gsoc_2015: sfm module integration

2025-10-21 06:11:09 +08:00 · 2015-10-05 16:19:50 +02:00
parent 2de6ff576c
commit 2a14d220c7
139 changed files with 19136 additions and 0 deletions
--- a/modules/sfm/test/test_reconstruct.cpp
+++ b/modules/sfm/test/test_reconstruct.cpp
@@ -0,0 +1,96 @@
+/*
+ * 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;
+
+/* Check projection errors */
+static void
+check_projection_errors(const cv::Mat& X_estimated, const std::vector<Matx34d>& Ps,
+                        const std::vector<Mat_<double> >& xs, float err_max2d)
+{
+    cv::Mat X;
+    euclideanToHomogeneous(X_estimated, X);   // 3D point
+
+    for (int m = 0; m < xs.size(); ++m)
+    {
+        cv::Mat x;
+        homogeneousToEuclidean(cv::Mat(Ps[m]) * X, x); // 2d projection
+        cv::Mat projerr = xs[m] - x;
+
+        for (int n = 0; n < projerr.cols; ++n)
+        {
+            double d = cv::norm(projerr.col(n));
+            EXPECT_NEAR(0, d, err_max2d);
+        }
+    }
+}
+
+#if CERES_FOUND
+
+TEST(Sfm_reconstruct, twoViewProjectiveOutliers)
+{
+    float err_max2d = 1e-7;
+    int nviews = 2;
+    int npoints = 50;
+    bool is_projective = true;
+
+    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);
+
+    Mat_<double> points3d_estimated;
+    std::vector<cv::Mat> Ps_estimated;
+    reconstruct(points2d, Ps_estimated, points3d_estimated, K, is_projective);
+
+    /* Check projection errors on GT */
+    check_projection_errors(points3d, Ps, points2d, err_max2d);
+
+    /* Check projection errors on estimates */
+    std::vector<cv::Matx34d> Ps_estimated_d;
+    Ps_estimated_d.resize(Ps_estimated.size());
+    for(size_t i=0; i<Ps_estimated.size(); ++i)
+        Ps_estimated_d[i] = Ps_estimated[i];
+    check_projection_errors(points3d_estimated, Ps_estimated_d, points2d, err_max2d);
+}
+
+#endif /* CERES_FOUND */