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Diffstat (limited to 'extern/libmv/libmv/multiview/fundamental_test.cc')
-rw-r--r-- | extern/libmv/libmv/multiview/fundamental_test.cc | 162 |
1 files changed, 162 insertions, 0 deletions
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 |