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Diffstat (limited to 'intern/libmv/libmv/simple_pipeline/keyframe_selection_test.cc')
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diff --git a/intern/libmv/libmv/simple_pipeline/keyframe_selection_test.cc b/intern/libmv/libmv/simple_pipeline/keyframe_selection_test.cc new file mode 100644 index 00000000000..9d88362cc88 --- /dev/null +++ b/intern/libmv/libmv/simple_pipeline/keyframe_selection_test.cc @@ -0,0 +1,307 @@ +// Copyright (c) 2011 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/simple_pipeline/keyframe_selection.h" + +#include "testing/testing.h" +#include "libmv/simple_pipeline/camera_intrinsics.h" +#include "libmv/logging/logging.h" + +namespace libmv { + +// Synthetic test, N markers with the same translation +// Should not be keyframe +TEST(KeyframeSelection, SyntheticNeighborFrame) { + PolynomialCameraIntrinsics intrinsics; + intrinsics.SetFocalLength(900.0,900.0); + intrinsics.SetPrincipalPoint(640.0, 540.0); + intrinsics.SetRadialDistortion(0.0, 0.0, 0.0); + + Tracks tracks; + const int markers_per_size = 15; + + // Fill in tracks for homography estimation + for (int x = 0; x < markers_per_size; x++) { + for (int y = 0; y < markers_per_size; y++) { + double current_x = 10 + x * 40, current_y = 10 + y * 40; + double next_x = current_x + 10, next_y = current_y + 10; + + intrinsics.InvertIntrinsics(current_x, current_y, ¤t_x, ¤t_y); + intrinsics.InvertIntrinsics(next_x, next_y, &next_x, &next_y); + + tracks.Insert(1, y * markers_per_size + x, current_x, current_y); + tracks.Insert(2, y * markers_per_size + x, next_x, next_y); + } + } + + vector<int> keyframes; + SelectKeyframesBasedOnGRICAndVariance(tracks, intrinsics, keyframes); + + // Synthetic second frame shouldn't be considered a keyframe + EXPECT_EQ(0, keyframes.size()); +} + +// Frames 1 and 2 of FabrikEingang footage +// Only one wall is tracked, should not be keyframes +TEST(KeyframeSelection, FabrikEingangNeighborFrames) { + PolynomialCameraIntrinsics intrinsics; + intrinsics.SetFocalLength(1605.797, 1605.797); + intrinsics.SetPrincipalPoint(960.000, 544.000); + intrinsics.SetRadialDistortion(0.0, 0.0, 0.0); + + Marker markers[] = { + {1, 0, 737.599983, 646.397594, 1.0}, {2, 0, 737.906628, 648.113327, 1.0}, {1, 1, 863.045425, 646.081905, 1.0}, + {2, 1, 863.339767, 647.650040, 1.0}, {1, 2, 736.959972, 574.080151, 1.0}, {2, 2, 737.217350, 575.604900, 1.0}, + {1, 3, 864.097424, 573.374908, 1.0}, {2, 3, 864.383469, 574.900307, 1.0}, {1, 4, 789.429073, 631.677521, 1.0}, + {2, 4, 789.893131, 633.124451, 1.0}, {1, 5, 791.051960, 573.442028, 1.0}, {2, 5, 791.336575, 575.088890, 1.0}, + {1, 6, 738.973961, 485.130308, 1.0}, {2, 6, 739.435501, 486.734207, 1.0}, {1, 