113 lines
3.4 KiB
C++
113 lines
3.4 KiB
C++
/*
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* testFundamental.cpp
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* @brief try tensor expressions based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf
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* Created on: Feb 13, 2010
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* @author: Frank Dellaert
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*/
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#include <iostream>
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#include <boost/foreach.hpp>
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#include <boost/assign/std/list.hpp> // for operator +=
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using namespace boost::assign;
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#include <gtsam/CppUnitLite/TestHarness.h>
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#include <gtsam/geometry/tensors.h>
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#include <gtsam/geometry/tensorInterface.h>
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#include <gtsam/geometry/projectiveGeometry.h>
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using namespace std;
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using namespace gtsam;
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using namespace tensors;
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/* ************************************************************************* */
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// Indices
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Index<3, 'a'> a;
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Index<3, 'b'> b;
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Index<4, 'A'> A;
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Index<4, 'B'> B;
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/* ************************************************************************* */
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TEST( Tensors, FundamentalMatrix)
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{
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double f[3][3] = { { 1, 0, 0 }, { 1, 2, 3 }, { 1, 2, 3 } };
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FundamentalMatrix F(f);
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Point2h p = point2h(1, 2, 3); // point p in view one
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Point2h q = point2h(14, -1, 0); // point q in view two
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// points p and q are in correspondence
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CHECK(F(a,b)*p(a)*q(b) == 0)
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// in detail, l1(b)*q(b)==0
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Line2h l1 = line2h(1, 14, 14);
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CHECK(F(a,b)*p(a) == l1(b))
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CHECK(l1(b)*q(b) == 0); // q is on line l1
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// and l2(a)*p(a)==0
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Line2h l2 = line2h(13, -2, -3);
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CHECK(F(a,b)*q(b) == l2(a))
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CHECK(l2(a)*p(a) == 0); // p is on line l2
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}
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/* ************************************************************************* */
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// Stereo setup, -1,1
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/* ************************************************************************* */
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// t points towards origin
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double left__[4][3] = { { 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1 }, { +1, 0, 0 } };
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double right_[4][3] = { { 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1 }, { -1, 0, 0 } };
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//double right_[4][3] = { { cos(0.1), -sin(0.1), 0 }, { sin(0.1), cos(0.1), 0 }, { 0, 0, 1 }, { -1, 0, 0 } };
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ProjectiveCamera ML(left__), MR(right_);
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// Cube
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Point3h P1 = point3h(-1, -1, 3 - 1, 1);
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Point3h P2 = point3h(-1, -1, 3 + 1, 1);
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Point3h P3 = point3h(-1, +1, 3 - 1, 1);
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Point3h P4 = point3h(-1, +1, 3 + 1, 1);
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Point3h P5 = point3h(+1, -1, 3 - 1, 1);
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Point3h P6 = point3h(+1, -1, 3 + 1, 1);
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Point3h P7 = point3h(+1, +1, 3 - 1, 1);
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Point3h P8 = point3h(+1, +1, 3 + 1, 1);
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/* ************************************************************************* */
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TEST( Tensors, FundamentalMatrix2)
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{
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// The correct fundamental matrix is given by formula 9.1 in HZ 2nd ed., p. 244
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// F = \hat(e')P'P+
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// and is very simple
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double f[3][3] = {{0,0,0}
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,{0,0,-1}
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,{0,1,0}
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};
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FundamentalMatrix F(f);
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// Create a list of correspondences
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list<Point3h> points;
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Point3h P9 = point3h(-2,3,4,1);
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Point3h P10 = point3h(1,1,5,1);
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points += P1, P2, P3, P4, P5, P6, P7, P8, P9, P10;
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list<Correspondence> correspondences;
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BOOST_FOREACH(const Point3h& P, points) {
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Correspondence p(ML(a,A)*P(A), MR(b,A)*P(A));
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DOUBLES_EQUAL(0,F(a,b) * p.first(a) * p.second(b),1e-9);
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correspondences += p;
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}
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// let's check it for another arbitrary point
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Point2h left(ML(a,A)*P9(A)), right(MR(b,A)*P9(A));
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DOUBLES_EQUAL(0,F(a,b) * left(a) * right(b),1e-9);
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FundamentalMatrix actual = estimateFundamentalMatrix(correspondences);
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CHECK(assert_equivalent(F(a,b),actual(a,b),0.1));
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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