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-rw-r--r--intern/libmv/libmv/simple_pipeline/camera_intrinsics_test.cc129
1 files changed, 74 insertions, 55 deletions
diff --git a/intern/libmv/libmv/simple_pipeline/camera_intrinsics_test.cc b/intern/libmv/libmv/simple_pipeline/camera_intrinsics_test.cc
index 96d35a29ef8..cfcc2d16682 100644
--- a/intern/libmv/libmv/simple_pipeline/camera_intrinsics_test.cc
+++ b/intern/libmv/libmv/simple_pipeline/camera_intrinsics_test.cc
@@ -22,10 +22,10 @@
#include <iostream>
-#include "testing/testing.h"
#include "libmv/image/image.h"
#include "libmv/image/image_drawing.h"
#include "libmv/logging/logging.h"
+#include "testing/testing.h"
namespace libmv {
@@ -59,26 +59,36 @@ 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}}
- };
+ {{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);
@@ -89,12 +99,11 @@ TEST(PolynomialCameraIntrinsics, ApplyIntrinsics) {
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 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);
+ 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);
@@ -106,43 +115,51 @@ 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}}
- };
+ {{-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);
+ 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 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);
+ 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);
@@ -190,10 +207,11 @@ TEST(PolynomialCameraIntrinsics, IdentityDistortBuffer) {
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.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(),
+ image.Width(),
+ image.Height(),
0.0,
image.Depth(),
distorted_image.Data());
@@ -221,10 +239,11 @@ TEST(PolynomialCameraIntrinsics, IdentityUndistortBuffer) {
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.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(),
+ image.Width(),
+ image.Height(),
0.0,
image.Depth(),
distorted_image.Data());
generated by cgit v1.2.3 (git 2.25.1) at 2024-06-09 22:19:43 +0300