7, 862.403240, 514.866074, 1.0}, + {2, 7, 862.660618, 516.413261, 1.0}, {1, 8, 802.240162, 485.759838, 1.0}, {2, 8, 802.602253, 487.432899, 1.0}, + {1, 9, 754.340630, 500.624559, 1.0}, {2, 9, 754.559956, 502.079920, 1.0}, {1, 10, 849.398689, 484.480545, 1.0}, + {2, 10, 849.599934, 486.079937, 1.0}, {1, 11, 788.803768, 515.924391, 1.0}, {2, 11, 789.119911, 517.439932, 1.0}, + {1, 12, 838.733940, 558.212688, 1.0}, {2, 12, 839.039898, 559.679916, 1.0}, {1, 13, 760.014782, 575.194466, 1.0}, + {2, 13, 760.319881, 576.639904, 1.0}, {1, 14, 765.321636, 616.015957, 1.0}, {2, 14, 765.759945, 617.599915, 1.0}, + {1, 15, 800.963230, 660.032082, 1.0}, {2, 15, 801.279945, 661.759876, 1.0}, {1, 16, 846.321087, 602.313053, 1.0}, + {2, 16, 846.719913, 603.839878, 1.0}, {1, 17, 864.288311, 616.790524, 1.0}, {2, 17, 864.639931, 618.239918, 1.0}, + {1, 18, 800.006790, 602.573425, 1.0}, {2, 18, 800.319958, 604.159912, 1.0}, {1, 19, 739.026890, 617.944138, 1.0}, + {2, 19, 739.199924, 619.519924, 1.0}, {1, 20, 801.987419, 544.134888, 1.0}, {2, 20, 802.239933, 545.599911, 1.0}, + {1, 21, 753.619823, 542.961300, 1.0}, {2, 21, 753.919945, 544.639874, 1.0}, {1, 22, 787.921257, 499.910206, 1.0}, + {2, 22, 788.159924, 501.439917, 1.0}, {1, 23, 839.095459, 529.287903, 1.0}, {2, 23, 839.359932, 530.879934, 1.0}, + {1, 24, 811.760330, 630.732269, 1.0}, {2, 24, 812.159901, 632.319859, 1.0} + }; + int num_markers = sizeof(markers) / sizeof(Marker); + + Tracks tracks; + for (int i = 0; i < num_markers; i++) { + double x = markers[i].x, y = markers[i].y; + intrinsics.InvertIntrinsics(x, y, &x, &y); + tracks.Insert(markers[i].image, markers[i].track, x, y); + } + + vector<int> keyframes; + SelectKeyframesBasedOnGRICAndVariance(tracks, intrinsics, keyframes); + + EXPECT_EQ(0, keyframes.size()); +} + +// Frames 120 and 200 from FabrikEingang footage +// Should be enough of parallax for keyframing +TEST(KeyframeSelection, FabrikEingangFarFrames) { + PolynomialCameraIntrinsics intrinsics; + intrinsics.SetFocalLength(1605.797, 1605.797); + intrinsics.SetPrincipalPoint(960.000, 544.000); + intrinsics.SetRadialDistortion(0.0, 0.0, 0.0); + + Marker markers[] = { + {1, 0, 369.459200, 619.315258, 1.0}, {2, 0, 279.677496, 722.086842, 1.0}, {1, 1, 376.831970, 370.278397, 1.0}, + {2, 1, 221.695247, 460.065418, 1.0}, {1, 2, 1209.139023, 567.705605, 1.0}, {2, 2, 1080.760117, 659.230083, 1.0}, + {1, 3, 1643.495750, 903.620453, 1.0}, {2, 3, 1618.405037, 1015.374908, 1.0}, {1, 4, 1494.849815, 425.302460, 1.0}, + {2, 4, 1457.467575, 514.727587, 1.0}, {1, 5, 1794.637299, 328.728609, 1.0}, {2, 5, 1742.161446, 408.988636, 1.0}, + {1, 6, 1672.822723, 102.240358, 1.0}, {2, 6, 1539.287224, 153.536892, 1.0}, {1, 7, 1550.843925, 53.424943, 1.0}, + {2, 7, 