1
2 // Copyright (c) 2010 libmv authors.
3 //
4 // Permission is hereby granted, free of charge, to any person obtaining a copy
5 // of this software and associated documentation files (the "Software"), to
6 // deal in the Software without restriction, including without limitation the
7 // rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
8 // sell copies of the Software, and to permit persons to whom the Software is
9 // furnished to do so, subject to the following conditions:
10 //
11 // The above copyright notice and this permission notice shall be included in
12 // all copies or substantial portions of the Software.
13 //
14 // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
15 // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
16 // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
17 // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
18 // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
19 // FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
20 // IN THE SOFTWARE.
21
22 // This file is part of OpenMVG, an Open Multiple View Geometry C++ library.
23
24 // Copyright (c) 2012, 2013 Pierre MOULON.
25
26 // This Source Code Form is subject to the terms of the Mozilla Public
27 // License, v. 2.0. If a copy of the MPL was not distributed with this
28 // file, You can obtain one at http://mozilla.org/MPL/2.0/.
29
30 #include "openMVG/multiview/test_data_sets.hpp"
31 #include "openMVG/multiview/triangulation_nview.hpp"
32
33 #include "testing/testing.h"
34
35 using namespace openMVG;
36
TEST(Triangulate_NView,FiveViews)37 TEST(Triangulate_NView, FiveViews) {
38 const int nviews = 5;
39 const int npoints = 6;
40 const NViewDataSet d = NRealisticCamerasRing(nviews, npoints);
41
42 // Collect P matrices together.
43 std::vector<Mat34> Ps(nviews);
44 for (int j = 0; j < nviews; ++j) {
45 Ps[j] = d.P(j);
46 }
47
48 for (int i = 0; i < npoints; ++i) {
49 // Collect the image of point i in each frame.
50 Mat3X xs(3, nviews);
51 for (int j = 0; j < nviews; ++j) {
52 xs.col(j) = d._x[j].col(i).homogeneous();
53 }
54 Vec4 X;
55 TriangulateNView(xs, Ps, &X);
56
57 // Check reprojection error. Should be nearly zero.
58 for (int j = 0; j < nviews; ++j) {
59 const Vec3 x_reprojected = Ps[j]*X;
60 const double error = (x_reprojected.hnormalized() - xs.col(j).hnormalized()).norm();
61 EXPECT_NEAR(error, 0.0, 1e-9);
62 }
63 }
64 }
65
TEST(Triangulate_NViewAlgebraic,FiveViews)66 TEST(Triangulate_NViewAlgebraic, FiveViews) {
67 const int nviews = 5;
68 const int npoints = 6;
69 const NViewDataSet d = NRealisticCamerasRing(nviews, npoints);
70
71 // Collect P matrices together.
72 std::vector<Mat34> Ps(nviews);
73 for (int j = 0; j < nviews; ++j) {
74 Ps[j] = d.P(j);
75 }
76
77 for (int i = 0; i < npoints; ++i) {
78 // Collect the image of point i in each frame.
79 Mat3X xs(3, nviews);
80 for (int j = 0; j < nviews; ++j) {
81 xs.col(j) = d._x[j].col(i).homogeneous();
82 }
83 Vec4 X;
84 EXPECT_TRUE(TriangulateNViewAlgebraic(xs, Ps, &X));
85
86 // Check reprojection error. Should be nearly zero.
87 for (int j = 0; j < nviews; ++j) {
88 const Vec3 x_reprojected = Ps[j]*X;
89 const double error = (x_reprojected.hnormalized() - xs.col(j).hnormalized()).norm();
90 EXPECT_NEAR(error, 0.0, 1e-9);
91 }
92 }
93 }
94
95
96 /* ************************************************************************* */
main()97 int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
98 /* ************************************************************************* */
99