) { + x2.col(i) = m * x1.col(i); + } + + Mat4 homography_mat; + EXPECT_TRUE(Homography3DFromCorrespondencesLinear(x1, x2, &homography_mat)); + VLOG(1) << "Mat Homography3D "; + VLOG(1) << homography_mat; + EXPECT_MATRIX_NEAR(homography_mat, m, 1e-8); +} + +TEST(Homography3DTest, HomographyGeneral) { + Mat x1(4, 5); + x1 << 0, 0, 1, 5, 2, + 0, 1, 2, 3, 5, + 0, 2, 0, 1, 5, + 1, 1, 1, 1, 1; + Mat4 m; + m << 3, -1, 4, 1, + 6, -2, -3, -6, + 1, 0, 1, 2, + -3, 1, 0, 1; + + Mat x2 = x1; + for (int i = 0; i < x2.cols(); ++i) { + x2.col(i) = m * x1.col(i); + } + + Mat4 homography_mat; + EXPECT_TRUE(Homography3DFromCorrespondencesLinear(x1, x2, &homography_mat)); + VLOG(1) << "Mat Homography3D"; + VLOG(1) << homography_mat; + EXPECT_MATRIX_NEAR(homography_mat, m, 1e-8); +} + +} // namespace diff --git a/extern/libmv/libmv/multiview/nviewtriangulation_test.cc b/extern/libmv/libmv/multiview/nviewtriangulation_test.cc new file mode 100644 index 00000000000..5a4d8499753 --- /dev/null +++ b/extern/libmv/libmv/multiview/nviewtriangulation_test.cc @@ -0,0 +1,94 @@ +// Copyright (c) 2009 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include <iostream> + +#include "libmv/base/vector.h" +#include "libmv/logging/logging.h" +#include "libmv/multiview/nviewtriangulation.h" +#include "libmv/multiview/projection.h" +#include "libmv/multiview/test_data_sets.h" +#include "libmv/numeric/numeric.h" +#include "testing/testing.h" + +namespace { + +using namespace libmv; + +TEST(NViewTriangulate, FiveViews) { + int nviews = 5; + int npoints = 6; + NViewDataSet d = NRealisticCamerasFull(nviews, npoints); + + // Collect P matrices together. + vector<Mat34> Ps(nviews); + for (int j = 0; j < nviews; ++j) { + Ps[j] = d.P(j); + } + + for (int i = 0; i < npoints; ++i) { + // Collect the image of point i in each frame. + Mat2X xs(2, nviews); + for (int j = 0; j < nviews; ++j) { + xs.col(j) = d.x[j].col(i); + } + Vec4 X; + NViewTriangulate(xs, Ps, &X); + + // Check reprojection error. Should be nearly zero. + for (int j = 0; j < nviews; ++j) { + Vec3 x_reprojected = Ps[j]*X; + x_reprojected /= x_reprojected(2); + double error = (x_reprojected.head(2) - xs.col(j)).norm(); + EXPECT_NEAR(error, 0.0, 1e-9); + } + } +} + +TEST(NViewTriangulateAlgebraic, FiveViews) { + int nviews = 5; + int npoints = 6; + NViewDataSet d = NRealisticCamerasFull(nviews, npoints); + + // Collect P matrices together. + vector<Mat34> Ps(nviews); + for (int j = 0; j < nviews; ++j) { + Ps[j] = d.P(j); + } + + for (int i = 0; i < npoints; ++i) { + // Collect the image of point i in each frame. + Mat2X xs(2, nviews); + for (int j = 0; j < nviews; ++j) { + xs.col(j) = d.x[j].col(i); + } + Vec4 X; + NViewTriangulate(xs, Ps, &X); + + // Check reprojection error. Should be nearly zero. + for (int j = 0; j < nviews; ++j) { + Vec3 x_reprojected = Ps[j]*X; + x_reprojected /= x_reprojected(2); + double error = (x_reprojected.head<2>() - xs.col(j)).norm(); + EXPECT_NEAR(error, 0.0, 1e-9); + } + } +} +} // namespace diff --git a/extern/libmv/libmv/multiview/panography_kernel.cc b/extern/libmv/libmv/multiview/panography_kernel.cc new file mode 100644 index 00000000000..8fdc9e79aed --- /dev/null +++ b/extern/libmv/libmv/multiview/panography_kernel.cc @@ -0,0 +1,51 @@ +// Copyright (c) 2008, 2009 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include "libmv/multiview/panography_kernel.h" +#include "libmv/multiview/panography.h" + +namespace libmv { +namespace panography { +namespace kernel { + +void TwoPointSolver::Solve(const Mat &x1, const Mat &x2, vector<Mat3> *Hs) { + // Solve for the focal lengths. + vector<double> fs; + F_FromCorrespondance_2points(x1, x2, &fs); + + // Then solve for the rotations and homographies. + Mat x1h, x2h; + EuclideanToHomogeneous(x1, &x1h); + EuclideanToHomogeneous(x2, &x2h); + for (int i = 0; i < fs.size(); ++i) { + Mat3 K1 = Mat3::Identity() * fs[i]; + K1(2, 2) = 1.0; + + Mat3 R; + GetR_FixedCameraCenter(x1h, x2h, fs[i], &R); + R /= R(2, 2); + + (*Hs).push_back(K1 * R * K1.inverse()); + } +} + +} // namespace kernel +} // namespace panography +} // namespace libmv diff --git a/extern/libmv/libmv/multiview/panography_kernel.h b/extern/libmv/libmv/multiview/panography_kernel.h new file mode 100644 index 00000000000..a6adbd54b20 --- /dev/null +++ b/extern/libmv/libmv/multiview/panography_kernel.h @@ -0,0 +1,54 @@ +// Copyright (c) 2009 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#ifndef LIBMV_MULTIVIEW_PANOGRAPHY_KERNEL_H +#define LIBMV_MULTIVIEW_PANOGRAPHY_KERNEL_H + +#include "libmv/base/vector.h" +#include "libmv/multiview/conditioning.h" +#include "libmv/multiview/projection.h" +#include "libmv/multiview/two_view_kernel.h" +#include "libmv/multiview/homography_error.h" +#include "libmv/numeric/numeric.h" + +namespace libmv { +namespace panography { +namespace kernel { + +struct TwoPointSolver { + enum { MINIMUM_SAMPLES = 2 }; + static void Solve(const Mat &x1, const Mat &x2, vector<Mat3> *Hs); +}; + +typedef two_view::kernel::Kernel< + TwoPointSolver, homography::homography2D::AsymmetricError, Mat3> + UnnormalizedKernel; + +typedef two_view::kernel::Kernel< + two_view::kernel::NormalizedSolver<TwoPointSolver, UnnormalizerI>, + homography::homography2D::AsymmetricError, + Mat3> + Kernel; + +} // namespace kernel +} // namespace panography +} // namespace libmv + +#endif // LIBMV_MULTIVIEW_PANOGRAPHY_KERNEL_H diff --git a/extern/libmv/libmv/multiview/panography_test.cc b/extern/libmv/libmv/multiview/panography_test.cc new file mode 100644 index 00000000000..f6faf0f6022 --- /dev/null +++ b/extern/libmv/libmv/multiview/panography_test.cc @@ -0,0 +1,144 @@ +// Copyright (c) 2009 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include "libmv/logging/logging.h" +#include "libmv/multiview/panography.h" +#include "libmv/multiview/panography_kernel.h" +#include "libmv/multiview/projection.h" +#include "libmv/numeric/numeric.h" +#include "testing/testing.h" + +namespace libmv { +namespace { + +TEST(Panography, PrintSomeSharedFocalEstimationValues) { + Mat x1(2, 2), x2(2, 2); + x1<< 158, 78, + 124, 113; + x2<< 300, 214, + 125, 114; + + // Normalize data (set principal point 0,0 and image border to 1.0). + x1.block<1, 2>(0, 0) /= 320; + x1.block<1, 2>(1, 0) /= 240; + x2.block<1, 2>(0, 0) /= 320; + x2.block<1, 2>(1, 0) /= 240; + x1+=Mat2::Constant(0.5); + x2+=Mat2::Constant(0.5); + + vector<double> fs; + F_FromCorrespondance_2points(x1, x2, &fs); + + // Assert we found a valid solution. + EXPECT_EQ(1, fs.size()); + EXPECT_NEAR(1.01667, fs[1], 1e-3); +} + +TEST(Panography, GetR_FixedCameraCenterWithIdentity) { + Mat x1(3, 3); + x1 << 0.5, 0.6, 0.7, + 0.5, 0.5, 0.4, + 10.0, 10.0, 10.0; + + Mat3 R; + GetR_FixedCameraCenter(x1, x1, 1.0, &R); + R /= R(2, 2); + EXPECT_MATRIX_NEAR(Mat3::Identity(), R, 1e-8); + LOG(INFO) << "R \n" << R; +} + +TEST(Panography, Homography_GetR_Test_PitchY30) { + int n = 3; + + Mat x1(3, n); + x1 << 0.5, 0.6, 0.7, + 0.5, 0.5, 0.4, + 10, 10, 10; + + Mat x2 = x1; + const double alpha = 30.0 * M_PI / 180.0; + Mat3 rotY; + rotY << cos(alpha), 0, -sin(alpha), + 0, 1, 0, + sin(alpha), 0, cos(alpha); + + for (int i = 0; i < n; ++i) { + x2.block<3, 1>(0, i) = rotY * x1.col(i); + } + + Mat3 R; + GetR_FixedCameraCenter(x1, x2, 1.0, &R); + + // Assert that residuals are small enough + for (int i = 0; i < n; ++i) { + Vec residuals = (R * x1.col(i)) - x2.col(i); + EXPECT_NEAR(0, residuals.norm(), 1e-6); + } + + // Check that the rotation angle along Y is the expected one. + // Use the euler approximation to recover the angle. + double pitch_y = asin(R(2, 0)) * 180.0 / M_PI; + EXPECT_NEAR(30, pitch_y, 1e-4); +} + +TEST(MinimalPanoramic, Real_Case_Kernel) { + const int n = 2; + Mat x1(2, n); // From image 0.jpg + x1<< 158, 78, + 124, 113; + + Mat x2(2, n); // From image 3.jpg + x2<< 300, 214, + 125, 114; + + Mat3 Ground_TruthHomography; + Ground_TruthHomography<< 1, 0.02, 129.83, + -0.02, 1.012, 0.07823, + 0, 0, 1; + + vector<Mat3> Hs; + + libmv::panography::kernel::TwoPointSolver::Solve(x1, x2, &Hs); + + LOG(INFO) << "Got " << Hs.size() << " solutions."; + for (int j = 0; j < Hs.size(); ++j) { + Mat3 H = Hs[j]; + + EXPECT_MATRIX_NEAR(H, Ground_TruthHomography, 1e-1); + + Mat x1h, x2h; + EuclideanToHomogeneous(x1, &x1h); + EuclideanToHomogeneous(x2, &x2h); + + // Assert that residuals are small enough + for (int i = 0; i < n; ++i) { + Vec x1p = H * x1h.col(i); + Vec residuals = x1p/x1p(2) - x2h.col(i); + EXPECT_MATRIX_NEAR_ZERO(residuals, 1e-5); + } + } +} + +} // namespace +} // namespace libmv + +// TODO(pmoulon): Add a real test case based on images. +// TODO(pmoulon): Add a check for the actual f value for the real images. +// TODO(pmoulon): Add a test that has some inliers and outliers. diff --git a/extern/libmv/libmv/multiview/projection_test.cc b/extern/libmv/libmv/multiview/projection_test.cc new file mode 100644 index 00000000000..c060bfb0681 --- /dev/null +++ b/extern/libmv/libmv/multiview/projection_test.cc @@ -0,0 +1,115 @@ +// Copyright (c) 2007, 2008 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include <iostream> + +#include "libmv/multiview/projection.h" +#include "libmv/numeric/numeric.h" +#include "testing/testing.h" + +namespace { +using namespace libmv; + +TEST(Projection, P_From_KRt) { + Mat3 K, Kp; + K << 10, 1, 30, + 0, 20, 40, + 0, 0, 1; + + Mat3 R, Rp; + R << 1, 0, 0, + 0, 1, 0, + 0, 0, 1; + + Vec3 t, tp; + t << 1, 2, 3; + + Mat34 P; + P_From_KRt(K, R, t, &P); + KRt_From_P(P, &Kp, &Rp, &tp); + + EXPECT_MATRIX_NEAR(K, Kp, 1e-8); + EXPECT_MATRIX_NEAR(R, Rp, 1e-8); + EXPECT_MATRIX_NEAR(t, tp, 1e-8); + + // TODO(keir): Change the code to ensure det(R) == 1, which is not currently + // the case. Also add a test for that here. +} + +Vec4 GetRandomPoint() { + Vec4 X; + X.setRandom(); + X(3) = 1; + return X; +} + +TEST(Projection, isInFrontOfCamera) { + Mat34 P; + P << 1, 0, 0, 0, + 0, 1, 0, 0, + 0, 0, 1, 0; + + Vec4 X_front = GetRandomPoint(); + Vec4 X_back = GetRandomPoint(); + X_front(2) = 10; // Any point in the positive Z direction + // where Z > 1 is infront of the camera. + X_back(2) = -10; // Any point int he negative Z dirstaion + // is behind the camera. + + bool res_front = isInFrontOfCamera(P, X_front); + bool res_back = isInFrontOfCamera(P, X_back); + + EXPECT_EQ(true, res_front); + EXPECT_EQ(false, res_back); +} + +TEST(AutoCalibration, ProjectionShiftPrincipalPoint) { + Mat34 P1, P2; + P1 << 1, 0, 0, 0, + 0, 1, 0, 0, + 0, 0, 1, 0; + P2 << 1, 0, 3, 0, + 0, 1, 4, 0, + 0, 0, 1, 0; + Mat34 P1_computed, P2_computed; + ProjectionShiftPrincipalPoint(P1, Vec2(0, 0), Vec2(3, 4), &P2_computed); + ProjectionShiftPrincipalPoint(P2, Vec2(3, 4), Vec2(0, 0), &P1_computed); + + EXPECT_MATRIX_EQ(P1, P1_computed); + EXPECT_MATRIX_EQ(P2, P2_computed); +} + +TEST(AutoCalibration, ProjectionChangeAspectRatio) { + Mat34 P1, P2; + P1 << 1, 0, 3, 0, + 0, 1, 4, 0, + 0, 0, 1, 0; + P2 << 1, 0, 3, 0, + 0, 2, 4, 0, + 0, 0, 1, 0; + Mat34 P1_computed, P2_computed; + ProjectionChangeAspectRatio(P1, Vec2(3, 4), 1, 2, &P2_computed); + ProjectionChangeAspectRatio(P2, Vec2(3, 4), 2, 1, &P1_computed); + + EXPECT_MATRIX_EQ(P1, P1_computed); + EXPECT_MATRIX_EQ(P2, P2_computed); +} + +} // namespace diff --git a/extern/libmv/libmv/multiview/resection_test.cc b/extern/libmv/libmv/multiview/resection_test.cc new file mode 100644 index 00000000000..368e2281cfa --- /dev/null +++ b/extern/libmv/libmv/multiview/resection_test.cc @@ -0,0 +1,61 @@ +// Copyright (c) 2009 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include <iostream> + +#include "libmv/multiview/projection.h" +#include "libmv/multiview/resection.h" +#include "libmv/multiview/test_data_sets.h" +#include "libmv/numeric/numeric.h" +#include "testing/testing.h" +#include "libmv/logging/logging.h" + +namespace { + +using namespace libmv; +using namespace libmv::resection; + +TEST(Resection, ThreeViews) { + int nviews = 5; + int npoints = 6; + NViewDataSet d = NRealisticCamerasFull(nviews, npoints); + for (int i = 0; i < nviews; ++i) { + Mat4X X(4, npoints); + X.block(0, 0, 3, npoints) = d.X; + X.row(3).setOnes(); + const Mat2X &x = d.x[i]; + Mat34 P; + Resection(x, X, &P); + Mat34 P_expected = d.P(i); + + // Because the P matrices are homogeneous, it is necessary to be tricky + // about the scale factor to make them match. + P_expected *= 1/P_expected.array().abs().sum(); + P *= 1/P.array().abs().sum(); + if (!