1385.579109, 96.450085, 1.0}, {1, 8, 852.953281, 465.399578, 1.0}, {2, 8, 779.404564, 560.091843, 1.0}, + {1, 9, 906.853752, 299.827040, 1.0}, {2, 9, 786.923218, 385.570770, 1.0}, {1, 10, 406.322966, 87.556041, 1.0}, + {2, 10, 140.339413, 150.877481, 1.0}, {1, 11, 254.811573, 851.296478, 1.0}, {2, 11, 94.478302, 969.350189, 1.0}, + {1, 12, 729.087868, 806.092758, 1.0}, {2, 12, 606.212139, 919.876560, 1.0}, {1, 13, 1525.719452, 920.398083, 1.0}, + {2, 13, 1495.579720, 1031.971218, 1.0} + }; + int num_markers = sizeof(markers) / sizeof(Marker); + + Tracks tracks; + for (int i = 0; i < num_markers; i++) { + double x = markers[i].x, y = markers[i].y; + intrinsics.InvertIntrinsics(x, y, &x, &y); + tracks.Insert(markers[i].image, markers[i].track, x, y); + } + + vector<int> keyframes; + SelectKeyframesBasedOnGRICAndVariance(tracks, intrinsics, keyframes); + + EXPECT_EQ(2, keyframes.size()); +} + +// Manually selected keyframes from copter footage from Sebastian +// Keyframes were 167 and 237 +TEST(KeyframeSelection, CopterManualKeyFrames) { + PolynomialCameraIntrinsics intrinsics; + intrinsics.SetFocalLength(1155.043, 1155.043); + intrinsics.SetPrincipalPoint(640.000, 360.000); + intrinsics.SetRadialDistortion(-0.08590, 0.0, 0.0); + + Marker markers[] = { + {1, 0, 645.792694, 403.115931, 1.0}, {2, 0, 630.641174, 307.996409, 1.0}, {1, 1, 783.469086, 403.904328, 1.0}, + {2, 1, 766.001129, 308.998225, 1.0}, {1, 2, 650.000000, 160.000001, 1.0}, {1, 3, 785.225906, 158.619039, 1.0}, + {2, 3, 767.526474, 70.449695, 1.0}, {1, 4, 290.640526, 382.335634, 1.0}, {2, 4, 273.001728, 86.993319, 1.0}, + {1, 5, 291.162739, 410.602684, 1.0}, {2, 5, 273.287849, 111.937487, 1.0}, {1, 6, 136.919317, 349.895797, 1.0}, + {1, 7, 490.844345, 47.572222, 1.0}, {1, 8, 454.406433, 488.935761, 1.0}, {1, 9, 378.655815, 618.522248, 1.0}, + {2, 9, 357.061806, 372.265077, 1.0}, {1, 10, 496.011391, 372.668824, 1.0}, {2, 10, 477.979164, 222.986112, 1.0}, + {1, 11, 680.060272, 256.103625, 1.0}, {2, 11, 670.587540, 204.830453, 1.0}, {1, 12, 1070.817108, 218.775322, 1.0}, + {2, 12, 1046.129913, 128.969783, 1.0}, {1, 14, 242.516403, 596.048512, 1.0}, {2, 14, 224.182606, 248.272154, 1.0}, + {1, 15, 613.936272, 287.519073, 1.0}, {2, 15, 600.467644, 196.085722, 1.0}, {1, 31, 844.637451, 256.354315, 1.0}, + {2, 31, 823.200150, 165.714952, 1.0}, + }; + int num_markers = sizeof(markers) / sizeof(Marker); + + Tracks tracks; + for (int i = 0; i < num_markers; i++) { + double x = markers[i].x, y = markers[i].y; + intrinsics.InvertIntrinsics(x, y, &x, &y); + tracks.Insert(markers[i].image, markers[i].track, x, y); + } + + vector<int> keyframes; + SelectKeyframesBasedOnGRICAndVariance(tracks, intrinsics, keyframes); + + EXPECT_EQ(2, keyframes.size()); +} + +// Used