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Diffstat (limited to 'extern/libmv/libmv/multiview/test_data_sets.h')
-rw-r--r-- | extern/libmv/libmv/multiview/test_data_sets.h | 105 |
1 files changed, 105 insertions, 0 deletions
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_ |