((P(0, 0) > 0 && P_expected(0, 0) > 0) || + (P(0, 0) < 0 && P_expected(0, 0) < 0))) { + P *= -1; + } + + EXPECT_MATRIX_NEAR(P_expected, P, 1e-9); + } +} + +} // namespace diff --git a/extern/libmv/libmv/multiview/test_data_sets.cc b/extern/libmv/libmv/multiview/test_data_sets.cc new file mode 100644 index 00000000000..110bde6f762 --- /dev/null +++ b/extern/libmv/libmv/multiview/test_data_sets.cc @@ -0,0 +1,196 @@ +// Copyright (c) 2007, 2008 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include "libmv/multiview/test_data_sets.h" + +#include <cmath> + +#include "libmv/numeric/numeric.h" +#include "libmv/multiview/projection.h" +#include "libmv/multiview/fundamental.h" + +namespace libmv { + +TwoViewDataSet TwoRealisticCameras(bool same_K) { + TwoViewDataSet d; + + d.K1 << 320, 0, 160, + 0, 320, 120, + 0, 0, 1; + if (same_K) { + d.K2 = d.K1; + } else { + d.K2 << 360, 0, 170, + 0, 360, 110, + 0, 0, 1; + } + d.R1 = RotationAroundZ(-0.1); + d.R2 = RotationAroundX(-0.1); + d.t1 << 1, 1, 10; + d.t2 << -2, -1, 10; + P_From_KRt(d.K1, d.R1, d.t1, &d.P1); + P_From_KRt(d.K2, d.R2, d.t2, &d.P2); + + FundamentalFromProjections(d.P1, d.P2, &d.F); + + d.X.resize(3, 30); + d.X.setRandom(); + + Project(d.P1, d.X, &d.x1); + Project(d.P2, d.X, &d.x2); + + return d; +} + +nViewDatasetConfigator::nViewDatasetConfigator(int fx , int fy, + int cx, int cy, + double distance, + double jitter_amount) { + _fx = fx; + _fy = fy; + _cx = cx; + _cy = cy; + _dist = distance; + _jitter_amount = jitter_amount; +} + +NViewDataSet NRealisticCamerasFull(int nviews, int npoints, + const nViewDatasetConfigator config) { + NViewDataSet d; + d.n = nviews; + d.K.resize(nviews); + d.R.resize(nviews); + d.t.resize(nviews); + d.C.resize(nviews); + d.x.resize(nviews); + d.x_ids.resize(nviews); + + d.X.resize(3, npoints); + d.X.setRandom(); + d.X *= 0.6; + + Vecu all_point_ids(npoints); + for (size_t j = 0; j < npoints; ++j) + all_point_ids[j] = j; + + for (size_t i = 0; i < nviews; ++i) { + Vec3 camera_center, t, jitter, lookdir; + + double theta = i * 2 * M_PI / nviews; + camera_center << sin(theta), 0.0, cos(theta); + camera_center *= config._dist; + d.C[i] = camera_center; + + jitter.setRandom(); + jitter *= config._jitter_amount / camera_center.norm(); + lookdir = -camera_center + jitter; + + d.K[i] << config._fx, 0, config._cx, + 0, config._fy, config._cy, + 0, 0, 1; + d.R[i] = LookAt(lookdir); + d.t[i] = -d.R[i] * camera_center; + d.x[i] = Project(d.P(i), d.X); + d.x_ids[i] = all_point_ids; + } + return d; +} + + +NViewDataSet NRealisticCamerasSparse(int nviews, int npoints, + float view_ratio, unsigned min_projections, + const nViewDatasetConfigator config) { + assert(view_ratio <= 1.0); + assert(view_ratio > 0.0); + assert(min_projections <= npoints); + NViewDataSet d; + d.n = nviews; + d.K.resize(nviews); + d.R.resize(nviews); + d.t.resize(nviews); + d.C.resize(nviews); + d.x.resize(nviews); + d.x_ids.resize(nviews); + + d.X.resize(3, npoints); + d.X.setRandom(); + d.X *= 0.6; + + Mat visibility(nviews, npoints); + visibility.setZero(); + Mat randoms(nviews, npoints); + randoms.setRandom(); + randoms = (randoms.array() + 1)/2.0; + unsigned num_visibles = 0; + for (size_t i = 0; i < nviews; ++i) { + num_visibles = 0; + for (size_t j = 0; j < npoints; j++) { + if (randoms(i, j) <= view_ratio) { + visibility(i, j) = true; + num_visibles++; + } + } + if (num_visibles < min_projections) { + unsigned num_projections_to_add = min_projections - num_visibles; + for (size_t j = 0; j < npoints && num_projections_to_add > 0; ++j) { + if (!visibility(i, j)) { + num_projections_to_add--; + } + } + num_visibles += num_projections_to_add; + } + d.x_ids[i].resize(num_visibles); + d.x[i].resize(2, num_visibles); + } + + size_t j_visible = 0; + Vec3 X; + for (size_t i = 0; i < nviews; ++i) { + Vec3 camera_center, t, jitter, lookdir; + + double theta = i * 2 * M_PI / nviews; + camera_center << sin(theta), 0.0, cos(theta); + camera_center *= config._dist; + d.C[i] = camera_center; + + jitter.setRandom(); + jitter *= config._jitter_amount / camera_center.norm(); + lookdir = -camera_center + jitter; + + d.K[i] << config._fx, 0, config._cx, + 0, config._fy, config._cy, + 0, 0, 1; + d.R[i] = LookAt(lookdir); + d.t[i] = -d.R[i] * camera_center; + j_visible = 0; + for (size_t j = 0; j < npoints; j++) { + if (visibility(i, j)) { + X = d.X.col(j); + d.x[i].col(j_visible) = Project(d.P(i), X); + d.x_ids[i][j_visible] = j; + j_visible++; + } + } + } + return d; +} + + +} // namespace libmv diff --git a/extern/libmv/libmv/multiview/test_data_sets.h b/extern/libmv/libmv/multiview/test_data_sets.h new file mode 100644 index 00000000000..cf01663ca02 --- /dev/null +++ b/extern/libmv/libmv/multiview/test_data_sets.h @@ -0,0 +1,105 @@ +// Copyright (c) 2007, 2008 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#ifndef LIBMV_MULTIVIEW_TEST_DATA_SETS_H_ +#define LIBMV_MULTIVIEW_TEST_DATA_SETS_H_ + +#include "libmv/base/vector.h" +#include "libmv/multiview/fundamental.h" +#include "libmv/multiview/projection.h" +#include "libmv/numeric/numeric.h" + +namespace libmv { + +struct TwoViewDataSet { + Mat3 K1, K2; // Internal parameters. + Mat3 R1, R2; // Rotation. + Vec3 t1, t2; // Translation. + Mat34 P1, P2; // Projection matrix, P = K(R|t) + Mat3 F; // Fundamental matrix. + Mat3X X; // 3D points. + Mat2X x1, x2; // Projected points. +}; + +// Two cameras at (-1,-1,-10) and (2,1,-10) looking approximately towards z+. +TwoViewDataSet TwoRealisticCameras(bool same_K = false); + +// An N-view metric dataset . An important difference between this +// and the other reconstruction data types is that all points are seen by all +// cameras. +struct NViewDataSet { + vector<Mat3> K; // Internal parameters (fx, fy, etc). + vector<Mat3> R; // Rotation. + vector<Vec3> t; // Translation. + vector<Vec3> C; // Camera centers. + Mat3X X; // 3D points. + vector<Mat2X> x; // Projected points; may have noise added. + vector<Vecu> x_ids; // Indexes of points corresponding to the projections + + int n; // Actual number of cameras. + + Mat34 P(int i) { + assert(i < n); + return K[i] * HStack(R[i], t[i]); + } + Mat3 F(int i, int j) { + Mat3 F_; + FundamentalFromProjections(P(i), P(j), &F_); + return F_; + } + void Reproject() { + for (int i = 0; i < n; ++i) { + x[i] = Project(P(i), X); + } + } + // TODO(keir): Add gaussian jitter functions. +}; + +struct nViewDatasetConfigator { + /// Internal camera parameters + int _fx; + int _fy; + int _cx; + int _cy; + + /// Camera random position parameters + double _dist; + double _jitter_amount; + + nViewDatasetConfigator(int fx = 1000, int fy = 1000, + int cx = 500, int cy = 500, + double distance = 1.5, + double jitter_amount = 0.01); +}; + +NViewDataSet NRealisticCamerasFull(int nviews, int npoints, + const nViewDatasetConfigator + config = nViewDatasetConfigator()); + +// Generates sparse projections (not all points are projected) +NViewDataSet NRealisticCamerasSparse(int nviews, int npoints, + float view_ratio = 0.6, + unsigned min_projections = 3, + const nViewDatasetConfigator + config = nViewDatasetConfigator()); + +} // namespace libmv + +#endif // LIBMV_MULTIVIEW_TEST_DATA_SETS_H_ diff --git a/extern/libmv/libmv/multiview/triangulation_test.cc b/extern/libmv/libmv/multiview/triangulation_test.cc new file mode 100644 index 00000000000..66d1ee25a62 --- /dev/null +++ b/extern/libmv/libmv/multiview/triangulation_test.cc @@ -0,0 +1,47 @@ +// Copyright (c) 2007, 2008 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include <iostream> + +#include "libmv/multiview/triangulation.h" +#include "libmv/multiview/fundamental.h" +#include "libmv/multiview/projection.h" +#include "libmv/multiview/test_data_sets.h" +#include "libmv/numeric/numeric.h" +#include "testing/testing.h" + +namespace { +using namespace libmv; + +TEST(Triangulation, TriangulateDLT) { + TwoViewDataSet d = TwoRealisticCameras(); + + for (int i = 0; i < d.X.cols(); ++i) { + Vec2 x1, x2; + MatrixColumn(d.x1, i, &x1); + MatrixColumn(d.x2, i, &x2); + Vec3 X_estimated, X_gt; + MatrixColumn(d.X, i, &X_gt); + TriangulateDLT(d.P1, x1, d.P2, x2, &X_estimated); + EXPECT_NEAR(0, DistanceLInfinity(X_estimated, X_gt), 1e-8); + } +} + +} // namespace diff --git a/extern/libmv/libmv/multiview/two_view_kernel.h b/extern/libmv/libmv/multiview/two_view_kernel.h new file mode 100644 index 00000000000..7af0ed5ddab --- /dev/null +++ b/extern/libmv/libmv/multiview/two_view_kernel.h @@ -0,0 +1,137 @@ +// Copyright (c) 2009 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#ifndef LIBMV_MULTIVIEW_TWO_VIEW_KERNEL_H_ +#define LIBMV_MULTIVIEW_TWO_VIEW_KERNEL_H_ + +#include "libmv/base/vector.h" +#include "libmv/logging/logging.h" +#include "libmv/multiview/conditioning.h" +#include "libmv/numeric/numeric.h" + +namespace libmv { +namespace two_view { +namespace kernel { + +template<typename Solver, typename Unnormalizer> +struct NormalizedSolver { + enum { MINIMUM_SAMPLES = Solver::MINIMUM_SAMPLES }; + static void Solve(const Mat &x1, const Mat &x2, vector<Mat3> *models) { + assert(2 == x1.rows()); + assert(MINIMUM_SAMPLES <= x1.cols()); + assert(x1.rows() == x2.rows()); + assert(x1.cols() == x2.cols()); + + // Normalize the data. + Mat3 T1, T2; + Mat x1_normalized, x2_normalized; + NormalizePoints(x1, &x1_normalized, &T1); + NormalizePoints(x2, &x2_normalized, &T2); + + Solver::Solve(x1_normalized, x2_normalized, models); + + for (int i = 0; i < models->size(); ++i) { + Unnormalizer::Unnormalize(T1, T2, &(*models)[i]); + } + } +}; + +template<typename Solver, typename Unnormalizer> +struct IsotropicNormalizedSolver { + enum { MINIMUM_SAMPLES = Solver::MINIMUM_SAMPLES }; + static void Solve(const Mat &x1, const Mat &x2, vector<Mat3> *models) { + assert(2 == x1.rows()); + assert(MINIMUM_SAMPLES <= x1.cols()); + assert(x1.rows() == x2.rows()); + assert(x1.cols() == x2.cols()); + + // Normalize the data. + Mat3 T1, T2; + Mat x1_normalized, x2_normalized; + NormalizeIsotropicPoints(x1, &x1_normalized, &T1); + NormalizeIsotropicPoints(x2, &x2_normalized, &T2); + + Solver::Solve(x1_normalized, x2_normalized, models); + + for (int i = 0; i < models->size(); ++i) { + Unnormalizer::Unnormalize(T1, T2, &(*models)[i]); + } + } +}; +// This is one example (targeted at solvers that operate on correspondences +// between two views) that shows the "kernel" part of a robust fitting +// problem: +// +// 1. The model; Mat3 in the case of the F or H matrix. +// 2. The minimum number of samples needed to fit; 7 or 8 (or 4). +// 3. A way to convert samples to a model. +// 4. A way to convert a sample and a model to an error. +// +// Of particular note is that the kernel does not expose what the samples are. +// All the robust fitting algorithm sees is that there is some number of +// samples; it is able to fit subsets of them (via the kernel) and check their +// error, but can never access the samples themselves. +// +// The Kernel objects must follow the following concept so that the robust +// fitting alogrithm can fit this type of relation: +// +// 1. Kernel::Model +// 2. Kernel::MINIMUM_SAMPLES +// 3. Kernel::Fit(vector<int>, vector<Kernel::Model> *) +// 4. Kernel::Error(int, Model) -> error +// +// The fit routine must not clear existing entries in the vector of models; it +// should append new solutions to the end. +template<typename SolverArg, + typename ErrorArg, + typename ModelArg = Mat3> +class Kernel { + public: + Kernel(const Mat &x1, const Mat &x2) : x1_(x1), x2_(x2) {} + typedef SolverArg Solver; + typedef ModelArg Model; + enum { MINIMUM_SAMPLES = Solver::MINIMUM_SAMPLES }; + void Fit(const vector<int> &samples, vector<Model> *models) const { + Mat x1 = ExtractColumns(x1_, samples); + Mat x2 = ExtractColumns(x2_, samples); + Solver::Solve(x1, x2, models); + } + double Error(int sample, const Model &model) const { + return ErrorArg::Error(model, + static_cast<Vec>(x1_.col(sample)), + static_cast<Vec>(x2_.col(sample))); + } + int NumSamples() const { + return x1_.cols(); + } + static void Solve(const Mat &x1, const Mat &x2, vector<Model> *models) { + // By offering this, Kernel types can be passed to templates. + Solver::Solve(x1, x2, models); + } + protected: + const Mat &x1_; + const Mat &x2_; +}; + +} // namespace kernel +} // namespace two_view +} // namespace libmv + +#endif // LIBMV_MULTIVIEW_TWO_VIEW_KERNEL_H_ diff --git a/extern/libmv/libmv/numeric/dogleg_test.cc b/extern/libmv/libmv/numeric/dogleg_test.cc new file mode 100644 index 00000000000..90c46c31672 --- /dev/null +++ b/extern/libmv/libmv/numeric/dogleg_test.cc @@ -0,0 +1,95 @@ +// Copyright (c) 2009 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include "testing/testing.h" +#include "libmv/numeric/dogleg.h" + +using namespace libmv; + +namespace { + +class F { + public: + typedef Vec4 FMatrixType; + typedef Vec3 XMatrixType; + Vec4 operator()(const Vec3 &x) const { + double x1 = x.x() - 2; + double y1 = x.y() - 5; + double z1 = x.z(); + Vec4 fx; fx << x1*x1 + z1*z1, + y1*y1 + z1*z1, + z1*z1, + x1*x1; + return fx; + } +}; + +TEST(Dogleg, SimpleCase) { + Vec3 x; x << 0.76026643, -30.01799744, 0.55192142; + F f; + Dogleg<F>::SolverParameters params; + Dogleg<F> lm(f); + /* TODO(sergey): Better error handling. */ + /* Dogleg<F>::Results results = */ lm.minimize(params, &x); + Vec3 expected_min_x; expected_min_x << 2, 5, 0; + + EXPECT_MATRIX_NEAR(expected_min_x, x, 1e-5); +} + +// Example 3.2 from [1]; page 11 of the pdf, 20 of the document. This is a +// tricky problem because of the singluar Jacobian near the origin. +class F32 { + public: + typedef Vec2 FMatrixType; + typedef Vec2 XMatrixType; + Vec2 operator()(const Vec2 &x) const { + double x1 = x(0); + double x2 = 10*x(0)/(x(0) + 0.1) + 2*x(1)*x(1); + Vec2 fx; fx << x1, x2; + return fx; + } +}; + +class JF32 { + public: + JF32(const F32 &f) { (void) f; } + Mat2 operator()(const Vec2 &x) { + Mat2 J; J << 1, 0, + 1./pow(x(0) + 0.1, 2), 4*x(1)*x(1); + return J; + } +}; + +// TODO(keir): Re-enable this when the dogleg code properly handles singular +// normal equations. +/* +TEST(Dogleg, Example32) { + Vec2 x; x << 3, 1; + F32 f; + CheckJacobian<F32, JF32>(f, x); + Dogleg<F32, JF32> dogleg(f); + Dogleg<F32, JF32>::Results results = dogleg.minimize(&x); + Vec2 expected_min_x; expected_min_x << 0, 0; + + EXPECT_MATRIX_NEAR(expected_min_x, x, 1e-5); +} +*/ + +} // namespace diff --git a/extern/libmv/libmv/numeric/function_derivative_test.cc b/extern/libmv/libmv/numeric/function_derivative_test.cc new file mode 100644 index 00000000000..8d976d3e9a0 --- /dev/null +++ b/extern/libmv/libmv/numeric/function_derivative_test.cc @@ -0,0 +1,57 @@ +// Copyright (c) 2007, 2008, 2009 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include "testing/testing.h" +#include "libmv/numeric/numeric.h" +#include "libmv/numeric/function_derivative.h" + +using namespace libmv; + +namespace { + +class F { + public: + typedef Vec2 FMatrixType; + typedef Vec3 XMatrixType; + Vec2 operator()(const Vec3 &x) const { + Vec2 fx; + fx << 0.19*x(0) + 0.19*x(1)*x(1) + x(2), + 3*sin(x(0)) + 2*cos(x(1)); + return fx; + } + Mat23 J(const Vec3 &x) const { + Mat23 jacobian; + jacobian << 0.19, 2*0.19*x(1), 1.0, + 3*cos(x(0)), -2*sin(x(1)), 0; + return jacobian; + } +}; + +TEST(FunctionDerivative, SimpleCase) { + Vec3 x; x << 0.76026643, 0.01799744, 0.55192142; + F f; + NumericJacobian<F, CENTRAL> J(f); + EXPECT_MATRIX_NEAR(f.J(x), J(x), 1e-8); + NumericJacobian<F, FORWARD> J_forward(f); + // Forward difference is very inaccurate. + EXPECT_MATRIX_NEAR(f.J(x), J_forward(x), 1e-5); +} + +} // namespace diff --git a/extern/libmv/libmv/numeric/levenberg_marquardt_test.cc b/extern/libmv/libmv/numeric/levenberg_marquardt_test.cc new file mode 100644 index 00000000000..fc3f9ebbb29 --- /dev/null +++ b/extern/libmv/libmv/numeric/levenberg_marquardt_test.cc @@ -0,0 +1,56 @@ +// Copyright (c) 2007, 2008, 2009 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include "testing/testing.h" +#include "libmv/numeric/levenberg_marquardt.h" + +using namespace libmv; + +namespace { + +class F { + public: + typedef Vec4 FMatrixType; + typedef Vec3 XMatrixType; + Vec4 operator()(const Vec3 &x) const { + double x1 = x.x() - 2; + double y1 = x.y() - 5; + double z1 = x.z(); + Vec4 fx; fx << x1*x1 + z1*z1, + y1*y1 + z1*z1, + z1*z1, + x1*x1; + return fx; + } +}; + +TEST(LevenbergMarquardt, SimpleCase) { + Vec3 x(0.76026643, -30.01799744, 0.55192142); + F f; + LevenbergMarquardt<F>::SolverParameters params; + LevenbergMarquardt<F> lm(f); + /* TODO(sergey): Better error handling. */ + /* LevenbergMarquardt<F>::Results results = */ lm.minimize(params, &x); + Vec3 expected_min_x(2, 5, 0); + + EXPECT_MATRIX_NEAR(expected_min_x, x, 1e-5); +} + +} // namespace diff --git a/extern/libmv/libmv/numeric/numeric_test.cc b/extern/libmv/libmv/numeric/numeric_test.cc new file mode 100644 index 00000000000..0cdfaf33ab2 --- /dev/null +++ b/extern/libmv/libmv/numeric/numeric_test.cc @@ -0,0 +1,439 @@ +// Copyright (c) 2007, 2008 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include "libmv/numeric/numeric.h" +#include "testing/testing.h" + +using namespace libmv; + +namespace { + +TEST(Numeric, DynamicSizedNullspace) { + Mat A(3, 4); + A << 0.76026643, 0.01799744, 0.55192142, 0.8699745, + 0.42016166, 0.97863392, 0.33711682, 0.14479271, + 0.51016811, 0.66528302, 0.54395496, 0.57794893; + Vec x; + double s = Nullspace(&A, &x); + EXPECT_NEAR(0.0, s, 1e-15); + EXPECT_NEAR(0.0, (A * x).norm(), 1e-15); + EXPECT_NEAR(1.0, x.norm(), 1e-15); +} + +TEST(Numeric, FixedSizeMatrixNullspace) { + Mat34 A; + A << 0.76026643, 0.01799744, 0.55192142, 0.8699745, + 0.42016166, 0.97863392, 0.33711682, 0.14479271, + 0.51016811, 0.66528302, 0.54395496, 0.57794893; + Vec x; + double s = Nullspace(&A, &x); + EXPECT_NEAR(0.0, s, 1e-15); + EXPECT_NEAR(0.0, (A * x).norm(), 1e-15); + EXPECT_NEAR(1.0, x.norm(), 1e-15); +} + +TEST(Numeric, NullspaceMatchesLapackSVD) { + Mat43 A; + A << 0.76026643, 0.01799744, 0.55192142, + 0.8699745, 0.42016166, 0.97863392, + 0.33711682, 0.14479271, 0.51016811, + 0.66528302, 0.54395496, 0.57794893; + Vec x; + double s = Nullspace(&A, &x); + EXPECT_NEAR(1.0, x.norm(), 1e-15); + EXPECT_NEAR(0.206694992663, s, 1e-9); + EXPECT_NEAR(0.206694992663, (A * x).norm(), 1e-9); + + EXPECT_NEAR(-0.64999717, x(0), 1e-8); + EXPECT_NEAR(-0.18452646, x(1), 1e-8); + EXPECT_NEAR(0.7371931, x(2), 1e-8); +} + +TEST(Numeric, Nullspace2) { + Mat43 A; + A << 0.76026643, 0.01799744, 0.55192142, + 0.8699745, 0.42016166, 0.97863392, + 0.33711682, 0.14479271, 0.51016811, + 0.66528302, 0.54395496, 0.57794893; + Vec3 x1, x2; + double s = Nullspace2(&A, &x1, &x2); + EXPECT_NEAR(1.0, x1.norm(), 1e-15); + EXPECT_NEAR(0.206694992663, s, 1e-9); + EXPECT_NEAR(0.206694992663, (A * x1).norm(), 1e-9); + + EXPECT_NEAR(-0.64999717, x1(0), 1e-8); + EXPECT_NEAR(-0.18452646, x1(1), 1e-8); + EXPECT_NEAR( 0.7371931, x1(2), 1e-8); + + if (x2(0) < 0) { + x2 *= -1; + } + EXPECT_NEAR( 0.34679618, x2(0), 1e-8); + EXPECT_NEAR(-0.93519689, x2(1), 1e-8); + EXPECT_NEAR( 0.07168809, x2(2), 1e-8); +} + +TEST(Numeric, TinyMatrixSquareTranspose) { + Mat2 A; + A << 1.0, 2.0, 3.0, 4.0; + libmv::TransposeInPlace(&A); + EXPECT_EQ(1.0, A(0, 0)); + EXPECT_EQ(3.0, A(0, 1)); + EXPECT_EQ(2.0, A(1, 0)); + EXPECT_EQ(4.0, A(1, 1)); +} + +TEST(Numeric, NormalizeL1) { + Vec2 x; + x << 1, 2; + double l1 = NormalizeL1(&x); + EXPECT_DOUBLE_EQ(3., l1); + EXPECT_DOUBLE_EQ(1./3., x(0)); + EXPECT_DOUBLE_EQ(2./3., x(1)); +} + +TEST(Numeric, NormalizeL2) { + Vec2 x; + x << 1, 2; + double l2 = NormalizeL2(&x); + EXPECT_DOUBLE_EQ(sqrt(5.0), l2); + EXPECT_DOUBLE_EQ(1./sqrt(5.), x(0)); + EXPECT_DOUBLE_EQ(2./sqrt(5.), x(1)); +} + +TEST(Numeric, Diag) { + Vec x(2); + x << 1, 2; + Mat D = Diag(x); + EXPECT_EQ(1, D(0, 0)); + EXPECT_EQ(0, D(0, 1)); + EXPECT_EQ(0, D(1, 0)); + EXPECT_EQ(2, D(1, 1)); +} + +TEST(Numeric, Determinant) { + Mat A(2, 2); + A << 1, 2, + -1, 3; + double detA = A.determinant(); + EXPECT_NEAR(5, detA, 1e-8); + + Mat B(4, 4); + B << 0, 1, 2, 3, + 4, 5, 6, 7, + 8, 9, 10, 11, + 12, 13, 14, 15; + double detB = B.determinant(); + EXPECT_NEAR(0, detB, 1e-8); + + Mat3 C; + C << 0, 1, 2, + 3, 4, 5, + 6, 7, 1; + double detC = C.determinant(); + EXPECT_NEAR(21, detC, 1e-8); +} + +TEST(Numeric, Inverse) { + Mat A(2, 2), A1; + A << 1, 2, + -1, 3; + Mat I = A * A.inverse(); + + EXPECT_NEAR(1, I(0, 0), 1e-8); + EXPECT_NEAR(0, I(0, 1), 1e-8); + EXPECT_NEAR(0, I(1, 0), 1e-8); + EXPECT_NEAR(1, I(1, 1), 1e-8); + + Mat B(4, 4), B1; + B << 0, 1, 2, 3, + 4, 5, 6, 7, + 8, 9, 2, 11, + 12, 13, 14, 4; + Mat I2 = B * B.inverse(); + EXPECT_NEAR(1, I2(0, 0), 1e-8); + EXPECT_NEAR(0, I2(0, 1), 1e-8); + EXPECT_NEAR(0, I2(0, 2), 1e-8); + EXPECT_NEAR(0, I2(1, 0), 1e-8); + EXPECT_NEAR(1, I2(1, 1), 1e-8); + EXPECT_NEAR(0, I2(1, 2), 