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#ifdef __GNUC__
# pragma GCC diagnostic ignored "-Wmissing-declarations"
#endif
#ifndef __OPENCV_TEST_PRECOMP_HPP__
#define __OPENCV_TEST_PRECOMP_HPP__
#include <opencv2/sfm.hpp>
#include <opencv2/core/core_c.h>
#include <opencv2/ts.hpp>
#include <opencv2/core.hpp>
#include "scene.h"
#define OPEN_TESTFILE(FNAME,FS) \
FS.open(FNAME, FileStorage::READ); \
if (!FS.isOpened())\
{\
std::cerr << "Cannot find file: " << FNAME << std::endl;\
return;\
}
namespace cvtest
{
template<typename T>
inline void
EXPECT_MATRIX_NEAR(const T a, const T b, double tolerance)
{
bool dims_match = (a.rows == b.rows) && (a.cols == b.cols);
EXPECT_EQ((int)a.rows, (int)b.rows);
EXPECT_EQ((int)a.cols, (int)b.cols);
if (dims_match)
{
for (int r = 0; r < a.rows; ++r)
{
for (int c = 0; c < a.cols; ++c)
{
EXPECT_NEAR(a(r, c), b(r, c), tolerance) << "r=" << r << ", c=" << c << ".";
}
}
}
}
template<typename T>
inline void
EXPECT_VECTOR_NEAR(const T a, const T b, double tolerance)
{
bool dims_match = (a.rows == b.rows);
EXPECT_EQ((int)a.rows,(int)b.rows) << "Matrix rows don't match.";
if (dims_match)
{
for (int r = 0; r < a.rows; ++r)
{
EXPECT_NEAR(a(r), b(r), tolerance) << "r=" << r << ".";
}
}
}
template<class T>
inline double
cosinusBetweenMatrices(const T &a, const T &b)
{
double s = cv::sum( a.mul(b) )[0];
return ( s / norm(a) / norm(b) );
}
// Check that sin(angle(a, b)) < tolerance
template<typename T>
inline void
EXPECT_MATRIX_PROP(const T a, const T b, double tolerance)
{
bool dims_match = (a.rows == b.rows) && (a.cols == b.cols);
EXPECT_EQ((int)a.rows, (int)b.rows);
EXPECT_EQ((int)a.cols, (int)b.cols);
if (dims_match)
{
double c = cosinusBetweenMatrices(a, b);
if (c * c < 1)
{
double s = sqrt(1 - c * c);
EXPECT_NEAR(0, s, tolerance);
}
}
}
struct TwoViewDataSet
{
cv::Matx33d K1, K2; // Internal parameters
cv::Matx33d R1, R2; // Rotation
cv::Vec3d t1, t2; // Translation
cv::Matx34d P1, P2; // Projection matrix, P = K(R|t)
cv::Matx33d F; // Fundamental matrix
cv::Mat_<double> X; // 3D points
cv::Mat_<double> x1, x2; // Projected points
};
void
generateTwoViewRandomScene(TwoViewDataSet &data);
/** 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 = 1e-9 );
/**
* 2D tracked points
* -----------------
*
* The format is:
*
* row1 : x1 y1 x2 y2 ... x36 y36 for track 1
* row2 : x1 y1 x2 y2 ... x36 y36 for track 2
* etc
*
* i.e. a row gives the 2D measured position of a point as it is tracked
* through frames 1 to 36. If there is no match found in a view then x
* and y are -1.
*
* Each row corresponds to a different point.
*
*/
void
parser_2D_tracks(const std::string &_filename, std::vector<cv::Mat> &points2d );
} // namespace cvtest
#endif
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