old friend elevator scene MMI_2366 with automatic feature selection +// and manual outlier elimination and manual keyframe selection +// Selected keyframes were 29 and 41 +TEST(KeyframeSelection, ElevatorManualKeyframesFrames) { + PolynomialCameraIntrinsics intrinsics; + intrinsics.SetFocalLength(1380.000, 1380.000); + intrinsics.SetPrincipalPoint(960.000, 540.000); + intrinsics.SetRadialDistortion(-0.034, 0.0, 0.0); + + Marker markers[] = { + {1, 2, 1139.861412, 1034.634984, 1.0}, {2, 2, 1143.512192, 1065.355718, 1.0}, {1, 3, 1760.821953, 644.658036, 1.0}, + {2, 3, 1770.901108, 697.899928, 1.0}, {1, 4, 858.071823, 1068.520746, 1.0}, {1, 6, 1633.952408, 797.050145, 1.0}, + {2, 6, 1642.508469, 849.157140, 1.0}, {1, 8, 1716.695824, 451.805491, 1.0}, {2, 8, 1726.513939, 502.095687, 1.0}, + {1, 9, 269.577627, 724.986935, 1.0}, {2, 9, 269.424820, 764.154246, 1.0}, {1, 10, 1891.321907, 706.948843, 1.0}, + {2, 10, 1903.338547, 766.068377, 1.0}, {1, 12, 1806.227074, 956.089604, 1.0}, {2, 12, 1816.619568, 1013.767376, 1.0}, + {1, 14, 269.544153, 1002.333570, 1.0}, {2, 14, 269.367542, 1043.509254, 1.0}, {1, 15, 1402.772141, 281.392962, 1.0}, + {2, 15, 1409.089165, 318.731629, 1.0}, {1, 16, 195.877233, 919.454341, 1.0}, {2, 16, 192.531109, 997.367899, 1.0}, + {1, 17, 1789.584045, 120.036661, 1.0}, {2, 17, 1800.391846, 167.822964, 1.0}, {1, 18, 999.363213, 765.004807, 1.0}, + {2, 18, 1002.345772, 790.560122, 1.0}, {1, 19, 647.342491, 1044.805727, 1.0}, {2, 19, 649.328041, 1058.682940, 1.0}, + {1, 20, 1365.486832, 440.901829, 1.0}, {2, 20, 1371.413040, 477.888730, 1.0}, {1, 21, 1787.125282, 301.431606, 1.0}, + {2, 21, 1798.527260, 355.224531, 1.0}, {1, 22, 1257.805824, 932.797258, 1.0}, {2, 22, 1263.017578, 969.376774, 1.0}, + {1, 23, 961.969528, 843.148112, 1.0}, {2, 23, 964.869461, 868.587620, 1.0}, {1, 24, 158.076110, 1052.643592, 1.0}, + {1, 25, 1072.884521, 1005.296981, 1.0}, {2, 25, 1076.091156, 1032.776856, 1.0}, {1, 26, 1107.656937, 526.577228, 1.0}, + {2, 26, 1111.618423, 555.524454, 1.0}, {1, 27, 1416.410751, 529.857581, 1.0}, {2, 27, 1422.663574, 570.025957, 1.0}, + {1, 28, 1498.673630, 1005.453086, 1.0}, {2, 28, 1505.381813, 1051.827149, 1.0}, {1, 29, 1428.647804, 652.473629, 1.0}, + {2, 29, 1434.898224, 692.715390, 1.0}, {1, 30, 1332.318764, 503.673599, 1.0}, {2, 30, 1338.000069, 540.507967, 1.0}, + {1, 32, 1358.642693, 709.837904, 1.0}, {2, 32, 1364.231529, 748.678265, 1.0}, {1, 33, 1850.911560, 460.475668, 1.0}, + {2, 33, 1862.221413, 512.797347, 1.0}, {1, 34, 1226.117821, 607.053959, 1.0}, {2, 34, 1230.736084, 641.091449, 1.0}, + {1, 35, 619.598236, 523.341744, 1.0}, {2, 35, 621.601124, 554.453287, 1.0}, {1, 36, 956.591492, 958.223183, 1.0}, + {2, 36, 959.289265, 983.289263, 1.0}, {1, 