Blender  V3.3
resection_test.cc
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20 
21 #include <iostream>
22 
23 #include "libmv/logging/logging.h"
27 #include "libmv/numeric/numeric.h"
28 #include "testing/testing.h"
29 
30 namespace {
31 
32 using namespace libmv;
33 using namespace libmv::resection;
34 
35 TEST(Resection, ThreeViews) {
36  int nviews = 5;
37  int npoints = 6;
38  NViewDataSet d = NRealisticCamerasFull(nviews, npoints);
39  for (int i = 0; i < nviews; ++i) {
40  Mat4X X(4, npoints);
41  X.block(0, 0, 3, npoints) = d.X;
42  X.row(3).setOnes();
43  const Mat2X& x = d.x[i];
44  Mat34 P;
45  Resection(x, X, &P);
46  Mat34 P_expected = d.P(i);
47 
48  // Because the P matrices are homogeneous, it is necessary to be tricky
49  // about the scale factor to make them match.
50  P_expected *= 1 / P_expected.array().abs().sum();
51  P *= 1 / P.array().abs().sum();
52  if (!((P(0, 0) > 0 && P_expected(0, 0) > 0) ||
53  (P(0, 0) < 0 && P_expected(0, 0) < 0))) {
54  P *= -1;
55  }
56 
57  EXPECT_MATRIX_NEAR(P_expected, P, 1e-9);
58  }
59 }
60 
61 } // namespace
#define X
Definition: GeomUtils.cpp:199
ATTR_WARN_UNUSED_RESULT const BMVert const BMEdge * e
static float P(float k)
Definition: math_interp.c:25
void Resection(const Matrix< T, 2, Dynamic > &x, const Matrix< T, 4, Dynamic > &X, Matrix< T, 3, 4 > *P)
Definition: resection.h:37
TEST(PolynomialCameraIntrinsics2, ApplyOnFocalCenter)
Eigen::Matrix< double, 3, 4 > Mat34
Definition: numeric.h:73
Eigen::Matrix< double, 4, Eigen::Dynamic > Mat4X
Definition: numeric.h:93
NViewDataSet NRealisticCamerasFull(int nviews, int npoints, const nViewDatasetConfigator config)
Eigen::Matrix< double, 2, Eigen::Dynamic > Mat2X
Definition: numeric.h:91