diff options
Diffstat (limited to 'intern/libmv/libmv/multiview/euclidean_resection_test.cc')
| -rw-r--r-- | intern/libmv/libmv/multiview/euclidean_resection_test.cc | 74 |
1 files changed, 44 insertions, 30 deletions
diff --git a/intern/libmv/libmv/multiview/euclidean_resection_test.cc b/intern/libmv/libmv/multiview/euclidean_resection_test.cc index 378837d3d2d..3bb8e6e1710 100644 --- a/intern/libmv/libmv/multiview/euclidean_resection_test.cc +++ b/intern/libmv/libmv/multiview/euclidean_resection_test.cc @@ -19,9 +19,9 @@ // 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 "libmv/numeric/numeric.h" #include "testing/testing.h" using namespace libmv::euclidean_resection; @@ -33,10 +33,10 @@ static void CreateCameraSystem(const Mat3& KK, const Vec& X_distances, const Mat3& R_input, const Vec3& T_input, - Mat2X *x_camera, - Mat3X *X_world, - Mat3 *R_expected, - Vec3 *T_expected) { + 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); @@ -76,9 +76,9 @@ TEST(AbsoluteOrientation, QuaternionSolution) { // 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()); + 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(); @@ -109,26 +109,29 @@ TEST(EuclideanResection, Points4KnownImagePointsRandomTranslationRotation) { image_dimensions << 1600, 1200; Mat3 KK; + // clang-format off KK << 2796, 0, 804, 0 , 2796, 641, 0, 0, 1; + // clang-format on // The real image points. int num_points = 4; Mat3X x_image(3, num_points); + // clang-format off x_image << 1164.06, 734.948, 749.599, 430.727, 681.386, 844.59, 496.315, 580.775, 1, 1, 1, 1; - + // clang-format on // 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()); + 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(); @@ -140,15 +143,21 @@ TEST(EuclideanResection, Points4KnownImagePointsRandomTranslationRotation) { 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); + 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); + 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); @@ -173,9 +182,11 @@ TEST(EuclideanResection, Points4KnownImagePointsRandomTranslationRotation) { // TODO(jmichot): Reduce the code duplication here with the code above. TEST(EuclideanResection, Points6AllRandomInput) { Mat3 KK; + // clang-format off KK << 2796, 0, 804, 0 , 2796, 641, 0, 0, 1; + // clang-format on // Create random image points for a 1600x1200 image. int w = 1600; @@ -192,9 +203,9 @@ TEST(EuclideanResection, Points6AllRandomInput) { // 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()); + 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(); @@ -204,33 +215,36 @@ TEST(EuclideanResection, Points6AllRandomInput) { 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); + 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); + 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); + 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); + 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); } |