37, 1249.922218, 419.095856, 1.0}, {2, 37, 1255.005913, 452.556177, 1.0}, + {1, 39, 1300.528450, 386.251166, 1.0}, {2, 39, 1305.957413, 420.185595, 1.0}, {1, 40, 1128.689919, 972.558346, 1.0}, + {2, 40, 1132.413712, 1003.984737, 1.0}, {1, 41, 503.304749, 1053.504388, 1.0}, {2, 41, 505.019703, 1069.175613, 1.0}, + {1, 42, 1197.352982, 472.681564, 1.0}, {2, 42, 1201.910706, 503.459880, 1.0}, {1, 43, 1794.391022, 383.911400, 1.0}, + {2, 43, 1805.324135, 436.116468, 1.0}, {1, 44, 789.641418, 1058.045647, 1.0}, {1, 45, 1376.575241, 928.714979, 1.0}, + {2, 45, 1381.995850, 969.511957, 1.0}, {1, 46, 1598.023567, 93.975592, 1.0}, {2, 46, 1606.937141, 136.827035, 1.0}, + {1, 47, 1455.550232, 762.128685, 1.0}, {2, 47, 1462.014313, 805.164878, 1.0}, {1, 48, 1357.123489, 354.460326, 1.0}, + {2, 48, 1363.071899, 390.363121, 1.0}, {1, 49, 939.792652, 781.549895, 1.0}, {2, 49, 942.802620, 806.164012, 1.0}, + {1, 50, 1380.251083, 805.948620, 1.0}, {2, 50, 1385.637932, 845.592098, 1.0}, {1, 51, 1021.769943, 1049.802361, 1.0}, + {1, 52, 1065.634918, 608.099055, 1.0}, {2, 52, 1069.142189, 635.361736, 1.0}, {1, 53, 624.324188, 463.202863, 1.0}, + {2, 53, 626.395454, 494.994088, 1.0}, {1, 54, 1451.459885, 881.557624, 1.0}, {2, 54, 1457.679634, 924.345531, 1.0}, + {1, 55, 1201.885986, 1057.079022, 1.0}, {1, 56, 581.157532, 947.661438, 1.0}, {2, 56, 583.242359, 960.831449, 1.0}, + {1, 58, 513.593102, 954.175858, 1.0}, {2, 58, 515.470047, 971.309574, 1.0}, {1, 59, 928.069038, 901.774421, 1.0}, + {2, 59, 930.847950, 925.613744, 1.0}, {1, 60, 1065.860023, 740.395389, 1.0}, {2, 60, 1069.484253, 768.971086, 1.0}, + {1, 61, 990.479393, 906.264632, 1.0}, {2, 61, 993.217506, 933.088803, 1.0}, {1, 62, 1776.196747, 776.278453, 1.0}, + {2, 62, 1786.292496, 831.136880, 1.0}, {1, 63, 834.454365, 1012.449725, 1.0}, {2, 63, 836.868324, 1033.451807, 1.0}, + {1, 64, 1355.190697, 869.184809, 1.0}, {2, 64, 1360.736618, 909.773347, 1.0}, {1, 65, 702.072487, 897.519686, 1.0}, + {2, 65, 704.203377, 911.931131, 1.0}, {1, 66, 1214.022903, 856.199934, 1.0}, {2, 66, 1218.109016, 890.753052, 1.0}, + {1, 67, 327.676048, 236.814036, 1.0}, {2, 67, 328.335285, 277.251878, 1.0}, {1, 68, 289.064083, 454.793912, 1.0}, + {2, 68, 288.651924, 498.882444, 1.0}, {1, 69, 1626.240692, 278.374350, 1.0}, {2, 69, 1634.131508, 315.853672, 1.0}, + {1, 70, 1245.375710, 734.862142, 1.0}, {2, 70, 1250.047417, 769.670885, 1.0}, {1, 71, 497.015305, 510.718904, 1.0}, + {2, 71, 498.682308, 541.070201, 1.0}, {1, 72, 1280.542030, 153.939185, 1.0}, {2, 72, 1286.993637, 198.436196, 1.0}, + {1, 73, 1534.748840, 138.601043, 1.0}, {2, 73, 1542.961349, 180.170819, 1.0}, {1, 74, 1477.412682, 200.608061, 1.0}, + {2, 74, 1484.683914, 240.413260, 1.0}, {1, 76, 450.637321, 