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/*
* 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.
*
*/
#include "test_precomp.hpp"
using namespace cv;
using namespace cv::sfm;
using namespace std;
static void
checkTriangulation(int nviews, int npoints, bool is_projective, float err_max2d, float err_max3d)
{
std::vector<Mat_<double> > points2d;
std::vector<cv::Matx33d> Rs;
std::vector<cv::Vec3d> ts;
std::vector<cv::Matx34d> Ps;
Matx33d K;
Mat_<double> points3d;
generateScene(nviews, npoints, is_projective, K, Rs, ts, Ps, points3d, points2d);
// get 3d points
cv::Mat X, X_homogeneous;
std::vector<Mat_<double> > Ps_d(Ps.size());
for(size_t i=0; i<Ps.size(); ++i)
Ps_d[i] = cv::Mat_<double>(Ps[i]);
triangulatePoints(points2d, Ps_d, X);
euclideanToHomogeneous(X, X_homogeneous);
for (int i = 0; i < npoints; ++i)
{
for (int k = 0; k < nviews; ++k)
{
cv::Mat x_reprojected;
homogeneousToEuclidean( cv::Mat(Ps[k])*X_homogeneous.col(i), x_reprojected );
// Check reprojection error. Should be nearly zero.
double error = norm( x_reprojected - points2d[k].col(i) );
EXPECT_LE(error*error, err_max2d);
}
// Check 3d error. Should be nearly zero.
double error = norm( X.col(i) - points3d.col(i) );
EXPECT_LE(error*error, err_max3d);
}
}
TEST(Sfm_triangulate, TriangulateDLT)
{
int nviews = 2;
int npoints = 30;
bool is_projective = true;
checkTriangulation(nviews, npoints, is_projective, 1e-7, 1e-9);
}
TEST(Sfm_triangulate, NViewTriangulate_FiveViews)
{
int nviews = 5;
int npoints = 6;
bool is_projective = true;
checkTriangulation(nviews, npoints, is_projective, 1e-7, 1e-9);
}
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