1e-8); + EXPECT_NEAR(0, I2(2, 0), 1e-8); + EXPECT_NEAR(0, I2(2, 1), 1e-8); + EXPECT_NEAR(1, I2(2, 2), 1e-8); +} + +TEST(Numeric, MeanAndVarianceAlongRows) { + int n = 4; + Mat points(2, n); + points << 0, 0, 1, 1, + 0, 2, 1, 3; + + Vec mean, variance; + MeanAndVarianceAlongRows(points, &mean, &variance); + + EXPECT_NEAR(0.5, mean(0), 1e-8); + EXPECT_NEAR(1.5, mean(1), 1e-8); + EXPECT_NEAR(0.25, variance(0), 1e-8); + EXPECT_NEAR(1.25, variance(1), 1e-8); +} + +TEST(Numeric, HorizontalStack) { + Mat x(2, 1), y(2, 1), z; + x << 1, 2; + y << 3, 4; + + HorizontalStack(x, y, &z); + + EXPECT_EQ(2, z.cols()); + EXPECT_EQ(2, z.rows()); + EXPECT_EQ(1, z(0, 0)); + EXPECT_EQ(2, z(1, 0)); + EXPECT_EQ(3, z(0, 1)); + EXPECT_EQ(4, z(1, 1)); +} + +TEST(Numeric, HStack) { + Mat x(2, 1), y(2, 1), z(2, 2); + x << 1, 2; + y << 3, 4; + z << 1, 3, + 2, 4; + Vec2 xC = x, yC = y; + + Mat2 xy = HStack(x, y); + EXPECT_MATRIX_EQ(z, xy); + + EXPECT_MATRIX_EQ(z, HStack(x, y)); + EXPECT_MATRIX_EQ(z, HStack(x, yC)); + EXPECT_MATRIX_EQ(z, HStack(xC, y)); + EXPECT_MATRIX_EQ(z, HStack(xC, yC)); +} + +// TODO(keir): Need some way of verifying that the compile time types of the +// resulting stacked matrices properly propagate the fixed dimensions. +TEST(Numeric, VStack) { + Mat x(2, 2), y(2, 2), z(4, 2); + x << 1, 2, + 3, 4; + y << 10, 20, + 30, 40; + z << 1, 2, + 3, 4, + 10, 20, + 30, 40; + Mat2 xC = x, yC = y; + + Mat xy = VStack(x, y); + EXPECT_MATRIX_EQ(z, xy); + + EXPECT_MATRIX_EQ(z, VStack(x, y)); + EXPECT_MATRIX_EQ(z, VStack(x, yC)); + EXPECT_MATRIX_EQ(z, VStack(xC, y)); + EXPECT_MATRIX_EQ(z, VStack(xC, yC)); +} + +TEST(Numeric, VerticalStack) { + Mat x(1, 2), y(1, 2), z; + x << 1, 2; + y << 3, 4; + VerticalStack(x, y, &z); + + EXPECT_EQ(2, z.cols()); + EXPECT_EQ(2, z.rows()); + EXPECT_EQ(1, z(0, 0)); + EXPECT_EQ(2, z(0, 1)); + EXPECT_EQ(3, z(1, 0)); + EXPECT_EQ(4, z(1, 1)); +} + +TEST(Numeric, CrossProduct) { + Vec3 x, y, z; + x << 1, 0, 0; + y << 0, 1, 0; + z << 0, 0, 1; + Vec3 xy = CrossProduct(x, y); + Vec3 yz = CrossProduct(y, z); + Vec3 zx = CrossProduct(z, x); + EXPECT_NEAR(0, DistanceLInfinity(xy, z), 1e-8); + EXPECT_NEAR(0, DistanceLInfinity(yz, x), 1e-8); + EXPECT_NEAR(0, DistanceLInfinity(zx, y), 1e-8); +} + +TEST(Numeric, CrossProductMatrix) { + Vec3 x, y; + x << 1, 2, 3; + y << 2, 3, 4; + Vec3 xy = CrossProduct(x, y); + Vec3 yx = CrossProduct(y, x); + Mat3 X = CrossProductMatrix(x); + Vec3 Xy, Xty; + Xy = X * y; + Xty = X.transpose() * y; + EXPECT_NEAR(0, DistanceLInfinity(xy, Xy), 1e-8); + EXPECT_NEAR(0, DistanceLInfinity(yx, Xty), 1e-8); +} + +TEST(Numeric, MatrixColumn) { + Mat A2(2, 3); + Vec2 v2; + A2 << 1, 2, 3, + 4, 5, 6; + MatrixColumn(A2, 1, &v2); + EXPECT_EQ(2, v2(0)); + EXPECT_EQ(5, v2(1)); + + Mat A3(3, 3); + Vec3 v3; + A3 << 1, 2, 3, + 4, 5, 6, + 7, 8, 9; + MatrixColumn(A3, 1, &v3); + EXPECT_EQ(2, v3(0)); + EXPECT_EQ(5, v3(1)); + EXPECT_EQ(8, v3(2)); + + Mat A4(4, 3); + Vec4 v4; + A4 << 1, 2, 3, + 4, 5, 6, + 7, 8, 9, + 10, 11, 12; + MatrixColumn(A4, 1, &v4); + EXPECT_EQ( 2, v4(0)); + EXPECT_EQ( 5, v4(1)); + EXPECT_EQ( 8, v4(2)); + EXPECT_EQ(11, v4(3)); +} + +// This used to give a compile error with FLENS. +TEST(Numeric, TinyMatrixView) { + Mat34 P; + Mat K = P.block(0, 0, 3, 3); +} + +// This gives a compile error. +TEST(Numeric, Mat3MatProduct) { + Mat3 A; + Mat3 B; + Mat C = A * B; +} + +// This gives a compile error. +TEST(Numeric, Vec3Negative) { + Vec3 y; y << 1, 2, 3; + Vec3 x = -y; + EXPECT_EQ(-1, x(0)); + EXPECT_EQ(-2, x(1)); + EXPECT_EQ(-3, x(2)); +} + +// This gives a compile error. +TEST(Numeric, Vec3VecInteroperability) { + Vec y(3); + y << 1, 2, 3; + Vec3 x = y + y; + EXPECT_EQ(2, x(0)); + EXPECT_EQ(4, x(1)); + EXPECT_EQ(6, x(2)); +} + +// This segfaults inside lapack. +TEST(Numeric, DeterminantLU7) { + Mat A(5, 5); + A << 1, 0, 0, 0, 0, + 0, 1, 0, 0, 0, + 0, 0, 1, 0, 0, + 0, 0, 0, 1, 0, + 0, 0, 0, 0, 1; + EXPECT_NEAR(1, A.determinant(), 1e-8); +} + +// This segfaults inside lapack. +TEST(Numeric, DeterminantLU) { + Mat A(2, 2); + A << 1, 2, + -1, 3; + EXPECT_NEAR(5, A.determinant(), 1e-8); +} + +// This does unexpected things. +// Keir: Not with eigen2! +TEST(Numeric, InplaceProduct) { + Mat2 K, S; + K << 1, 0, + 0, 1; + S << 1, 0, + 0, 1; + K = K * S; + EXPECT_MATRIX_NEAR(Mat2::Identity(), K, 1e-8); +} + +TEST(Numeric, ExtractColumns) { + Mat2X A(2, 5); + A << 1, 2, 3, 4, 5, + 6, 7, 8, 9, 10; + Vec2i columns; columns << 0, 2; + Mat2X extracted = ExtractColumns(A, columns); + EXPECT_NEAR(1, extracted(0, 0), 1e-15); + EXPECT_NEAR(3, extracted(0, 1), 1e-15); + EXPECT_NEAR(6, extracted(1, 0), 1e-15); + EXPECT_NEAR(8, extracted(1, 1), 1e-15); +} + +TEST(Numeric, RotationRodrigues) { + Vec3 x, y, z; + x << 1, 0, 0; + y << 0, 1, 0; + z << 0, 0, 1; + + Mat3 rodrigues_x = RotationRodrigues(x); + Mat3 rodrigues_y = RotationRodrigues(y); + Mat3 rodrigues_z = RotationRodrigues(z); + + Mat3 Rx = RotationAroundX(1); + Mat3 Ry = RotationAroundY(1); + Mat3 Rz = RotationAroundZ(1); + + EXPECT_MATRIX_NEAR(Rx, rodrigues_x, 1e-15); + EXPECT_MATRIX_NEAR(Ry, rodrigues_y, 1e-15); + EXPECT_MATRIX_NEAR(Rz, rodrigues_z, 1e-15); +} + +TEST(Numeric, LookAt) { + // Simple orthogonality check. + Vec3 e; e << 1, 2, 3; + Mat3 R = LookAt(e), I = Mat3::Identity(); + Mat3 RRT = R*R.transpose(); + Mat3 RTR = R.transpose()*R; + + EXPECT_MATRIX_NEAR(I, RRT, 1e-15); + EXPECT_MATRIX_NEAR(I, RTR, 1e-15); +} + +TEST(Numeric, Reshape) { + Vec4 x; x << 1, 2, 3, 4; + Mat2 M, M_expected; + reshape(x, 2, 2, &M); + M_expected << 1, 2, + 3, 4; + EXPECT_MATRIX_NEAR(M_expected, M, 1e-15); +} + +} // namespace diff --git a/extern/libmv/libmv/numeric/poly_test.cc b/extern/libmv/libmv/numeric/poly_test.cc new file mode 100644 index 00000000000..ea50383190f --- /dev/null +++ b/extern/libmv/libmv/numeric/poly_test.cc @@ -0,0 +1,98 @@ +// Copyright (c) 2007, 2008 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include "libmv/numeric/numeric.h" +#include "libmv/numeric/poly.h" +#include "testing/testing.h" + +using namespace libmv; + +namespace { + +// Find the polynomial coefficients of x in the equation +// +// (x - a)(x - b)(x - c) == 0 +// +// by expanding to +// +// x^3 - (c+b+a) * x^2 + (a*b+(b+a)*c) * x - a*b*c = 0. +// = p = q = r +void CoeffsForCubicZeros(double a, double b, double c, + double *p, double *q, double *r) { + *p = -(c + b + a); + *q = (a * b + (b + a) * c); + *r = -a * b * c; +} +// Find the polynomial coefficients of x in the equation +// +// (x - a)(x - b)(x - c)(x - d) == 0 +// +// by expanding to +// +// x^4 - (d+c+b+a) * x^3 + (d*(c+b+a) + a*b+(b+a)*c) * x^2 +// - (d*(a*b+(b+a)*c)+a*b*c) * x + a*b*c*d = 0. +void CoeffsForQuarticZeros(double a, double b, double c, double d, + double *p, double *q, double *r, double *s) { + *p = -(d + c + b + a); + *q = (d * (c + b + a) + a * b + (b + a) * c); + *r = -(d * (a * b + (b + a) * c) + a * b * c); + *s = a * b * c *d; +} + +TEST(Poly, SolveCubicPolynomial) { + double a, b, c, aa, bb, cc; + double p, q, r; + + a = 1; b = 2; c = 3; + CoeffsForCubicZeros(a, b, c, &p, &q, &r); + ASSERT_EQ(3, SolveCubicPolynomial(p, q, r, &aa, &bb, &cc)); + EXPECT_NEAR(a, aa, 1e-10); + EXPECT_NEAR(b, bb, 1e-10); + EXPECT_NEAR(c, cc, 1e-10); + + a = 0; b = 1; c = 3; + CoeffsForCubicZeros(a, b, c, &p, &q, &r); + ASSERT_EQ(3, SolveCubicPolynomial(p, q, r, &aa, &bb, &cc)); + EXPECT_NEAR(a, aa, 1e-10); + EXPECT_NEAR(b, bb, 1e-10); + EXPECT_NEAR(c, cc, 1e-10); + + a = -10; b = 0; c = 1; + CoeffsForCubicZeros(a, b, c, &p, &q, &r); + ASSERT_EQ(3, SolveCubicPolynomial(p, q, r, &aa, &bb, &cc)); + EXPECT_NEAR(a, aa, 1e-10); + EXPECT_NEAR(b, bb, 1e-10); + EXPECT_NEAR(c, cc, 1e-10); + + a = -8; b = 1; c = 3; + CoeffsForCubicZeros(a, b, c, &p, &q, &r); + ASSERT_EQ(3, SolveCubicPolynomial(p, q, r, &aa, &bb, &cc)); + EXPECT_NEAR(a, aa, 1e-10); + EXPECT_NEAR(b, bb, 1e-10); + EXPECT_NEAR(c, cc, 1e-10); + + a = 28; b = 28; c = 105; + CoeffsForCubicZeros(a, b, c, &p, &q, &r); + ASSERT_EQ(3, SolveCubicPolynomial(p, q, r, &aa, &bb, &cc)); + EXPECT_NEAR(a, aa, 1e-10); + EXPECT_NEAR(b, bb, 1e-10); + EXPECT_NEAR(c, cc, 1e-10); +} +} // namespace diff --git a/extern/libmv/libmv/simple_pipeline/camera_intrinsics_test.cc b/extern/libmv/libmv/simple_pipeline/camera_intrinsics_test.cc new file mode 100644 index 00000000000..96d35a29ef8 --- /dev/null +++ b/extern/libmv/libmv/simple_pipeline/camera_intrinsics_test.cc @@ -0,0 +1,239 @@ +// Copyright (c) 2011 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include "libmv/simple_pipeline/camera_intrinsics.h" + +#include <iostream> + +#include "testing/testing.h" +#include "libmv/image/image.h" +#include "libmv/image/image_drawing.h" +#include "libmv/logging/logging.h" + +namespace libmv { + +TEST(PolynomialCameraIntrinsics2, ApplyOnFocalCenter) { + PolynomialCameraIntrinsics intrinsics; + intrinsics.SetFocalLength(1300.0, 1300.0); + intrinsics.SetPrincipalPoint(640.0, 540.0); + intrinsics.SetRadialDistortion(-0.2, -0.1, -0.05); + + double distorted_x, distorted_y; + intrinsics.ApplyIntrinsics(0.0, 0.0, &distorted_x, &distorted_y); + + EXPECT_NEAR(640.0, distorted_x, 1e-8); + EXPECT_NEAR(540.0, distorted_y, 1e-8); +} + +TEST(PolynomialCameraIntrinsics, InvertOnFocalCenter) { + PolynomialCameraIntrinsics intrinsics; + intrinsics.SetFocalLength(1300.0, 1300.0); + intrinsics.SetPrincipalPoint(640.0, 540.0); + intrinsics.SetRadialDistortion(-0.2, -0.1, -0.05); + + double normalized_x, normalized_y; + intrinsics.InvertIntrinsics(640.0, 540.0, &normalized_x, &normalized_y); + + EXPECT_NEAR(0.0, normalized_x, 1e-8); + EXPECT_NEAR(0.0, normalized_y, 1e-8); +} + +TEST(PolynomialCameraIntrinsics, ApplyIntrinsics) { + const int N = 5; + + double expected[N][N][2] = { + { {75.312500, -24.687500}, {338.982239, -62.035522}, + {640.000000, -72.929688}, {941.017761, -62.035522}, + {1204.687500, -24.687500}}, + + { {37.964478, 238.982239}, {323.664551, 223.664551}, + {640.000000, 219.193420}, {956.335449, 223.664551}, + {1242.035522, 238.982239}}, + + { {27.070312, 540.000000}, {319.193420, 540.000000}, + {640.000000, 540.000000}, {960.806580, 540.000000}, + {1252.929688, 540.000000}}, + + { {37.964478, 841.017761}, {323.664551, 856.335449}, + {640.000000, 860.806580}, {956.335449, 856.335449}, + {1242.035522, 841.017761}}, + + { {75.312500, 1104.687500}, {338.982239, 1142.035522}, + {640.000000, 1152.929688}, {941.017761, 1142.035522}, + {1204.687500, 1104.687500}} + }; + + PolynomialCameraIntrinsics intrinsics; + intrinsics.SetFocalLength(1300.0, 1300.0); + intrinsics.SetPrincipalPoint(640.0, 540.0); + intrinsics.SetRadialDistortion(-0.2, -0.1, -0.05); + + double step = 1.0 / (N - 1); + + for (int i = 0; i < N; i++) { + for (int j = 0; j < N; j++) { + double normalized_x = j * step - 0.5, + normalized_y = i * step - 0.5; + + double distorted_x, distorted_y; + intrinsics.ApplyIntrinsics(normalized_x, normalized_y, + &distorted_x, &distorted_y); + + EXPECT_NEAR(expected[i][j][0], distorted_x, 1e-6); + EXPECT_NEAR(expected[i][j][1], distorted_y, 1e-6); + } + } +} + +TEST(PolynomialCameraIntrinsics, InvertIntrinsics) { + const int N = 