407.279642, 1.0}, {2, 76, 451.695642, 441.666291, 1.0}, + {1, 78, 246.981239, 220.786298, 1.0}, {2, 78, 244.524879, 290.016564, 1.0}, {1, 79, 36.696489, 420.023407, 1.0}, + {2, 79, 21.364746, 591.245492, 1.0}, + }; + int num_markers = sizeof(markers) / sizeof(Marker); + + Tracks tracks; + for (int i = 0; i < num_markers; i++) { + double x = markers[i].x, y = markers[i].y; + intrinsics.InvertIntrinsics(x, y, &x, &y); + tracks.Insert(markers[i].image, markers[i].track, x, y); + } + + vector<int> keyframes; + SelectKeyframesBasedOnGRICAndVariance(tracks, intrinsics, keyframes); + + EXPECT_EQ(2, keyframes.size()); +} + +// Elevator scene MMI_2366 with manual tracks, frames 1, 2, 3, 5 and 27 +TEST(KeyframeSelection, ElevatorReconstructionVarianceTest) { + PolynomialCameraIntrinsics intrinsics; + intrinsics.SetFocalLength(1380.000, 1380.000); + intrinsics.SetPrincipalPoint(960.000, 540.000); + intrinsics.SetRadialDistortion(-0.034, 0.0, 0.0); + + Marker markers[] = { + {1, 0, 182.999997, 1047.000010, 1.0}, {2, 0, 181.475730, 1052.091079, 1.0}, {3, 0, 181.741562, 1057.893341, 1.0}, + {4, 0, 183.190498, 1068.310440, 1.0}, {1, 1, 271.000013, 666.000009, 1.0}, {2, 1, 270.596180, 668.665760, 1.0}, + {3, 1, 270.523510, 671.559069, 1.0}, {4, 1, 271.856518, 676.818151, 1.0}, {5, 1, 268.989000, 727.051570, 1.0}, + {1, 2, 264.999990, 1018.000031, 1.0}, {2, 2, 264.020061, 1021.157591, 1.0}, {3, 2, 264.606056, 1024.823506, 1.0}, + {4, 2, 266.200933, 1031.168690, 1.0}, {1, 3, 270.000000, 938.000014, 1.0}, {2, 3, 269.022617, 941.153390, 1.0}, + {3, 3, 269.605579, 944.454954, 1.0}, {4, 3, 271.281366, 949.452167, 1.0}, {5, 3, 268.963480, 1004.417453, 1.0}, + {1, 4, 200.999994, 799.000003, 1.0}, {2, 4, 199.841366, 803.891838, 1.0}, {3, 4, 200.262208, 809.323246, 1.0}, + {4, 4, 201.456513, 819.271195, 1.0}, {5, 4, 195.026493, 924.363234, 1.0}, {1, 5, 1775.000038, 49.999998, 1.0}, + {2, 5, 1775.255127, 53.718264, 1.0}, {3, 5, 1776.449890, 55.951670, 1.0}, {4, 5, 1778.815727, 61.923309, 1.0}, + {5, 5, 1790.274124, 123.074923, 1.0}, {1, 6, 164.000001, 927.999988, 1.0}, {2, 6, 162.665462, 933.169527, 1.0}, + {3, 6, 163.067923, 938.577182, 1.0}, {4, 6, 164.370360, 948.840945, 1.0}, {5, 6, 157.199407, 1057.762341, 1.0}, + {1, 7, 618.000011, 477.999998, 1.0}, {2, 7, 617.583504, 480.124243, 1.0}, {3, 7, 618.356495, 482.441897, 1.0}, + {4, 7, 619.792500, 486.428132, 1.0}, {5, 7, 619.546051, 525.222627, 1.0}, {1, 8, 499.999981, 1036.999984, 1.0}, + {2, 8, 499.080162, 1038.720160, 1.0}, {3, 8, 499.949398, 1039.014344, 1.0}, {4, 8, 501.828003, 1041.286647, 1.0}, + {5, 8, 502.777576, 1055.196369, 1.0}, {1, 9, 1587.000046, 31.999999, 1.0}, {2, 9, 1586.988373, 34.635853, 1.0}, + {3, 9, 1588.155899, 37.444186, 1.0}, {4, 9, 1589.973106, 