bundle_adjustment_test.cc File Reference

#include "util/testing.h"
#include "base/camera_models.h"
#include "base/correspondence_graph.h"
#include "base/projection.h"
#include "optim/bundle_adjustment.h"
#include "util/random.h"

Include dependency graph for bundle_adjustment_test.cc:

Go to the source code of this file.

Macros
#define	TEST_NAME   "optim/bundle_adjustment"
#define	CheckVariableCamera(camera, orig_camera)
#define	CheckConstantCamera(camera, orig_camera)
#define	CheckVariableImage(image, orig_image)
#define	CheckConstantImage(image, orig_image)
#define	CheckConstantXImage(image, orig_image)
#define	CheckConstantCameraRig(camera_rig, orig_camera_rig, camera_id)
#define	CheckVariableCameraRig(camera_rig, orig_camera_rig, camera_id)
#define	CheckVariablePoint(point, orig_point)    { BOOST_CHECK_NE(point.XYZ(), orig_point.XYZ()); }
#define	CheckConstantPoint(point, orig_point)    { BOOST_CHECK_EQUAL(point.XYZ(), orig_point.XYZ()); }

Functions
void	GeneratePointCloud (const size_t num_points, const Eigen::Vector3d &min, const Eigen::Vector3d &max, Reconstruction *reconstruction)
void	GenerateReconstruction (const size_t num_images, const size_t num_points, Reconstruction *reconstruction, CorrespondenceGraph *correspondence_graph)
	BOOST_AUTO_TEST_CASE (TestConfigNumObservations)
	BOOST_AUTO_TEST_CASE (TestTwoView)
	BOOST_AUTO_TEST_CASE (TestTwoViewConstantCamera)
	BOOST_AUTO_TEST_CASE (TestPartiallyContainedTracks)
	BOOST_AUTO_TEST_CASE (TestPartiallyContainedTracksForceToOptimizePoint)
	BOOST_AUTO_TEST_CASE (TestConstantPoints)
	BOOST_AUTO_TEST_CASE (TestVariableImage)
	BOOST_AUTO_TEST_CASE (TestConstantFocalLength)
	BOOST_AUTO_TEST_CASE (TestVariablePrincipalPoint)
	BOOST_AUTO_TEST_CASE (TestConstantExtraParam)
	BOOST_AUTO_TEST_CASE (TestRigTwoView)
	BOOST_AUTO_TEST_CASE (TestRigFourView)
	BOOST_AUTO_TEST_CASE (TestConstantRigFourView)
	BOOST_AUTO_TEST_CASE (TestRigFourViewPartial)

Macro Definition Documentation

CheckConstantCamera

#define CheckConstantCamera	(		camera,
			orig_camera
	)

Value:

  {                                                          \
    const size_t focal_length_idx =                          \
        SimpleRadialCameraModel::focal_length_idxs[0];       \
    const size_t extra_param_idx =                           \
        SimpleRadialCameraModel::extra_params_idxs[0];       \
    BOOST_CHECK_EQUAL(camera.Params(focal_length_idx),       \
                      orig_camera.Params(focal_length_idx)); \
    BOOST_CHECK_EQUAL(camera.Params(extra_param_idx),        \
                      orig_camera.Params(extra_param_idx));  \
  }

Definition at line 53 of file bundle_adjustment_test.cc.

CheckConstantCameraRig

#define CheckConstantCameraRig	(		camera_rig,
			orig_camera_rig,
			camera_id
	)

Value:

  {                                                                    \
    BOOST_CHECK_EQUAL(camera_rig.RelativeQvec(camera_id),              \
                      orig_camera_rig.RelativeQvec(camera_id));        \
    BOOST_CHECK_EQUAL(camera_rig.RelativeTvec(camera_id),              \
                      orig_camera_rig.RelativeTvec(camera_id));        \
  }

Definition at line 83 of file bundle_adjustment_test.cc.

CheckConstantImage

#define CheckConstantImage	(		image,
			orig_image
	)

Value:

  {                                                     \
    BOOST_CHECK_EQUAL(image.Qvec(), orig_image.Qvec()); \
    BOOST_CHECK_EQUAL(image.Tvec(), orig_image.Tvec()); \
  }

Definition at line 71 of file bundle_adjustment_test.cc.

CheckConstantPoint

#define CheckConstantPoint	(		point,
			orig_point
	)		{ BOOST_CHECK_EQUAL(point.XYZ(), orig_point.XYZ()); }

Definition at line 106 of file bundle_adjustment_test.cc.

CheckConstantXImage

#define CheckConstantXImage	(		image,
			orig_image
	)

Value:

  {                                                       \
    CheckVariableImage(image, orig_image);                \
    BOOST_CHECK_EQUAL(image.Tvec(0), orig_image.Tvec(0)); \
  }

Definition at line 77 of file bundle_adjustment_test.cc.