5; + + double expected[N][N][2] = { + { {-0.524482, -0.437069}, {-0.226237, -0.403994}, + { 0.031876, -0.398446}, { 0.293917, -0.408218}, + { 0.632438, -0.465028}}, + + { {-0.493496, -0.189173}, {-0.219052, -0.179936}, + { 0.030975, -0.178107}, { 0.283742, -0.181280}, + { 0.574557, -0.194335}}, + + { {-0.488013, 0.032534}, {-0.217537, 0.031077}, + { 0.030781, 0.030781}, { 0.281635, 0.031293}, + { 0.566344, 0.033314}}, + + { {-0.498696, 0.257660}, {-0.220424, 0.244041}, + { 0.031150, 0.241409}, { 0.285660, 0.245985}, + { 0.582670, 0.265629}}, + + { {-0.550617, 0.532263}, {-0.230399, 0.477255}, + { 0.032380, 0.469510}, { 0.299986, 0.483311}, + { 0.684740, 0.584043}} + }; + + PolynomialCameraIntrinsics intrinsics; + intrinsics.SetFocalLength(1300.0, 1300.0); + intrinsics.SetPrincipalPoint(600.0, 500.0); + intrinsics.SetRadialDistortion(-0.2, -0.1, -0.05); + + double step_x = 1280.0 / (N - 1), + step_y = 1080.0 / (N - 1); + + for (int i = 0; i < N; i++) { + for (int j = 0; j < N; j++) { + double distorted_x = j * step_x, + distorted_y = i * step_y; + + double normalized_x, normalized_y; + intrinsics.InvertIntrinsics(distorted_x, distorted_y, + &normalized_x, &normalized_y); + + EXPECT_NEAR(expected[i][j][0], normalized_x, 1e-6); + EXPECT_NEAR(expected[i][j][1], normalized_y, 1e-6); + } + } +} + +TEST(PolynomialCameraIntrinsics, ApplyIsInvertibleSimple) { + PolynomialCameraIntrinsics intrinsics; + intrinsics.SetFocalLength(1300.0, 1300.0); + intrinsics.SetPrincipalPoint(640.0, 540.0); + intrinsics.SetRadialDistortion(-0.2, -0.1, -0.05); + + // Scan over image coordinates, invert the intrinsics, then re-apply them to + // make sure the cycle gets back where it started. + for (double y = 0; y < 1000; y += 100) { + for (double x = 0; x < 1000; x += 100) { + double normalized_x, normalized_y; + intrinsics.InvertIntrinsics(x, y, &normalized_x, &normalized_y); + + double xp, yp; + intrinsics.ApplyIntrinsics(normalized_x, normalized_y, &xp, &yp); + + EXPECT_NEAR(x, xp, 1e-8) << "y: " << y; + EXPECT_NEAR(y, yp, 1e-8) << "x: " << x; + LG << "Error x: " << (x - xp); + LG << "Error y: " << (y - yp); + } + } +} + +TEST(PolynomialCameraIntrinsics, IdentityDistortBuffer) { + const int w = 101, h = 101; + FloatImage image(h, w); + image.Fill(0); + + DrawLine(0.0, h / 2.0, w - 1, h / 2.0, 1.0, &image); + DrawLine(0.0, h / 4.0, w - 1, h / 4.0, 1.0, &image); + DrawLine(0.0, h / 4.0 * 3.0, w - 1.0, h / 4.0 * 3.0, 1.0, &image); + DrawLine(w / 2.0, 0.0, w / 2.0, h - 1.0, 1.0, &image); + DrawLine(w / 4.0, 0.0, w / 4.0, h - 1.0, 1.0, &image); + DrawLine(w / 4.0 * 3.0, 0.0, w / 4.0 * 3.0, h - 1.0, 1.0, &image); + + PolynomialCameraIntrinsics intrinsics; + FloatImage distorted_image(h, w); + intrinsics.SetImageSize(w, h); + intrinsics.SetFocalLength(10.0, 10.0); + intrinsics.SetPrincipalPoint((double) w / 2.0, (double) h / 2.0); + intrinsics.SetRadialDistortion(0.0, 0.0, 0.0); + intrinsics.DistortBuffer(image.Data(), + image.Width(), image.Height(), + 0.0, + image.Depth(), + distorted_image.Data()); + + for (int x = 0; x < image.Width(); ++x) { + for (int y = 0; y < image.Height(); ++y) { + EXPECT_EQ(image(y, x), distorted_image(y, x)); + } + } +} + +TEST(PolynomialCameraIntrinsics, IdentityUndistortBuffer) { + const int w = 101, h = 101; + FloatImage image(h, w); + image.Fill(0); + + DrawLine(0.0, h / 2.0, w - 1, h / 2.0, 1.0, &image); + DrawLine(0.0, h / 4.0, w - 1, h / 4.0, 1.0, &image); + DrawLine(0.0, h / 4.0 * 3.0, w - 1.0, h / 4.0 * 3.0, 1.0, &image); + DrawLine(w / 2.0, 0.0, w / 2.0, h - 1.0, 1.0, &image); + DrawLine(w / 4.0, 0.0, w / 4.0, h - 1.0, 1.0, &image); + DrawLine(w / 4.0 * 3.0, 0.0, w / 4.0 * 3.0, h - 1.0, 1.0, &image); + + PolynomialCameraIntrinsics intrinsics; + FloatImage distorted_image(h, w); + intrinsics.SetImageSize(w, h); + intrinsics.SetFocalLength(10.0, 10.0); + intrinsics.SetPrincipalPoint((double) w / 2.0, (double) h / 2.0); + intrinsics.SetRadialDistortion(0.0, 0.0, 0.0); + intrinsics.UndistortBuffer(image.Data(), + image.Width(), image.Height(), + 0.0, + image.Depth(), + distorted_image.Data()); + + for (int x = 0; x < image.Width(); ++x) { + for (int y = 0; y < image.Height(); ++y) { + EXPECT_EQ(image(y, x), distorted_image(y, x)); + } + } +} + +} // namespace libmv diff --git a/extern/libmv/libmv/simple_pipeline/detect_test.cc b/extern/libmv/libmv/simple_pipeline/detect_test.cc new file mode 100644 index 00000000000..fe57e3d04a2 --- /dev/null +++ b/extern/libmv/libmv/simple_pipeline/detect_test.cc @@ -0,0 +1,230 @@ +// Copyright (c) 2014 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include "libmv/simple_pipeline/detect.h" + +#include "testing/testing.h" +#include "libmv/logging/logging.h" + +namespace libmv { + +namespace { + +void PreformSinglePointTest(const DetectOptions &options) { + // Prepare the image. + FloatImage image(15, 15); + image.fill(1.0); + image(7, 7) = 0.0; + + // Run the detector. + vector<Feature> detected_features; + Detect(image, options, &detected_features); + + // Check detected features matches our expectations. + EXPECT_EQ(1, detected_features.size()); + if (detected_features.size() == 1) { + Feature &feature = detected_features[0]; + EXPECT_EQ(7, feature.x); + EXPECT_EQ(7, feature.y); + } +} + +void PreformCheckerBoardTest(const DetectOptions &options) { + // Prepare the image. + FloatImage image(30, 30); + for (int y = 0; y < image.Height(); ++y) { + for (int x = 0; x < image.Width(); ++x) { + image(y, x) = (x / 10 + y / 10) % 2 ? 1.0 : 0.0; + } + } + + // Run the detector. + vector<Feature> detected_features; + Detect(image, options, &detected_features); + + // Check detected features matches our expectations. + + // We expect here only corners of a center square to be + // considered a feature points. + EXPECT_EQ(4, detected_features.size()); + + // We don't know which side of the corner detector will choose, + // so what we're checking here is that detected feature is from + // any side of the corner. + // + // This doesn't check whether there're multiple features which + // are placed on different sides of the same corner. The way we + // deal with this is requiring min_distance to be greater than 2px. + for (int i = 0; i < detected_features.size(); ++i) { + Feature &feature = detected_features[i]; + int rounded_x = ((feature.x + 1) / 10) * 10, + rounded_y = ((feature.y + 1) / 10) * 10; + EXPECT_LE(1, std::abs(feature.x - rounded_x)); + EXPECT_LE(1, std::abs(feature.y - rounded_y)); + } +} + +void CheckExpectedFeatures(const vector<Feature> &detected_features, + const vector<Feature> &expected_features) { + EXPECT_EQ(expected_features.size(), detected_features.size()); + + // That's unsafe to iterate over vectors when their lengths + // doesn't match. And it doesn't make any sense actually since + // the test will already be considered failed here. + if (expected_features.size() != detected_features.size()) { + return; + } + + for (int i = 0; i < expected_features.size(); ++i) { + const Feature &extected_feature = expected_features[i]; + bool found = false; + for (int j = 0; j < detected_features.size(); ++j) { + const Feature &detected_feature = detected_features[j]; + if (extected_feature.x == detected_feature.x && + extected_feature.y == detected_feature.y) { + found = true; + break; + } + } + EXPECT_TRUE(found); + } +} + +void PreformSingleTriangleTest(const DetectOptions &options) { + // Prepare the image. + FloatImage image(15, 21); + image.fill(1.0); + + int vertex_x = 10, vertex_y = 5; + for (int i = 0; i < 6; ++i) { + int current_x = vertex_x - i, + current_y = vertex_y + i; + for (int j = 0; j < i * 2 + 1; ++j, ++current_x) { + image(current_y, current_x) = 0.0; + } + } + + // Run the detector. + vector<Feature> detected_features; + Detect(image, options, &detected_features); + + // Check detected features matches our expectations. + vector<Feature> expected_features; + expected_features.push_back(Feature(6, 10)); + expected_features.push_back(Feature(14, 10)); + expected_features.push_back(Feature(10, 6)); + + CheckExpectedFeatures(detected_features, expected_features); +} + +} // namespace + +#ifndef LIBMV_NO_FAST_DETECTOR +TEST(Detect, FASTSinglePointTest) { + DetectOptions options; + options.type = DetectOptions::FAST; + options.min_distance = 0; + options.fast_min_trackness = 1; + + PreformSinglePointTest(options); +} +#endif // LIBMV_NO_FAST_DETECTOR + +#if 0 +// TODO(sergey): FAST doesn't detect checker board corners, but should it? +TEST(Detect, FASTCheckerBoardTest) { + DetectOptions options; + options.type = DetectOptions::FAST; + options.min_distance = 0; + options.fast_min_trackness = 1; + + PreformCheckerBoardTest(options); +} +#endif + +#if 0 +// TODO(sergey): FAST doesn't detect triangle corners! +TEST(Detect, FASTSingleTriangleTest) { + DetectOptions options; + options.type = DetectOptions::FAST; + options.margin = 3; + options.min_distance = 0; + options.fast_min_trackness = 2; + + PreformSingleTriangleTest(options); +} +#endif + +#if 0 +// TODO(sergey): This doesn't actually detect single point, +// but should it or it's expected that Moravec wouldn't consider +// single point as feature? +// +// Uncomment this or remove as soon as we know answer for the +// question. +TEST(Detect, MoravecSinglePointTest) { + DetectOptions options; + options.type = DetectOptions::MORAVEC; + options.min_distance = 0; + options.moravec_max_count = 10; + + PreformSinglePointTest(options); +} + +// TODO(sergey): Moravec doesn't detect checker board corners, but should it? +TEST(Detect, MoravecCheckerBoardTest) { + DetectOptions options; + options.type = DetectOptions::MORAVEC; + options.min_distance = 0; + options.moravec_max_count = 10; + + PreformCheckerBoardTest(options); +} +#endif + +TEST(Detect, HarrisSinglePointTest) { + DetectOptions options; + options.type = DetectOptions::HARRIS; + + // Set this to non-zero so image corners are not considered + // a feature points and avoid center point neighbors to be + // considered a features as well. + options.margin = 3; + options.min_distance = 3; + + PreformSinglePointTest(options); +} + +TEST(Detect, HarrisSingleTriangleTest) { + DetectOptions options; + options.type = DetectOptions::HARRIS; + + options.margin = 3; + options.min_distance = 2; + options.harris_threshold = 1e-3; + + PreformSingleTriangleTest(options); +} + +// TODO(sergey): Add tests for margin option. + +// TODO(sergey): Add tests for min_distance option. + +} // namespace libmv diff --git a/extern/libmv/libmv/simple_pipeline/intersect_test.cc b/extern/libmv/libmv/simple_pipeline/intersect_test.cc new file mode 100644 index 00000000000..dd4fdc789af --- /dev/null +++ b/extern/libmv/libmv/simple_pipeline/intersect_test.cc @@ -0,0 +1,81 @@ +// Copyright (c) 2007, 2008 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include "libmv/simple_pipeline/intersect.h" + +#include <iostream> + +#include "testing/testing.h" +#include "libmv/multiview/projection.h" +#include "libmv/numeric/numeric.h" +#include "libmv/logging/logging.h" + +namespace libmv { + +TEST(Intersect, EuclideanIntersect) { + Mat3 