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Diffstat (limited to 'extern/libmv/libmv/multiview/test_data_sets.cc')
| -rw-r--r-- | extern/libmv/libmv/multiview/test_data_sets.cc | 196 |
1 files changed, 196 insertions, 0 deletions
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 |