CheckVariableCamera

#define CheckVariableCamera	(		camera,
			orig_camera
	)

Value:

  {                                                       \
    const size_t focal_length_idx =                       \
        SimpleRadialCameraModel::focal_length_idxs[0];    \
    const size_t extra_param_idx =                        \
        SimpleRadialCameraModel::extra_params_idxs[0];    \
    BOOST_CHECK_NE(camera.Params(focal_length_idx),       \
                   orig_camera.Params(focal_length_idx)); \
    BOOST_CHECK_NE(camera.Params(extra_param_idx),        \
                   orig_camera.Params(extra_param_idx));  \
  }

Definition at line 41 of file bundle_adjustment_test.cc.

CheckVariableCameraRig

#define CheckVariableCameraRig	(		camera_rig,
			orig_camera_rig,
			camera_id
	)

Value:

  {                                                                    \
    if (camera_rig.RefCameraId() == camera_id) {                       \
      CheckConstantCameraRig(camera_rig, orig_camera_rig, camera_id);  \
    } else {                                                           \
      BOOST_CHECK_NE(camera_rig.RelativeQvec(camera_id),               \
                     orig_camera_rig.RelativeQvec(camera_id));         \
      BOOST_CHECK_NE(camera_rig.RelativeTvec(camera_id),               \
                     orig_camera_rig.RelativeTvec(camera_id));         \
    }                                                                  \
  }

Definition at line 91 of file bundle_adjustment_test.cc.

CheckVariableImage

#define CheckVariableImage	(		image,
			orig_image
	)

Value:

  {                                                  \
    BOOST_CHECK_NE(image.Qvec(), orig_image.Qvec()); \
    BOOST_CHECK_NE(image.Tvec(), orig_image.Tvec()); \
  }

Definition at line 65 of file bundle_adjustment_test.cc.

CheckVariablePoint

#define CheckVariablePoint	(		point,
			orig_point
	)		{ BOOST_CHECK_NE(point.XYZ(), orig_point.XYZ()); }

Definition at line 103 of file bundle_adjustment_test.cc.

TEST_NAME

#define TEST_NAME   "optim/bundle_adjustment"

Definition at line 32 of file bundle_adjustment_test.cc.

Function Documentation

BOOST_AUTO_TEST_CASE() [1/14]

BOOST_AUTO_TEST_CASE

(

TestConfigNumObservations

)

Definition at line 186 of file bundle_adjustment_test.cc.

References colmap::BundleAdjustmentConfig::AddConstantPoint(), colmap::BundleAdjustmentConfig::AddImage(), colmap::BundleAdjustmentConfig::AddVariablePoint(), GenerateReconstruction(), and colmap::BundleAdjustmentConfig::NumResiduals().

BOOST_AUTO_TEST_CASE() [2/14]

BOOST_AUTO_TEST_CASE

(

TestConstantExtraParam

)

Definition at line 595 of file bundle_adjustment_test.cc.

References colmap::BundleAdjustmentConfig::AddImage(), colmap::Camera::Camera(), colmap::Reconstruction::Camera(), CheckConstantImage, CheckConstantXImage, CheckVariablePoint, colmap::SimpleRadialCameraModel::extra_params_idxs, colmap::SimpleRadialCameraModel::focal_length_idxs, GenerateReconstruction(), colmap::Image::Image(), colmap::Reconstruction::Image(), colmap::Reconstruction::Points3D(), colmap::BundleAdjustmentOptions::refine_extra_params, colmap::BundleAdjustmentConfig::SetConstantPose(), colmap::BundleAdjustmentConfig::SetConstantTvec(), colmap::BundleAdjuster::Solve(), and colmap::BundleAdjuster::Summary().

BOOST_AUTO_TEST_CASE() [3/14]

BOOST_AUTO_TEST_CASE

(

TestConstantFocalLength

)

Definition at line 479 of file bundle_adjustment_test.cc.

References colmap::BundleAdjustmentConfig::AddImage(), colmap::Camera::Camera(), colmap::Reconstruction::Camera(), CheckConstantImage, CheckConstantXImage, CheckVariablePoint, colmap::SimpleRadialCameraModel::extra_params_idxs, colmap::SimpleRadialCameraModel::focal_length_idxs, GenerateReconstruction(), colmap::Image::Image(), colmap::Reconstruction::Image(), colmap::Reconstruction::Points3D(), colmap::BundleAdjustmentOptions::refine_focal_length, colmap::BundleAdjustmentConfig::SetConstantPose(), colmap::BundleAdjustmentConfig::SetConstantTvec(), colmap::BundleAdjuster::Solve(), and colmap::BundleAdjuster::Summary().

BOOST_AUTO_TEST_CASE() [4/14]

BOOST_AUTO_TEST_CASE

(

TestConstantPoints

)

Definition at line 390 of file bundle_adjustment_test.cc.

