25 #include "testing/testing.h"
28 using namespace libmv;
33 const Vec& X_distances,
40 int num_points = x_image.cols();
42 Mat3X x_unit_cam(3, num_points);
43 x_unit_cam = KK.inverse() * x_image;
47 *x_camera = x_unit_cam.block(0, 0, 2, num_points);
48 for (
int i = 0; i < num_points; ++i) {
49 x_unit_cam.col(i).normalize();
53 Mat X_camera(3, num_points);
54 for (
int i = 0; i < num_points; ++i) {
55 X_camera.col(i) = X_distances(i) * x_unit_cam.col(i);
59 Mat translation_matrix(3, num_points);
60 translation_matrix.row(0).setConstant(T_input(0));
61 translation_matrix.row(1).setConstant(T_input(1));
62 translation_matrix.row(2).setConstant(T_input(2));
64 *X_world = R_input * X_camera + translation_matrix;
67 *R_expected = R_input.transpose();
68 *T_expected = *R_expected * (-T_input);
75 X = 100 * Mat::Random(3, num_points);
79 R_input = Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ()) *
80 Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitY()) *
81 Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ());
85 t_input = 100 * t_input;
87 Mat translation_matrix(3, num_points);
88 translation_matrix.row(0).setConstant(t_input(0));
89 translation_matrix.row(1).setConstant(t_input(1));
90 translation_matrix.row(2).setConstant(t_input(2));
93 Xp = R_input *
X + translation_matrix;
101 EXPECT_MATRIX_NEAR(
t, t_input, 1
e-6);
102 EXPECT_MATRIX_NEAR(
R, R_input, 1
e-8);
108 Vec2i image_dimensions;
109 image_dimensions << 1600, 1200;
120 Mat3X x_image(3, num_points);
122 x_image << 1164.06, 734.948, 749.599, 430.727,
123 681.386, 844.59, 496.315, 580.775,
128 Vec X_distances = 100 * Vec::Random(num_points).array().abs();
132 R_input = Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ()) *
133 Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitY()) *
134 Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ());
138 T_input = 100 * T_input;
162 EXPECT_MATRIX_NEAR(T_output, T_expected, 1
e-5);
163 EXPECT_MATRIX_NEAR(R_output, R_expected, 1
e-7);
170 R_output.setIdentity();
174 &R_output, &T_output,
177 EXPECT_MATRIX_NEAR(T_output, T_expected, 1
e-5);
178 EXPECT_MATRIX_NEAR(R_output, R_expected, 1
e-7);*/
195 Mat3X x_image(3, num_points);
196 x_image.row(0) =
w * Vec::Random(num_points).array().abs();
197 x_image.row(1) = h * Vec::Random(num_points).array().abs();
198 x_image.row(2).setOnes();
202 Vec X_distances = 100 * Vec::Random(num_points).array().abs();
206 R_input = Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ()) *
207 Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitY()) *
208 Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ());
212 T_input = 100 * T_input;
234 EXPECT_MATRIX_NEAR(T_output, T_expected, 1
e-5);
235 EXPECT_MATRIX_NEAR(R_output, R_expected, 1
e-7);
241 EXPECT_MATRIX_NEAR(T_output, T_expected, 1
e-5);
242 EXPECT_MATRIX_NEAR(R_output, R_expected, 1
e-7);
248 EXPECT_MATRIX_NEAR(T_output, T_expected, 1
e-5);
249 EXPECT_MATRIX_NEAR(R_output, R_expected, 1
e-7);
_GL_VOID GLfloat value _GL_VOID_RET _GL_VOID const GLuint GLboolean *residences _GL_BOOL_RET _GL_VOID GLsizei GLfloat GLfloat GLfloat GLfloat const GLubyte *bitmap _GL_VOID_RET _GL_VOID GLenum const void *lists _GL_VOID_RET _GL_VOID const GLdouble *equation _GL_VOID_RET _GL_VOID GLdouble GLdouble blue _GL_VOID_RET _GL_VOID GLfloat GLfloat blue _GL_VOID_RET _GL_VOID GLint GLint blue _GL_VOID_RET _GL_VOID GLshort GLshort blue _GL_VOID_RET _GL_VOID GLubyte GLubyte blue _GL_VOID_RET _GL_VOID GLuint GLuint blue _GL_VOID_RET _GL_VOID GLushort GLushort blue _GL_VOID_RET _GL_VOID GLbyte GLbyte GLbyte alpha _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble alpha _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat alpha _GL_VOID_RET _GL_VOID GLint GLint GLint alpha _GL_VOID_RET _GL_VOID GLshort GLshort GLshort alpha _GL_VOID_RET _GL_VOID GLubyte GLubyte GLubyte alpha _GL_VOID_RET _GL_VOID GLuint GLuint GLuint alpha _GL_VOID_RET _GL_VOID GLushort GLushort GLushort alpha _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLint GLsizei GLsizei GLenum type _GL_VOID_RET _GL_VOID GLsizei GLenum GLenum const void *pixels _GL_VOID_RET _GL_VOID const void *pointer _GL_VOID_RET _GL_VOID GLdouble v _GL_VOID_RET _GL_VOID GLfloat v _GL_VOID_RET _GL_VOID GLint GLint i2 _GL_VOID_RET _GL_VOID GLint j _GL_VOID_RET _GL_VOID GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble GLdouble GLdouble zFar _GL_VOID_RET _GL_UINT GLdouble *equation _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLenum GLfloat *v _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLfloat *values _GL_VOID_RET _GL_VOID GLushort *values _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLenum GLdouble *params _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_BOOL GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLushort pattern _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint const GLdouble *points _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint GLdouble GLdouble GLint GLint const GLdouble *points _GL_VOID_RET _GL_VOID GLdouble GLdouble u2 _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLdouble GLdouble v2 _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLdouble GLdouble nz _GL_VOID_RET _GL_VOID GLfloat GLfloat nz _GL_VOID_RET _GL_VOID GLint GLint nz _GL_VOID_RET _GL_VOID GLshort GLshort nz _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const GLfloat *values _GL_VOID_RET _GL_VOID GLsizei const GLushort *values _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID const GLuint const GLclampf *priorities _GL_VOID_RET _GL_VOID GLdouble y _GL_VOID_RET _GL_VOID GLfloat y _GL_VOID_RET _GL_VOID GLint y _GL_VOID_RET _GL_VOID GLshort y _GL_VOID_RET _GL_VOID GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLfloat GLfloat z _GL_VOID_RET _GL_VOID GLint GLint z _GL_VOID_RET _GL_VOID GLshort GLshort z _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble w _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat w _GL_VOID_RET _GL_VOID GLint GLint GLint w _GL_VOID_RET _GL_VOID GLshort GLshort GLshort w _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble y2 _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat y2 _GL_VOID_RET _GL_VOID GLint GLint GLint y2 _GL_VOID_RET _GL_VOID GLshort GLshort GLshort y2 _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLuint *buffer _GL_VOID_RET _GL_VOID GLdouble t _GL_VOID_RET _GL_VOID GLfloat t _GL_VOID_RET _GL_VOID GLint t _GL_VOID_RET _GL_VOID GLshort t _GL_VOID_RET _GL_VOID GLdouble t
ATTR_WARN_UNUSED_RESULT const BMVert const BMEdge * e
SIMD_FORCE_INLINE const btScalar & w() const
Return the w value.
static void CreateCameraSystem(const Mat3 &KK, const Mat3X &x_image, const Vec &X_distances, const Mat3 &R_input, const Vec3 &T_input, Mat2X *x_camera, Mat3X *X_world, Mat3 *R_expected, Vec3 *T_expected)
bool EuclideanResection(const Mat2X &x_camera, const Mat3X &X_world, Mat3 *R, Vec3 *t, ResectionMethod method)
void AbsoluteOrientation(const Mat3X &X, const Mat3X &Xp, Mat3 *R, Vec3 *t)
@ RESECTION_ANSAR_DANIILIDIS
TEST(PolynomialCameraIntrinsics2, ApplyOnFocalCenter)
Eigen::Matrix< double, 3, Eigen::Dynamic > Mat3X
Eigen::Matrix< double, 2, Eigen::Dynamic > Mat2X