/* * 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 namespace opencv_test { namespace { 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 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 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 } }} // namespace #endif /* CERES_FOUND */