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#include "test_precomp.hpp"
#include <fstream>
#include <cstdlib>
using namespace cv;
using namespace cv::sfm;
using namespace std;
namespace cvtest
{
void generateTwoViewRandomScene( cvtest::TwoViewDataSet &data )
{
vector<Mat_<double> > points2d;
vector<cv::Matx33d> Rs;
vector<cv::Vec3d> ts;
vector<cv::Matx34d> Ps;
Matx33d K;
Mat_<double> points3d;
int nviews = 2;
int npoints = 30;
bool is_projective = true;
generateScene(nviews, npoints, is_projective, K, Rs, ts, Ps, points3d, points2d);
// Internal parameters (same K)
data.K1 = K;
data.K2 = K;
// Rotation
data.R1 = Rs[0];
data.R2 = Rs[1];
// Translation
data.t1 = ts[0];
data.t2 = ts[1];
// Projection matrix, P = K(R|t)
data.P1 = Ps[0];
data.P2 = Ps[1];
// Fundamental matrix
fundamentalFromProjections( data.P1, data.P2, data.F );
// 3D points
data.X = points3d;
// Projected points
data.x1 = points2d[0];
data.x2 = points2d[1];
}
/** Check the properties of a fundamental matrix:
*
* 1. The determinant is 0 (rank deficient)
* 2. The condition x'T*F*x = 0 is satisfied to precision.
*/
void
expectFundamentalProperties( const cv::Matx33d &F,
const cv::Mat_<double> &ptsA,
const cv::Mat_<double> &ptsB,
double precision )
{
EXPECT_NEAR( 0, determinant(F), precision );
int n = ptsA.cols;
EXPECT_EQ( n, ptsB.cols );
cv::Mat_<double> x1, x2;
euclideanToHomogeneous( ptsA, x1 );
euclideanToHomogeneous( ptsB, x2 );
for( int i = 0; i < n; ++i )
{
double residual = Vec3d(x2(0,i),x2(1,i),x2(2,i)).ddot( F * Vec3d(x1(0,i),x1(1,i),x1(2,i)) );
EXPECT_NEAR( 0.0, residual, precision );
}
}
void
parser_2D_tracks(const string &_filename, std::vector<Mat> &points2d )
{
ifstream myfile(_filename.c_str());
if (!myfile.is_open())
{
cout << "Unable to read file: " << _filename << endl;
exit(0);
} else {
double x, y;
string line_str;
Mat nan_mat = Mat(2, 1 , CV_64F, -1);
int n_frames = 0, n_tracks = 0, track = 0;
while ( getline(myfile, line_str) )
{
istringstream line(line_str);
if ( track > n_tracks )
{
n_tracks = track;
for (int i = 0; i < n_frames; ++i)
cv::hconcat(points2d[i], nan_mat, points2d[i]);
}
for (int frame = 1; line >> x >> y; ++frame)
{
if ( frame > n_frames )
{
n_frames = frame;
points2d.push_back(nan_mat);
}
points2d[frame-1].at<double>(0,track) = x;
points2d[frame-1].at<double>(1,track) = y;
}
++track;
}
myfile.close();
}
}
} // namespace cvtest
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