42.492081, 1.0}, {5, 9, 1598.683205, 96.526332, 1.0}, + {1, 10, 622.999992, 416.999999, 1.0}, {2, 10, 622.449017, 419.233485, 1.0}, {3, 10, 623.283234, 421.500703, 1.0}, + {4, 10, 624.620132, 425.537406, 1.0}, {5, 10, 624.290829, 465.078338, 1.0}, {1, 11, 577.999992, 931.999998, 1.0}, + {2, 11, 577.042294, 932.872703, 1.0}, {3, 11, 577.832451, 934.045451, 1.0}, {4, 11, 579.729137, 935.735435, 1.0}, + {5, 11, 580.691242, 948.396256, 1.0}, {1, 12, 510.999985, 931.999998, 1.0}, {2, 12, 510.111237, 933.152146, 1.0}, + {3, 12, 510.797081, 934.454219, 1.0}, {4, 12, 512.647362, 936.595910, 1.0}, {5, 12, 513.247204, 955.144157, 1.0}, + {1, 13, 330.459995, 177.059993, 1.0}, {2, 13, 329.876347, 179.615586, 1.0}, {3, 13, 330.681696, 182.757810, 1.0}, + {4, 13, 331.345053, 187.903853, 1.0}, {5, 13, 327.824135, 239.611639, 1.0}, {1, 14, 291.813097, 388.516195, 1.0}, + {2, 14, 290.984058, 391.382725, 1.0}, {3, 14, 291.526737, 394.778595, 1.0}, {4, 14, 292.763815, 400.310973, 1.0}, + {5, 14, 288.714552, 457.548015, 1.0}, {1, 15, 496.491680, 466.534005, 1.0}, {2, 15, 495.909519, 468.518561, 1.0}, + {3, 15, 496.588383, 470.853596, 1.0}, {4, 15, 497.976780, 474.731458, 1.0}, {5, 15, 496.998882, 512.568694, 1.0}, + {1, 16, 1273.000031, 89.000000, 1.0}, {2, 16, 1272.951965, 92.003637, 1.0}, {3, 16, 1273.934784, 94.972191, 1.0}, + {4, 16, 1275.493584, 100.139952, 1.0}, {5, 16, 1281.003571, 156.880163, 1.0}, {1, 17, 1524.713173, 78.852922, 1.0}, + {2, 17, 1524.782066, 81.427142, 1.0}, {3, 17, 1525.759048, 84.057939, 1.0}, {4, 17, 1527.579689, 88.966550, 1.0}, + {5, 17, 1535.262451, 141.186054, 1.0}, {1, 18, 1509.425011, 94.371824, 1.0}, {1, 19, 451.000013, 357.000003, 1.0}, + {2, 19, 450.354881, 359.312410, 1.0}, {3, 19, 451.107473, 361.837088, 1.0}, {4, 19, 452.186537, 366.318061, 1.0}, + {5, 19, 450.507660, 409.257599, 1.0}, {1, 20, 254.004936, 114.784185, 1.0}, {2, 20, 253.291512, 119.288486, 1.0}, + {3, 20, 253.745584, 124.114957, 1.0}, {4, 20, 254.453287, 132.795120, 1.0}, {5, 20, 246.772242, 225.165337, 1.0}, + {1, 21, 65.262880, 147.889409, 1.0}, {2, 21, 63.634465, 157.656807, 1.0}, {3, 21, 63.306799, 169.067053, 1.0}, + {4, 21, 62.462311, 189.724241, 1.0}, {5, 21, 35.396615, 430.308380, 1.0}, + }; + int num_markers = sizeof(markers) / sizeof(Marker); + + Tracks tracks; + for (int i = 0; i < num_markers; i++) { + double x = markers[i].x, y = markers[i].y; + intrinsics.InvertIntrinsics(x, y, &x, &y); + tracks.Insert(markers[i].image, markers[i].track, x, y); + } + + vector<int> keyframes; + SelectKeyframesBasedOnGRICAndVariance(tracks, intrinsics, keyframes); + + EXPECT_EQ(2, keyframes.size()); + if (keyframes.size() == 2) { + EXPECT_EQ(1, keyframes[0]); + EXPECT_EQ(5, keyframes[1]); + } +} + +} // namespace libmv |