K1 = Mat3::Identity(); + // K1 << 320, 0, 160, + // 0, 320, 120, + // 0, 0, 1; + Mat3 K2 = Mat3::Identity(); + // K2 << 360, 0, 170, + // 0, 360, 110, + // 0, 0, 1; + Mat3 R1 = RotationAroundZ(-0.1); + Mat3 R2 = RotationAroundX(-0.1); + Vec3 t1; t1 << 1, 1, 10; + Vec3 t2; t2 << -2, -1, 10; + Mat34 P1, P2; + P_From_KRt(K1, R1, t1, &P1); + P_From_KRt(K2, R2, t2, &P2); + + //Mat3 F; FundamentalFromProjections(P1, P2, &F); + + Mat3X X; + X.resize(3, 30); + X.setRandom(); + + Mat2X X1, X2; + Project(P1, X, &X1); + Project(P2, X, &X2); + + for (int i = 0; i < X.cols(); ++i) { + Vec2 x1, x2; + MatrixColumn(X1, i, &x1); + MatrixColumn(X2, i, &x2); + Vec3 expected; + MatrixColumn(X, i, &expected); + + EuclideanReconstruction reconstruction; + reconstruction.InsertCamera(1, R1, t1); + reconstruction.InsertCamera(2, R2, t2); + + vector<Marker> markers; + Marker a = { 1, 0, x1.x(), x1.y(), 1.0 }; + markers.push_back(a); + Marker b = { 2, 0, x2.x(), x2.y(), 1.0 }; + markers.push_back(b); + + EuclideanIntersect(markers, &reconstruction); + Vec3 estimated = reconstruction.PointForTrack(0)->X; + EXPECT_NEAR(0, DistanceLInfinity(estimated, expected), 1e-8); + } +} +} // namespace diff --git a/extern/libmv/libmv/simple_pipeline/keyframe_selection_test.cc b/extern/libmv/libmv/simple_pipeline/keyframe_selection_test.cc new file mode 100644 index 00000000000..9d88362cc88 --- /dev/null +++ b/extern/libmv/libmv/simple_pipeline/keyframe_selection_test.cc @@ -0,0 +1,307 @@ +// Copyright (c) 2011 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include "libmv/simple_pipeline/keyframe_selection.h" + +#include "testing/testing.h" +#include "libmv/simple_pipeline/camera_intrinsics.h" +#include "libmv/logging/logging.h" + +namespace libmv { + +// Synthetic test, N markers with the same translation +// Should not be keyframe +TEST(KeyframeSelection, SyntheticNeighborFrame) { + PolynomialCameraIntrinsics intrinsics; + intrinsics.SetFocalLength(900.0,900.0); + intrinsics.SetPrincipalPoint(640.0, 540.0); + intrinsics.SetRadialDistortion(0.0, 0.0, 0.0); + + Tracks tracks; + const int markers_per_size = 15; + + // Fill in tracks for homography estimation + for (int x = 0; x < markers_per_size; x++) { + for (int y = 0; y < markers_per_size; y++) { + double current_x = 10 + x * 40, current_y = 10 + y * 40; + double next_x = current_x + 10, next_y = current_y + 10; + + intrinsics.InvertIntrinsics(current_x, current_y, ¤t_x, ¤t_y); + intrinsics.InvertIntrinsics(next_x, next_y, &next_x, &next_y); + + tracks.Insert(1, y * markers_per_size + x, current_x, current_y); + tracks.Insert(2, y * markers_per_size + x, next_x, next_y); + } + } + + vector<int> keyframes; + SelectKeyframesBasedOnGRICAndVariance(tracks, intrinsics, keyframes); + + // Synthetic second frame shouldn't be considered a keyframe + EXPECT_EQ(0, keyframes.size()); +} + +// Frames 1 and 2 of FabrikEingang footage +// Only one wall is tracked, should not be keyframes +TEST(KeyframeSelection, FabrikEingangNeighborFrames) { + PolynomialCameraIntrinsics intrinsics; + intrinsics.SetFocalLength(1605.797, 1605.797); + intrinsics.SetPrincipalPoint(960.000, 544.000); + intrinsics.SetRadialDistortion(0.0, 0.0, 0.0); + + Marker markers[] = { + {1, 0, 737.599983, 646.397594, 1.0}, {2, 0, 737.906628, 648.113327, 1.0}, {1, 1, 863.045425, 646.081905, 1.0}, + {2, 1, 863.339767, 647.650040, 1.0}, {1, 2, 736.959972, 574.080151, 1.0}, {2, 2, 737.217350, 575.604900, 1.0}, + {1, 3, 864.097424, 573.374908, 1.0}, {2, 3, 864.383469, 574.900307, 1.0}, {1, 4, 789.429073, 631.677521, 1.0}, + {2, 4, 789.893131, 633.124451, 1.0}, {1, 5, 791.051960, 573.442028, 1.0}, {2, 5, 791.336575, 575.088890, 1.0}, + {1, 6, 738.973961, 485.130308, 1.0}, {2, 6, 739.435501, 486.734207, 1.0}, {1, 7, 862.403240, 514.866074, 1.0}, + {2, 7, 862.660618, 516.413261, 1.0}, {1, 8, 802.240162, 485.759838, 1.0}, {2, 8, 802.602253, 487.432899, 1.0}, + {1, 9, 754.340630, 500.624559, 1.0}, {2, 9, 754.559956, 502.079920, 1.0}, {1, 10, 849.398689, 484.480545, 1.0}, + {2, 10, 849.599934, 486.079937, 1.0}, {1, 11, 788.803768, 515.924391, 1.0}, {2, 11, 789.119911, 517.439932, 1.0}, + {1, 12, 838.733940, 558.212688, 1.0}, {2, 12, 839.039898, 559.679916, 1.0}, {1, 13, 760.014782, 575.194466, 1.0}, + {2, 13, 760.319881, 576.639904, 1.0}, {1, 14, 765.321636, 616.015957, 1.0}, {2, 14, 765.759945, 617.599915, 1.0}, + {1, 15, 800.963230, 660.032082, 1.0}, {2, 15, 801.279945, 661.759876, 1.0}, {1, 16, 846.321087, 602.313053, 1.0}, + {2, 16, 846.719913, 603.839878, 1.0}, {1, 17, 864.288311, 616.790524, 1.0}, {2, 17, 864.639931, 618.239918, 1.0}, + {1, 18, 800.006790, 602.573425, 1.0}, {2, 18, 800.319958, 604.159912, 1.0}, {1, 19, 739.026890, 617.944138, 1.0}, + {2, 19, 739.199924, 619.519924, 1.0}, {1, 20, 801.987419, 544.134888, 1.0}, {2, 20, 802.239933, 545.599911, 1.0}, + {1, 21, 753.619823, 542.961300, 1.0}, {2, 21, 753.919945, 544.639874, 1.0}, {1, 22, 787.921257, 499.910206, 1.0}, + {2, 22, 788.159924, 501.439917, 1.0}, {1, 23, 839.095459, 529.287903, 1.0}, {2, 23, 839.359932, 530.879934, 1.0}, + {1, 24, 811.760330, 630.732269, 1.0}, {2, 24, 812.159901, 632.319859, 1.0} + }; + int num_markers = sizeof(markers) / sizeof(Marker); + + Tracks tracks; + for (int i = 0; i < num_markers; i++) { + double x = markers[i].x, y = markers[i].y; + intrinsics.InvertIntrinsics(x, y, &x, &y); + tracks.Insert(markers[i].image, markers[i].track, x, y); + } + + vector<int> keyframes; + SelectKeyframesBasedOnGRICAndVariance(tracks, intrinsics, keyframes); + + EXPECT_EQ(0, keyframes.size()); +} + +// Frames 120 and 200 from FabrikEingang footage +// Should be enough of parallax for keyframing +TEST(KeyframeSelection, FabrikEingangFarFrames) { + PolynomialCameraIntrinsics intrinsics; + intrinsics.SetFocalLength(1605.797, 1605.797); + intrinsics.SetPrincipalPoint(960.000, 544.000); + intrinsics.SetRadialDistortion(0.0, 0.0, 0.0); + + Marker markers[] = { + {1, 0, 369.459200, 619.315258, 1.0}, {2, 0, 279.677496, 722.086842, 1.0}, {1, 1, 376.831970, 370.278397, 1.0}, + {2, 1, 221.695247, 460.065418, 1.0}, {1, 2, 1209.139023, 567.705605, 1.0}, {2, 2, 1080.760117, 659.230083, 1.0}, + {1, 3, 1643.495750, 903.620453, 1.0}, {2, 3, 1618.405037, 1015.374908, 1.0}, {1, 4, 1494.849815, 425.302460, 1.0}, + {2, 4, 1457.467575, 514.727587, 1.0}, {1, 5, 1794.637299, 328.728609, 1.0}, {2, 5, 1742.161446, 408.988636, 1.0}, + {1, 6, 1672.822723, 102.240358, 1.0}, {2, 6, 1539.287224, 153.536892, 1.0}, {1, 7, 1550.843925, 53.424943, 1.0}, + {2, 7, 1385.579109, 96.450085, 1.0}, {1, 8, 852.953281, 465.399578, 1.0}, {2, 8, 779.404564, 560.091843, 1.0}, + {1, 9, 906.853752, 299.827040, 1.0}, {2, 9, 786.923218, 385.570770, 1.0}, {1, 10, 406.322966, 87.556041, 1.0}, + {2, 10, 140.339413, 150.877481, 1.0}, {1, 11, 254.811573, 851.296478, 1.0}, {2, 11, 94.478302, 969.350189, 1.0}, + {1, 12, 729.087868, 806.092758, 1.0}, {2, 12, 606.212139, 919.876560, 1.0}, {1, 13, 1525.719452, 920.398083, 1.0}, + {2, 13, 1495.579720, 1031.971218, 1.0} + }; + int num_markers = sizeof(markers) / sizeof(Marker); + + Tracks tracks; + for (int i = 0; i < num_markers; i++) { + double x = markers[i].x, y = markers[i].y; + intrinsics.InvertIntrinsics(x, y, &x, &y); + tracks.Insert(markers[i].image, markers[i].track, x, y); + } + + vector<int> keyframes; + SelectKeyframesBasedOnGRICAndVariance(tracks, intrinsics, keyframes); + + EXPECT_EQ(2, keyframes.size()); +} + +// Manually selected keyframes from copter footage from Sebastian +// Keyframes were 167 and 237 +TEST(KeyframeSelection, CopterManualKeyFrames) { + PolynomialCameraIntrinsics intrinsics; + intrinsics.SetFocalLength(1155.043, 1155.043); + intrinsics.SetPrincipalPoint(640.000, 360.000); + intrinsics.SetRadialDistortion(-0.08590, 0.0, 0.0); + + Marker markers[] = { + {1, 0, 645.792694, 403.115931, 1.0}, {2, 0, 630.641174, 307.996409, 1.0}, {1, 1, 783.469086, 403.904328, 1.0}, + {2, 1, 766.001129, 308.998225, 1.0}, {1, 2, 650.000000, 160.000001, 1.0}, {1, 3, 785.225906, 158.619039, 1.0}, + {2, 3, 767.526474, 70.449695, 1.0}, {1, 4, 290.640526, 382.335634, 1.0}, {2, 4, 273.001728, 86.993319, 1.0}, + {1, 5, 291.162739, 410.602684, 1.0}, {2, 5, 273.287849, 111.937487, 1.0}, {1, 6, 136.919317, 349.895797, 1.0}, + {1, 7, 490.844345, 47.572222, 1.0}, {1, 8, 454.406433, 488.935761, 1.0}, {1, 9, 378.655815, 618.522248, 1.0}, + {2, 9, 357.061806, 372.265077, 1.0}, {1, 10, 496.011391, 372.668824, 1.0}, {2, 10, 477.979164, 222.986112, 1.0}, + {1, 11, 680.060272, 256.103625, 1.0}, {2, 11, 670.587540, 204.830453, 1.0}, {1, 12, 1070.817108, 218.775322, 1.0}, + {2, 12, 1046.129913, 128.969783, 1.0}, {1, 14, 242.516403, 596.048512, 1.0}, {2, 14, 224.182606, 248.272154, 1.0}, + {1, 15, 613.936272, 287.519073, 1.0}, {2, 15, 600.467644, 196.085722, 1.0}, {1, 31, 844.637451, 256.354315, 1.0}, + {2, 31, 823.200150, 165.714952, 1.0}, + }; + int num_markers = sizeof(markers) / sizeof(Marker); + + Tracks tracks; + for (int i = 0; i < num_markers; i++) { + double x = markers[i].x, y = markers[i].y; + intrinsics.InvertIntrinsics(x, y, &x, &y); + tracks.Insert(markers[i].image, markers[i].track, x, y); + } + + vector<int> keyframes; + SelectKeyframesBasedOnGRICAndVariance(tracks, intrinsics, keyframes); + + EXPECT_EQ(2, keyframes.size()); +} + +// Used old friend elevator scene MMI_2366 with automatic feature selection +// and manual outlier elimination and manual keyframe selection +// Selected keyframes were 29 and 41 +TEST(KeyframeSelection, ElevatorManualKeyframesFrames) { + PolynomialCameraIntrinsics intrinsics; + intrinsics.SetFocalLength(1380.000, 1380.000); + intrinsics.SetPrincipalPoint(960.000, 540.000); + intrinsics.SetRadialDistortion(-0.034, 0.0, 0.0); + + Marker markers[] = { + {1, 2, 1139.861412, 1034.634984, 1.0}, {2, 2, 1143.512192, 1065.355718, 1.0}, {1, 3, 1760.821953, 644.658036, 1.0}, + {2, 3, 1770.901108, 697.899928, 1.0}, {1, 4, 858.071823, 1068.520746, 1.0}, {1, 6, 1633.952408, 797.050145, 1.0}, + {2, 6, 1642.508469, 849.157140, 1.0}, {1, 8, 1716.695824, 451.805491, 1.0}, {2, 8, 1726.513939, 502.095687, 1.0}, + {1, 9, 269.577627, 724.986935, 1.0}, {2, 9, 269.424820, 764.154246, 1.0}, {1, 10, 1891.321907, 706.948843, 1.0}, + {2, 10, 1903.338547, 766.068377, 1.0}, {1, 12, 1806.227074, 956.089604, 1.0}, {2, 12, 1816.619568, 1013.767376, 1.0}, + {1, 14, 269.544153, 1002.333570, 1.0}, {2, 14, 269.367542, 1043.509254, 1.0}, {1, 15, 1402.772141, 281.392962, 1.0}, + {2, 15, 1409.089165, 318.731629, 1.0}, {1, 16, 195.877233, 919.454341, 1.0}, {2, 16, 192.531109, 997.367899, 1.0}, + {1, 17, 1789.584045, 120.036661, 1.0}, {2, 17, 1800.391846, 167.822964, 1.0}, {1, 18, 999.363213, 765.004807, 1.0}, + {2, 18, 1002.345772, 790.560122, 1.0}, {1, 19, 647.342491, 1044.805727, 1.0}, {2, 19, 649.328041, 1058.682940, 1.0}, + {1, 20, 1365.486832, 440.901829, 1.0}, {2, 20, 1371.413040, 477.888730, 1.0}, {1, 21, 1787.125282, 301.431606, 1.0}, + {2, 21, 1798.527260, 355.224531, 1.0}, {1, 22, 1257.805824, 932.797258, 1.0}, {2, 22, 1263.017578, 969.376774, 1.0}, + {1, 23, 961.969528, 843.148112, 1.0}, {2, 