1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
|
// 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_
|
