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
|
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*/
#if CERES_FOUND
#include "test_precomp.hpp"
#include <opencv2/sfm/simple_pipeline.hpp>
using namespace cv;
using namespace cv::sfm;
using namespace cvtest;
using namespace std;
const string SFM_DIR = "sfm";
const string TRACK_FILENAME = "backyard_tracks.txt";
TEST(Sfm_simple_pipeline, backyard)
{
string trackFilename =
string(TS::ptr()->get_data_path()) + SFM_DIR + "/" + TRACK_FILENAME;
// Get tracks from file: check backyard.blend file
std::vector<Mat> points2d;
parser_2D_tracks( trackFilename, points2d );
// Initial reconstruction
int keyframe1 = 1, keyframe2 = 30;
// Camera data
double focal_length = 860.986572265625; // f = 24mm (checked debugging blender)
double principal_x = 400, principal_y = 225, k1 = -0.158, k2 = 0.131, k3 = 0;
int refine_intrinsics = SFM_REFINE_FOCAL_LENGTH | SFM_REFINE_PRINCIPAL_POINT | SFM_REFINE_RADIAL_DISTORTION_K1 | SFM_REFINE_RADIAL_DISTORTION_K2;
int select_keyframes = 0; // disable automatic keyframes selection
int verbosity_level = -1; // mute logs
libmv_CameraIntrinsicsOptions camera_instrinsic_options =
libmv_CameraIntrinsicsOptions(SFM_DISTORTION_MODEL_POLYNOMIAL,
focal_length, principal_x, principal_y,
k1, k2, k3);
libmv_ReconstructionOptions reconstruction_options(keyframe1, keyframe2, refine_intrinsics, select_keyframes, verbosity_level);
Ptr<SFMLibmvEuclideanReconstruction> euclidean_reconstruction =
SFMLibmvEuclideanReconstruction::create(camera_instrinsic_options, reconstruction_options);
// Run reconstruction pipeline
euclidean_reconstruction->run(points2d);
double error = euclidean_reconstruction->getError();
//cout << "euclidean_reconstruction error = " << error << endl;
EXPECT_LE( error, 1.4 ); // actually 1.38671
// UPDATE: 1.38894
}
#endif /* CERES_FOUND */
|