23, 964.869461, 868.587620, 1.0}, {1, 24, 158.076110, 1052.643592, 1.0}, + {1, 25, 1072.884521, 1005.296981, 1.0}, {2, 25, 1076.091156, 1032.776856, 1.0}, {1, 26, 1107.656937, 526.577228, 1.0}, + {2, 26, 1111.618423, 555.524454, 1.0}, {1, 27, 1416.410751, 529.857581, 1.0}, {2, 27, 1422.663574, 570.025957, 1.0}, + {1, 28, 1498.673630, 1005.453086, 1.0}, {2, 28, 1505.381813, 1051.827149, 1.0}, {1, 29, 1428.647804, 652.473629, 1.0}, + {2, 29, 1434.898224, 692.715390, 1.0}, {1, 30, 1332.318764, 503.673599, 1.0}, {2, 30, 1338.000069, 540.507967, 1.0}, + {1, 32, 1358.642693, 709.837904, 1.0}, {2, 32, 1364.231529, 748.678265, 1.0}, {1, 33, 1850.911560, 460.475668, 1.0}, + {2, 33, 1862.221413, 512.797347, 1.0}, {1, 34, 1226.117821, 607.053959, 1.0}, {2, 34, 1230.736084, 641.091449, 1.0}, + {1, 35, 619.598236, 523.341744, 1.0}, {2, 35, 621.601124, 554.453287, 1.0}, {1, 36, 956.591492, 958.223183, 1.0}, + {2, 36, 959.289265, 983.289263, 1.0}, {1, 37, 1249.922218, 419.095856, 1.0}, {2, 37, 1255.005913, 452.556177, 1.0}, + {1, 39, 1300.528450, 386.251166, 1.0}, {2, 39, 1305.957413, 420.185595, 1.0}, {1, 40, 1128.689919, 972.558346, 1.0}, + {2, 40, 1132.413712, 1003.984737, 1.0}, {1, 41, 503.304749, 1053.504388, 1.0}, {2, 41, 505.019703, 1069.175613, 1.0}, + {1, 42, 1197.352982, 472.681564, 1.0}, {2, 42, 1201.910706, 503.459880, 1.0}, {1, 43, 1794.391022, 383.911400, 1.0}, + {2, 43, 1805.324135, 436.116468, 1.0}, {1, 44, 789.641418, 1058.045647, 1.0}, {1, 45, 1376.575241, 928.714979, 1.0}, + {2, 45, 1381.995850, 969.511957, 1.0}, {1, 46, 1598.023567, 93.975592, 1.0}, {2, 46, 1606.937141, 136.827035, 1.0}, + {1, 47, 1455.550232, 762.128685, 1.0}, {2, 47, 1462.014313, 805.164878, 1.0}, {1, 48, 1357.123489, 354.460326, 1.0}, + {2, 48, 1363.071899, 390.363121, 1.0}, {1, 49, 939.792652, 781.549895, 1.0}, {2, 49, 942.802620, 806.164012, 1.0}, + {1, 50, 1380.251083, 805.948620, 1.0}, {2, 50, 1385.637932, 845.592098, 1.0}, {1, 51, 1021.769943, 1049.802361, 1.0}, + {1, 52, 1065.634918, 608.099055, 1.0}, {2, 52, 1069.142189, 635.361736, 1.0}, {1, 53, 624.324188, 463.202863, 1.0}, + {2, 53, 626.395454, 494.994088, 1.0}, {1, 54, 1451.459885, 881.557624, 1.0}, {2, 54, 1457.679634, 924.345531, 1.0}, + {1, 55, 1201.885986, 1057.079022, 1.0}, {1, 56, 581.157532, 947.661438, 1.0}, {2, 56, 583.242359, 960.831449, 1.0}, + {1, 58, 513.593102, 954.175858, 1.0}, {2, 58, 515.470047, 971.309574, 1.0}, {1, 59, 928.069038, 901.774421, 1.0}, + {2, 59, 930.847950, 925.613744, 1.0}, {1, 60, 1065.860023, 740.395389, 1.0}, {2, 60, 1069.484253, 768.971086, 1.0}, + {1, 61, 990.479393, 906.264632, 1.0}, {2, 61, 993.217506, 933.088803, 1.0}, {1, 62, 1776.196747, 776.278453, 1.0}, + {2, 62, 1786.292496, 831.136880, 1.0}, {1, 63, 834.454365, 1012.449725, 1.0}, {2, 63, 836.868324, 1033.451807, 1.0}, + {1, 64, 1355.190697, 869.184809, 1.0}, {2, 64, 1360.736618, 909.773347, 1.0}, {1, 65, 702.072487, 897.519686, 1.0}, + {2, 65, 704.203377, 911.931131, 1.0}, {1, 66, 1214.022903, 856.199934, 1.0}, {2, 66, 1218.109016, 890.753052, 1.0}, + {1, 67, 327.676048, 236.814036, 1.0}, {2, 67, 328.335285, 277.251878, 1.0}, {1, 68, 289.064083, 454.793912, 1.0}, + {2, 68, 288.651924, 498.882444, 1.0}, {1, 69, 1626.240692, 278.374350, 1.0}, {2, 69, 1634.131508, 315.853672, 1.0}, + {1, 70, 1245.375710, 734.862142, 1.0}, {2, 70, 1250.047417, 769.670885, 1.0}, {1, 71, 497.015305, 510.718904, 1.0}, + {2, 71, 498.682308, 541.070201, 1.0}, {1, 72, 1280.542030, 153.939185, 1.0}, {2, 72, 1286.993637, 198.436196, 1.0}, + {1, 73, 1534.748840, 138.601043, 1.0}, {2, 73, 1542.961349, 180.170819, 1.0}, {1, 74, 1477.412682, 200.608061, 1.0}, + {2, 74, 1484.683914, 240.413260, 1.0}, {1, 76, 450.637321, 407.279642, 1.0}, {2, 76, 451.695642, 441.666291, 1.0}, + {1, 78, 246.981239, 220.786298, 1.0}, {2, 78, 244.524879, 290.016564, 1.0}, {1, 79, 36.696489, 420.023407, 1.0}, + {2, 79, 21.364746, 591.245492, 1.0}, + }; + int num_markers = sizeof(markers) / sizeof(Marker); + + Tracks tracks; + for (int i = 0; i < num_markers; i++) { + double x = markers[i].x, y = markers[i].y; + intrinsics.InvertIntrinsics(x, y, &x, &y); + tracks.Insert(markers[i].image, markers[i].track, x, y); + } + + vector<int> keyframes; + SelectKeyframesBasedOnGRICAndVariance(tracks, intrinsics, keyframes); + + EXPECT_EQ(2, keyframes.size()); +} + +// Elevator scene MMI_2366 with manual tracks, frames 1, 2, 3, 5 and 27 +TEST(KeyframeSelection, ElevatorReconstructionVarianceTest) { + PolynomialCameraIntrinsics intrinsics; + intrinsics.SetFocalLength(1380.000, 1380.000); + intrinsics.SetPrincipalPoint(960.000, 540.000); + intrinsics.SetRadialDistortion(-0.034, 0.0, 0.0); + + Marker markers[] = { + {1, 0, 182.999997, 1047.000010, 1.0}, {2, 0, 181.475730, 1052.091079, 1.0}, {3, 0, 181.741562, 1057.893341, 1.0}, + {4, 0, 183.190498, 1068.310440, 1.0}, {1, 1, 271.000013, 666.000009, 1.0}, {2, 1, 270.596180, 668.665760, 1.0}, + {3, 1, 270.523510, 671.559069, 1.0}, {4, 1, 271.856518, 676.818151, 1.0}, {5, 1, 268.989000, 727.051570, 1.0}, + {1, 2, 264.999990, 1018.000031, 1.0}, {2, 2, 264.020061, 1021.157591, 1.0}, {3, 2, 264.606056, 1024.823506, 1.0}, + {4, 2, 266.200933, 1031.168690, 1.0}, {1, 3, 270.000000, 938.000014, 1.0}, {2, 3, 269.022617, 941.153390, 1.0}, + {3, 3, 269.605579, 944.454954, 1.0}, {4, 3, 271.281366, 949.452167, 1.0}, {5, 3, 268.963480, 1004.417453, 1.0}, + {1, 4, 200.999994, 799.000003, 1.0}, {2, 4, 199.841366, 803.891838, 1.0}, {3, 4, 200.262208, 809.323246, 1.0}, + {4, 4, 201.456513, 819.271195, 1.0}, {5, 4, 195.026493, 924.363234, 1.0}, {1, 5, 1775.000038, 49.999998, 1.0}, + {2, 5, 1775.255127, 53.718264, 1.0}, {3, 5, 1776.449890, 55.951670, 1.0}, {4, 5, 1778.815727, 61.923309, 1.0}, + {5, 5, 1790.274124, 123.074923, 1.0}, {1, 6, 164.000001, 927.999988, 1.0}, {2, 6, 162.665462, 933.169527, 1.0}, + {3, 6, 163.067923, 938.577182, 1.0}, {4, 6, 164.370360, 948.840945, 1.0}, {5, 6, 157.199407, 1057.762341, 1.0}, + {1, 7, 618.000011, 477.999998, 1.0}, {2, 7, 617.583504, 480.124243, 1.0}, {3, 7, 618.356495, 482.441897, 1.0}, + {4, 7, 619.792500, 486.428132, 1.0}, {5, 7, 619.546051, 525.222627, 1.0}, {1, 8, 499.999981, 1036.999984, 1.0}, + {2, 8, 499.080162, 1038.720160, 1.0}, {3, 8, 499.949398, 1039.014344, 1.0}, {4, 8, 501.828003, 1041.286647, 1.0}, + {5, 8, 502.777576, 1055.196369, 1.0}, {1, 9, 1587.000046, 31.999999, 1.0}, {2, 9, 1586.988373, 34.635853, 1.0}, + {3, 9, 1588.155899, 37.444186, 1.0}, {4, 9, 1589.973106, 42.492081, 1.0}, {5, 9, 1598.683205, 96.526332, 1.0}, + {1, 10, 622.999992, 416.999999, 1.0}, {2, 10, 622.449017, 419.233485, 1.0}, {3, 10, 623.283234, 421.500703, 1.0}, + {4, 10, 624.620132, 425.537406, 1.0}, {5, 10, 624.290829, 465.078338, 1.0}, {1, 11, 577.999992, 931.999998, 1.0}, + {2, 11, 577.042294, 932.872703, 1.0}, {3, 11, 577.832451, 934.045451, 1.0}, {4, 11, 579.729137, 935.735435, 1.0}, + {5, 11, 580.691242, 948.396256, 1.0}, {1, 12, 510.999985, 931.999998, 1.0}, {2, 12, 510.111237, 933.152146, 1.0}, + {3, 12, 510.797081, 934.454219, 1.0}, {4, 12, 512.647362, 936.595910, 1.0}, {5, 12, 513.247204, 955.144157, 1.0}, + {1, 13, 330.459995, 177.059993, 1.0}, {2, 13, 329.876347, 179.615586, 1.0}, {3, 13, 330.681696, 182.757810, 1.0}, + {4, 13, 331.345053, 187.903853, 1.0}, {5, 13, 327.824135, 239.611639, 1.0}, {1, 14, 291.813097, 388.516195, 1.0}, + {2, 14, 290.984058, 391.382725, 1.0}, {3, 14, 291.526737, 394.778595, 1.0}, {4, 14, 292.763815, 400.310973, 1.0}, + {5, 14, 288.714552, 457.548015, 1.0}, {1, 15, 496.491680, 466.534005, 1.0}, {2, 15, 495.909519, 468.518561, 1.0}, + {3, 15, 496.588383, 470.853596, 1.0}, {4, 15, 497.976780, 474.731458, 1.0}, {5, 15, 496.998882, 512.568694, 1.0}, + {1, 16, 1273.000031, 89.000000, 1.0}, {2, 16, 1272.951965, 92.003637, 1.0}, {3, 16, 1273.934784, 94.972191, 1.0}, + {4, 16, 1275.493584, 100.139952, 1.0}, {5, 16, 1281.003571, 156.880163, 1.0}, {1, 17, 1524.713173, 78.852922, 1.0}, + {2, 17, 1524.782066, 81.427142, 1.0}, {3, 17, 1525.759048, 84.057939, 1.0}, {4, 17, 1527.579689, 88.966550, 1.0}, + {5, 17, 1535.262451, 141.186054, 1.0}, {1, 18, 1509.425011, 94.371824, 1.0}, {1, 19, 451.000013, 357.000003, 1.0}, + {2, 19, 450.354881, 359.312410, 1.0}, {3, 19, 451.107473, 361.837088, 1.0}, {4, 19, 452.186537, 366.318061, 1.0}, + {5, 19, 450.507660, 409.257599, 1.0}, {1, 20, 254.004936, 114.784185, 1.0}, {2, 20, 253.291512, 119.288486, 1.0}, + {3, 20, 253.745584, 124.114957, 1.0}, {4, 20, 254.453287, 132.795120, 1.0}, {5, 20, 246.772242, 225.165337, 1.0}, + {1, 21, 65.262880, 147.889409, 1.0}, {2, 21, 63.634465, 157.656807, 1.0}, {3, 21, 63.306799, 169.067053, 1.0}, + {4, 21, 62.462311, 189.724241, 1.0}, {5, 21, 35.396615, 430.308380, 1.0}, + }; + int num_markers = sizeof(markers) / sizeof(Marker); + + Tracks tracks; + for (int i = 0; i < num_markers; i++) { + double x = markers[i].x, y = markers[i].y; + intrinsics.InvertIntrinsics(x, y, &x, &y); + tracks.Insert(markers[i].image, markers[i].track, x, y); + } + + vector<int> keyframes; + SelectKeyframesBasedOnGRICAndVariance(tracks, intrinsics, keyframes); + + EXPECT_EQ(2, keyframes.size()); + if (keyframes.size() == 2) { + EXPECT_EQ(1, keyframes[0]); + EXPECT_EQ(5, keyframes[1]); + } +} + +} // namespace libmv diff --git a/extern/libmv/libmv/simple_pipeline/modal_solver_test.cc b/extern/libmv/libmv/simple_pipeline/modal_solver_test.cc new file mode 100644 index 00000000000..8b87acd95bb --- /dev/null +++ b/extern/libmv/libmv/simple_pipeline/modal_solver_test.cc @@ -0,0 +1,79 @@ +// Copyright (c) 2013 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include "libmv/simple_pipeline/modal_solver.h" + +#include "testing/testing.h" +#include "libmv/logging/logging.h" +#include "libmv/simple_pipeline/bundle.h" +#include "libmv/simple_pipeline/camera_intrinsics.h" + +#include <stdio.h> + +namespace libmv { + +TEST(ModalSolver, SyntheticCubeSceneMotion) { + double kTolerance = 1e-8; + + PolynomialCameraIntrinsics intrinsics; + intrinsics.SetFocalLength(658.286, 658.286); + intrinsics.SetPrincipalPoint(480.0, 270.0); + intrinsics.SetRadialDistortion(0.0, 0.0, 0.0); + + Marker markers[] = { + {1, 0, 212.172775, 354.713538, 1.0}, {2, 0, 773.468399, 358.735306, 1.0}, + {1, 1, 62.415197, 287.905354, 1.0}, {2, 1, 619.103336, 324.402537, 1.0}, + {1, 2, 206.847939, 237.567925, 1.0}, {2, 2, 737.496986, 247.881383, 1.0}, + {1, 3, 351.743889, 316.415906, 1.0}, {2, 3, 908.779621, 290.703617, 1.0}, + {1, 4, 232.941413, 54.265443, 1.0}, {2, 4, 719.444847, 63.062531, 1.0}, + {1, 5, 96.391611, 119.283537, 1.0}, {2, 5, 611.413136, 160.890715, 1.0}, + {1, 6, 363.444958, 150.838144, 1.0}, {2, 6, 876.374531, 114.916206, 1.0}, + }; + int num_markers = sizeof(markers) / sizeof(Marker); + + Tracks tracks; + for (int i = 0; i < num_markers; i++) { + double x = markers[i].x, y = markers[i].y; + intrinsics.InvertIntrinsics(x, y, &x, &y); + tracks.Insert(markers[i].image, markers[i].track, x, y); + } + + EuclideanReconstruction reconstruction; + ModalSolver(tracks, &reconstruction); + EuclideanBundleCommonIntrinsics(tracks, + BUNDLE_NO_INTRINSICS, + BUNDLE_NO_TRANSLATION, + &reconstruction, + &intrinsics, + NULL); + + Mat3 