vendor: OpenCV 5.0.0 snapshot at 755e50675d97db9b7d449d8bd6b09888646f6c6e

2026-08-22 00:11:13 +08:00
commit 12022378a3
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+/*
+ * 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 <opencv2/sfm/simple_pipeline.hpp>
+
+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<Mat> 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<SFMLibmvEuclideanReconstruction> 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 */