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This commit is contained in:
Massimiliano Corsini 2011-05-23 14:08:48 +00:00
parent 894ffdbdfe
commit 779e6d2dc5
1 changed files with 60 additions and 15 deletions
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75
apps/test/camerashot/camerashot_test.cpp
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@ -89,12 +89,7 @@ bool test3(vcg::Shotd shot, vcg::Point3d p1)
return false;
// CONVERSION - (ccd is assumed to be 35mm width)
double ccd_width = 35.0; // conventionally assumed
double ccd_height = (ccd_width * shotpx.Intrinsics.ViewportPx[1]) / shotpx.Intrinsics.ViewportPx[0];
shotpx.Intrinsics.PixelSizeMm[0] = (ccd_width / shotpx.Intrinsics.ViewportPx[0]);
shotpx.Intrinsics.PixelSizeMm[1] = (ccd_height / shotpx.Intrinsics.ViewportPx[1]);
shotpx.Intrinsics.FocalMm = (ccd_width * shotpx.Intrinsics.FocalMm) / shotpx.Intrinsics.ViewportPx[0]; // NOW FOCAL IS IN MM
shot.ConvertFocalToMM();
p1proj = shotpx.Project(p1);
@ -152,10 +147,10 @@ bool test5(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
{
// put shot1 reference frame into the origin of the World coordinates system
vcg::Matrix44d M = shot1.GetWorldToExtrinsicsMatrix();
shot1.ApplyRigidTransformation(vcg::Invert(M));
shot1.ApplyRigidTransformation(M);
// then, put in the shot2 reference frame
M = shot2.GetWorldToExtrinsicsMatrix();
M = shot2.GetExtrinsicsToWorldMatrix();
shot1.ApplyRigidTransformation(M);
// test..
@ -185,7 +180,7 @@ bool test6(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
M = M2 * M1; // roto-translation that maps the frame of Shot1 in the frame of Shot2
// apply it..
shot1.ApplyRigidTransformation(M);
shot1.ApplyRigidTransformation(vcg::Invert(M));
// and test it..
vcg::Point2d p1proj1, p2proj1, p1proj2, p2proj2;
@ -205,6 +200,36 @@ bool test6(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
}
// TEST 7 - SHOT MODIFICATION - ROTATION + TRANSLATION
///////////////////////////////////////////////////////////////////////////////
bool test7(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d)
{
vcg::Matrix44d R;
R.SetZero();
R.ElementAt(0,2) = 1.0;
R.ElementAt(1,1) = 1.0;
R.ElementAt(2,0) = -1.0;
R.ElementAt(3,3) = 1.0;
vcg::Point2d p1proj = shot1.Project(p1);
vcg::Point3d prot = R * p1;
shot1.ApplyRigidTransformation(R);
vcg::Point2d protproj = shot1.Project(prot);
return true;
}
// TEST 8 - DEPTH COMPUTATION
///////////////////////////////////////////////////////////////////////////////
bool test8(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
{
return true;
}
int main()
{
vcg::Point3d p1(20.0, 25.0, 10.0);
@ -287,7 +312,7 @@ int main()
std::cout << "TEST 1 (projection) - PASSED(!)" << std::endl;
}
else
std::cout << "TEST 1 (projection) - FAILS(!)" << std::endl;
std::cout << "TEST 1 (projection) - FAILED(!)" << std::endl;
// TEST 2 - projection and unprojection
if (test2(shot1, shot2, p1, p2))
@ -296,7 +321,7 @@ int main()
}
else
{
std::cout << "TEST 2 (unprojection) - FAILS(!)" << std::endl;
std::cout << "TEST 2 (unprojection) - FAILED(!)" << std::endl;
}
// TEST 3 - CAMERA CONVERSION - CONVERT FOCAL IN PIXELS IN FOCAL IN MM
@ -306,7 +331,7 @@ int main()
}
else
{
std::cout << "TEST 3 (focal in px to focal in mm) - FAILS(!)" << std::endl;
std::cout << "TEST 3 (focal in px to focal in mm) - FAILED(!)" << std::endl;
}
// TEST 4 - CAMERA-SHOT MODIFICATION - CHANGE SCALE FACTOR OF THE WORLD
@ -316,7 +341,7 @@ int main()
}
else
{
std::cout << "TEST 4 (scaling the World) - FAILS(!)" << std::endl;
std::cout << "TEST 4 (scaling the World) - FAILED(!)" << std::endl;
}
// TEST 5 - SHOT MODIFICATION - ROTO-TRANSLATION OF THE SHOT COORDINATES SYSTEM
@ -326,7 +351,7 @@ int main()
}
else
{
std::cout << "TEST 5 (roto-translation of the Shot coordinates system) - FAILS(!)" << std::endl;
std::cout << "TEST 5 (roto-translation of the Shot coordinates system) - FAILED(!)" << std::endl;
}
// TEST 6 - SHOT MODIFICATION - ROTO-TRANSLATION OF THE SHOT COORDINATES SYSTEM
@ -336,7 +361,27 @@ int main()
}
else
{
std::cout << "TEST 6 (roto-translation of the Shot coordinates system) - FAILS(!)" << std::endl;
std::cout << "TEST 6 (roto-translation of the Shot coordinates system) - FAILED(!)" << std::endl;
}
// TEST 7 - SHOT MODIFICATION - ROTO-TRANSLATION OF THE SHOT COORDINATES SYSTEM
if (test7(shot1, shot2, p1, p2))
{
std::cout << "TEST 7 (roto-translation of the Shot coordinates system) - PASSED(!)" << std::endl;
}
else
{
std::cout << "TEST 7 (roto-translation of the Shot coordinates system) - FAILED(!)" << std::endl;
}
// TEST 8 - SHOT MODIFICATION - ROTO-TRANSLATION OF THE SHOT COORDINATES SYSTEM
if (test8(shot1, shot2, p1, p2))
{
std::cout << "TEST 8 (depth computation) - PASSED(!)" << std::endl;
}
else
{
std::cout << "TEST 8 (depth computation) - FAILED(!)" << std::endl;
}
return 0;