expected_rotation; + expected_rotation << 0.98215101299251, 0.17798357184544, 0.06083778292258, + -0.16875286001759, 0.97665299913606, -0.13293378620359, + -0.08307743323957, 0.12029450291547, 0.98925596922871; + + Mat3 &first_camera_R = reconstruction.CameraForImage(1)->R; + Mat3 &second_camera_R = reconstruction.CameraForImage(2)->R; + + EXPECT_TRUE(Mat3::Identity().isApprox(first_camera_R, kTolerance)); + EXPECT_TRUE(expected_rotation.isApprox(second_camera_R, kTolerance)); +} + +} // namespace libmv diff --git a/extern/libmv/libmv/simple_pipeline/resect_test.cc b/extern/libmv/libmv/simple_pipeline/resect_test.cc new file mode 100644 index 00000000000..811edd282d8 --- /dev/null +++ b/extern/libmv/libmv/simple_pipeline/resect_test.cc @@ -0,0 +1,234 @@ +// Copyright (c) 2009 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include "libmv/simple_pipeline/resect.h" +#include "libmv/logging/logging.h" +#include "testing/testing.h" + +#if 0 +// Generates all necessary inputs and expected outputs for EuclideanResection. +void CreateCameraSystem(const Mat3& KK, + const Mat3X& x_image, + const Vec& X_distances, + const Mat3& R_input, + const Vec3& T_input, + Mat2X *x_camera, + Mat3X *X_world, + Mat3 *R_expected, + Vec3 *T_expected) { + int num_points = x_image.cols(); + + Mat3X x_unit_cam(3, num_points); + x_unit_cam = KK.inverse() * x_image; + + // Create normalized camera coordinates to be used as an input to the PnP + // function, instead of using NormalizeColumnVectors(&x_unit_cam). + *x_camera = x_unit_cam.block(0, 0, 2, num_points); + for (int i = 0; i < num_points; ++i) { + x_unit_cam.col(i).normalize(); + } + + // Create the 3D points in the camera system. + Mat X_camera(3, num_points); + for (int i = 0; i < num_points; ++i) { + X_camera.col(i) = X_distances(i) * x_unit_cam.col(i); + } + + // Apply the transformation to the camera 3D points + Mat translation_matrix(3, num_points); + translation_matrix.row(0).setConstant(T_input(0)); + translation_matrix.row(1).setConstant(T_input(1)); + translation_matrix.row(2).setConstant(T_input(2)); + + *X_world = R_input * X_camera + translation_matrix; + + // Create the expected result for comparison. + *R_expected = R_input.transpose(); + *T_expected = *R_expected * (-T_input); +}; + +TEST(AbsoluteOrientation, QuaternionSolution) { + int num_points = 4; + Mat X; + Mat Xp; + X = 100 * Mat::Random(3, num_points); + + // Create a random translation and rotation. + Mat3 R_input; + R_input = Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ()) + * Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitY()) + * Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ()); + + Vec3 t_input; + t_input.setRandom(); + t_input = 100 * t_input; + + Mat translation_matrix(3, num_points); + translation_matrix.row(0).setConstant(t_input(0)); + translation_matrix.row(1).setConstant(t_input(1)); + translation_matrix.row(2).setConstant(t_input(2)); + + // Create the transformed 3D points Xp as Xp = R * X + t. + Xp = R_input * X + translation_matrix; + + // Output variables. + Mat3 R; + Vec3 t; + + AbsoluteOrientation(X, Xp, &R, &t); + + EXPECT_MATRIX_NEAR(t, t_input, 1e-6); + EXPECT_MATRIX_NEAR(R, R_input, 1e-8); +} + +TEST(EuclideanResection, Points4KnownImagePointsRandomTranslationRotation) { + // In this test only the translation and rotation are random. The image + // points are selected from a real case and are well conditioned. + Vec2i image_dimensions; + image_dimensions << 1600, 1200; + + Mat3 KK; + KK << 2796, 0, 804, + 0 , 2796, 641, + 0, 0, 1; + + // The real image points. + int num_points = 4; + Mat3X x_image(3, num_points); + x_image << 1164.06, 734.948, 749.599, 430.727, + 681.386, 844.59, 496.315, 580.775, + 1, 1, 1, 1; + + + // A vector of the 4 distances to the 3D points. + Vec X_distances = 100 * Vec::Random(num_points).array().abs(); + + // Create the random camera motion R and t that resection should recover. + Mat3 R_input; + R_input = Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ()) + * Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitY()) + * Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ()); + + Vec3 T_input; + T_input.setRandom(); + T_input = 100 * T_input; + + // Create the camera system, also getting the expected result of the + // transformation. + Mat3 R_expected; + Vec3 T_expected; + Mat3X X_world; + Mat2X x_camera; + CreateCameraSystem(KK, x_image, X_distances, R_input, T_input, + &x_camera, &X_world, &R_expected, &T_expected); + + // Finally, run the code under test. + Mat3 R_output; + Vec3 T_output; + EuclideanResection(x_camera, X_world, + &R_output, &T_output, + RESECTION_ANSAR_DANIILIDIS); + + EXPECT_MATRIX_NEAR(T_output, T_expected, 1e-5); + EXPECT_MATRIX_NEAR(R_output, R_expected, 1e-7); + + // For now, the EPnP doesn't have a non-linear optimization step and so is + // not precise enough with only 4 points. + // + // TODO(jmichot): Reenable this test when there is nonlinear refinement. +#if 0 + R_output.setIdentity(); + T_output.setZero(); + + EuclideanResection(x_camera, X_world, + &R_output, &T_output, + RESECTION_EPNP); + + EXPECT_MATRIX_NEAR(T_output, T_expected, 1e-5); + EXPECT_MATRIX_NEAR(R_output, R_expected, 1e-7);*/ +#endif +} + +// TODO(jmichot): Reduce the code duplication here with the code above. +TEST(EuclideanResection, Points6AllRandomInput) { + Mat3 KK; + KK << 2796, 0, 804, + 0 , 2796, 641, + 0, 0, 1; + + // Create random image points for a 1600x1200 image. + int w = 1600; + int h = 1200; + int num_points = 6; + Mat3X x_image(3, num_points); + x_image.row(0) = w * Vec::Random(num_points).array().abs(); + x_image.row(1) = h * Vec::Random(num_points).array().abs(); + x_image.row(2).setOnes(); + + // Normalized camera coordinates to be used as an input to the PnP function. + Mat2X x_camera; + Vec X_distances = 100 * Vec::Random(num_points).array().abs(); + + // Create the random camera motion R and t that resection should recover. + Mat3 R_input; + R_input = Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ()) + * Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitY()) + * Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ()); + + Vec3 T_input; + T_input.setRandom(); + T_input = 100 * T_input; + + // Create the camera system. + Mat3 R_expected; + Vec3 T_expected; + Mat3X X_world; + CreateCameraSystem(KK, x_image, X_distances, R_input, T_input, + &x_camera, &X_world, &R_expected, &T_expected); + + // Test each of the resection methods. + { + Mat3 R_output; + Vec3 T_output; + EuclideanResection(x_camera, X_world, + &R_output, &T_output, + RESECTION_ANSAR_DANIILIDIS); + EXPECT_MATRIX_NEAR(T_output, T_expected, 1e-5); + EXPECT_MATRIX_NEAR(R_output, R_expected, 1e-7); + } + { + Mat3 R_output; + Vec3 T_output; + EuclideanResection(x_camera, X_world, + &R_output, &T_output, + RESECTION_EPNP); + EXPECT_MATRIX_NEAR(T_output, T_expected, 1e-5); + EXPECT_MATRIX_NEAR(R_output, R_expected, 1e-7); + } + { + Mat3 R_output; + Vec3 T_output; + EuclideanResection(x_image, X_world, KK, + &R_output, &T_output); + EXPECT_MATRIX_NEAR(T_output, T_expected, 1e-5); + EXPECT_MATRIX_NEAR(R_output, R_expected, 1e-7); + } +} +#endif diff --git a/extern/libmv/libmv/tracking/brute_region_tracker_test.cc b/extern/libmv/libmv/tracking/brute_region_tracker_test.cc new file mode 100644 index 00000000000..9014797c7cf --- /dev/null +++ b/extern/libmv/libmv/tracking/brute_region_tracker_test.cc @@ -0,0 +1,51 @@ +// Copyright (c) 2011 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include "libmv/tracking/brute_region_tracker.h" +#include "libmv/image/image.h" +#include "libmv/logging/logging.h" +#include "testing/testing.h" + +namespace libmv { +namespace { + +TEST(KltRegionTracker, Track) { + Array3Df image1(51, 51); + image1.Fill(0); + + Array3Df image2(image1); + + int x0 = 25, y0 = 25; + int dx = 3, dy = 2; + image1(y0, x0) = 1.0f; + image2(y0 + dy, x0 + dx) = 1.0; + + double x1 = x0; + double y1 = y0; + + BruteRegionTracker tracker; + EXPECT_TRUE(tracker.Track(image1, image2, x0, y0, &x1, &y1)); + + EXPECT_NEAR(x1, x0 + dx, 0.001); + EXPECT_NEAR(y1, y0 + dy, 0.001); +} + +} // namespace +} // namespace libmv diff --git a/extern/libmv/libmv/tracking/klt_region_tracker_test.cc b/extern/libmv/libmv/tracking/klt_region_tracker_test.cc new file mode 100644 index 00000000000..07d5d6500e3 --- /dev/null +++ b/extern/libmv/libmv/tracking/klt_region_tracker_test.cc @@ -0,0 +1,51 @@ +// Copyright (c) 2011 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include "libmv/tracking/klt_region_tracker.h" +#include "libmv/image/image.h" +#include "testing/testing.h" + +namespace libmv { +namespace { + +TEST(KltRegionTracker, Track) { + Array3Df image1(51, 51); + image1.Fill(0); + + Array3Df image2(image1); + + int x0 = 25, y0 = 25; + int dx = 3, dy = 2; + image1(y0, x0) = 1.0f; + image2(y0 + dy, x0 + dx) = 1.0f; + + double x1 = x0; + double y1 = y0; + + KltRegionTracker tracker; + tracker.half_window_size = 6; + EXPECT_TRUE(tracker.Track(image1, image2, x0, y0, &x1, &y1)); + + EXPECT_NEAR(x1, x0 + dx, 0.001); + EXPECT_NEAR(y1, y0 + dy, 0.001); +} + +} // namespace +} // namespace libmv diff --git a/extern/libmv/libmv/tracking/pyramid_region_tracker_test.cc b/extern/libmv/libmv/tracking/pyramid_region_tracker_test.cc new file mode 100644 index 00000000000..d90a1012237 --- /dev/null +++ b/extern/libmv/libmv/tracking/pyramid_region_tracker_test.cc @@ -0,0 +1,80 @@ +// Copyright (c) 2011 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#include "libmv/tracking/pyramid_region_tracker.h" +#include "libmv/tracking/klt_region_tracker.h" +#include "libmv/image/image.h" +#include "testing/testing.h" + +namespace libmv { +namespace { + +TEST(PyramidKltRegionTracker, Track) { + Array3Df image1(100, 100); + image1.Fill(0); + + Array3Df image2(image1); + + int x1 = 25, y1 = 25; + image1(y1 + 0, x1 + 0) = 1.0f; + image1(y1 + 0, x1 + 1) = 1.0f; + image1(y1 + 1, x1 + 0) = 1.0f; + image1(y1 + 1, x1 + 1) = 1.0f; + + // Make the displacement too large for a single-level KLT. + int x2 = x1 + 6, y2 = y1 + 5; + image2(y2 + 0, x2 + 0) = 1.0f; + image2(y2 + 0, x2 + 1) = 1.0f; + image2(y2 + 1, x2 + 0) = 1.0f; + image2(y2 + 1, x2 + 1) = 1.0f; + + // Use a small 5x5 tracking region. + int half_window_size = 3; + + // Ensure that the track doesn't work with one level of KLT. + { + double x2_actual = x1; + double y2_actual = y1; + + KltRegionTracker tracker; + tracker.half_window_size = half_window_size; + EXPECT_FALSE(tracker.Track(image1, image2, x1, y1, + &x2_actual, &y2_actual)); + } + + // Verify that it works with the pyramid tracker. + { + double x2_actual = x1; + double y2_actual = y1; + + KltRegionTracker *klt_tracker = new KltRegionTracker; + klt_tracker->half_window_size = half_window_size; + + PyramidRegionTracker tracker(klt_tracker, 3); + EXPECT_TRUE(tracker.Track(image1, image2, x1, y1, + &x2_actual, &y2_actual)); + + EXPECT_NEAR(x2_actual, x2, 0.001); + EXPECT_NEAR(y2_actual, y2, 0.001); + } +} + +} // namespace +} // namespace libmv |