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// Copyright (c) 2009 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/logging/logging.h"
#include "libmv/multiview/panography.h"
#include "libmv/multiview/panography_kernel.h"
#include "libmv/multiview/projection.h"
#include "libmv/numeric/numeric.h"
#include "testing/testing.h"
namespace libmv {
namespace {
TEST(Panography, PrintSomeSharedFocalEstimationValues) {
Mat x1(2, 2), x2(2, 2);
x1<< 158, 78,
124, 113;
x2<< 300, 214,
125, 114;
// Normalize data (set principal point 0,0 and image border to 1.0).
x1.block<1, 2>(0, 0) /= 320;
x1.block<1, 2>(1, 0) /= 240;
x2.block<1, 2>(0, 0) /= 320;
x2.block<1, 2>(1, 0) /= 240;
x1+=Mat2::Constant(0.5);
x2+=Mat2::Constant(0.5);
vector<double> fs;
F_FromCorrespondance_2points(x1, x2, &fs);
// Assert we found a valid solution.
EXPECT_EQ(1, fs.size());
EXPECT_NEAR(1.01667, fs[1], 1e-3);
}
TEST(Panography, GetR_FixedCameraCenterWithIdentity) {
Mat x1(3, 3);
x1 << 0.5, 0.6, 0.7,
0.5, 0.5, 0.4,
10.0, 10.0, 10.0;
Mat3 R;
GetR_FixedCameraCenter(x1, x1, 1.0, &R);
R /= R(2, 2);
EXPECT_MATRIX_NEAR(Mat3::Identity(), R, 1e-8);
LOG(INFO) << "R \n" << R;
}
TEST(Panography, Homography_GetR_Test_PitchY30) {
int n = 3;
Mat x1(3, n);
x1 << 0.5, 0.6, 0.7,
0.5, 0.5, 0.4,
10, 10, 10;
Mat x2 = x1;
const double alpha = 30.0 * M_PI / 180.0;
Mat3 rotY;
rotY << cos(alpha), 0, -sin(alpha),
0, 1, 0,
sin(alpha), 0, cos(alpha);
for (int i = 0; i < n; ++i) {
x2.block<3, 1>(0, i) = rotY * x1.col(i);
}
Mat3 R;
GetR_FixedCameraCenter(x1, x2, 1.0, &R);
// Assert that residuals are small enough
for (int i = 0; i < n; ++i) {
Vec residuals = (R * x1.col(i)) - x2.col(i);
EXPECT_NEAR(0, residuals.norm(), 1e-6);
}
// Check that the rotation angle along Y is the expected one.
// Use the euler approximation to recover the angle.
double pitch_y = asin(R(2, 0)) * 180.0 / M_PI;
EXPECT_NEAR(30, pitch_y, 1e-4);
}
TEST(MinimalPanoramic, Real_Case_Kernel) {
const int n = 2;
Mat x1(2, n); // From image 0.jpg
x1<< 158, 78,
124, 113;
Mat x2(2, n); // From image 3.jpg
x2<< 300, 214,
125, 114;
Mat3 Ground_TruthHomography;
Ground_TruthHomography<< 1, 0.02, 129.83,
-0.02, 1.012, 0.07823,
0, 0, 1;
vector<Mat3> Hs;
libmv::panography::kernel::TwoPointSolver::Solve(x1, x2, &Hs);
LOG(INFO) << "Got " << Hs.size() << " solutions.";
for (int j = 0; j < Hs.size(); ++j) {
Mat3 H = Hs[j];
EXPECT_MATRIX_NEAR(H, Ground_TruthHomography, 1e-1);
Mat x1h, x2h;
EuclideanToHomogeneous(x1, &x1h);
EuclideanToHomogeneous(x2, &x2h);
// Assert that residuals are small enough
for (int i = 0; i < n; ++i) {
Vec x1p = H * x1h.col(i);
Vec residuals = x1p/x1p(2) - x2h.col(i);
EXPECT_MATRIX_NEAR_ZERO(residuals, 1e-5);
}
}
}
} // namespace
} // namespace libmv
// TODO(pmoulon): Add a real test case based on images.
// TODO(pmoulon): Add a check for the actual f value for the real images.
// TODO(pmoulon): Add a test that has some inliers and outliers.
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