References colmap::BundleAdjustmentConfig::AddConstantPoint(), colmap::BundleAdjustmentConfig::AddImage(), colmap::Camera::Camera(), colmap::Reconstruction::Camera(), CheckConstantImage, CheckConstantPoint, CheckVariableCamera, CheckVariablePoint, GenerateReconstruction(), colmap::Image::Image(), colmap::Reconstruction::Image(), colmap::Reconstruction::Points3D(), colmap::BundleAdjustmentConfig::SetConstantPose(), colmap::BundleAdjuster::Solve(), and colmap::BundleAdjuster::Summary().

BOOST_AUTO_TEST_CASE() [5/14]

BOOST_AUTO_TEST_CASE

(

TestConstantRigFourView

)

Definition at line 862 of file bundle_adjustment_test.cc.

References colmap::BundleAdjustmentConfig::AddImage(), colmap::Camera::Camera(), colmap::Reconstruction::Camera(), CheckConstantCameraRig, CheckVariableCamera, CheckVariableImage, CheckVariablePoint, colmap::ComposeIdentityQuaternion(), GenerateReconstruction(), colmap::Image::Image(), colmap::Reconstruction::Image(), colmap::Reconstruction::Points3D(), colmap::RigBundleAdjuster::Options::refine_relative_poses, colmap::Image::SetCameraId(), colmap::RigBundleAdjuster::Solve(), and colmap::BundleAdjuster::Summary().

BOOST_AUTO_TEST_CASE() [6/14]

BOOST_AUTO_TEST_CASE

(

TestPartiallyContainedTracks

)

Definition at line 284 of file bundle_adjustment_test.cc.

References colmap::BundleAdjustmentConfig::AddImage(), colmap::Camera::Camera(), colmap::Reconstruction::Camera(), CheckConstantCamera, CheckConstantImage, CheckConstantPoint, CheckVariableCamera, CheckVariablePoint, colmap::Reconstruction::DeleteObservation(), GenerateReconstruction(), colmap::Image::Image(), colmap::Reconstruction::Image(), colmap::Image::Point2D(), colmap::Point2D::Point3DId(), colmap::Reconstruction::Points3D(), colmap::BundleAdjustmentConfig::SetConstantPose(), colmap::BundleAdjuster::Solve(), and colmap::BundleAdjuster::Summary().

BOOST_AUTO_TEST_CASE() [7/14]

BOOST_AUTO_TEST_CASE

(

TestPartiallyContainedTracksForceToOptimizePoint

)

Definition at line 332 of file bundle_adjustment_test.cc.

References colmap::BundleAdjustmentConfig::AddConstantPoint(), colmap::BundleAdjustmentConfig::AddImage(), colmap::BundleAdjustmentConfig::AddVariablePoint(), colmap::Camera::Camera(), colmap::Reconstruction::Camera(), CheckConstantCamera, CheckConstantImage, CheckConstantPoint, CheckVariableCamera, CheckVariablePoint, colmap::Reconstruction::DeleteObservation(), GenerateReconstruction(), colmap::Image::Image(), colmap::Reconstruction::Image(), colmap::Image::Point2D(), colmap::Point2D::Point3DId(), colmap::Reconstruction::Points3D(), colmap::BundleAdjustmentConfig::SetConstantPose(), colmap::BundleAdjuster::Solve(), and colmap::BundleAdjuster::Summary().

BOOST_AUTO_TEST_CASE() [8/14]

BOOST_AUTO_TEST_CASE

(

TestRigFourView

)

Definition at line 807 of file bundle_adjustment_test.cc.

References colmap::BundleAdjustmentConfig::AddImage(), colmap::Camera::Camera(), colmap::Reconstruction::Camera(), CheckVariableCamera, CheckVariableCameraRig, CheckVariableImage, CheckVariablePoint, colmap::ComposeIdentityQuaternion(), GenerateReconstruction(), colmap::Image::Image(), colmap::Reconstruction::Image(), colmap::Reconstruction::Points3D(), colmap::Image::SetCameraId(), colmap::RigBundleAdjuster::Solve(), and colmap::BundleAdjuster::Summary().

BOOST_AUTO_TEST_CASE() [9/14]

BOOST_AUTO_TEST_CASE

(

TestRigFourViewPartial

)

Definition at line 917 of file bundle_adjustment_test.cc.

References colmap::BundleAdjustmentConfig::AddImage(), colmap::Camera::Camera(), colmap::Reconstruction::Camera(), CheckVariableCamera, CheckVariableCameraRig, CheckVariableImage, CheckVariablePoint, colmap::ComposeIdentityQuaternion(), GenerateReconstruction(), colmap::Image::Image(), colmap::Reconstruction::Image(), colmap::Reconstruction::Points3D(), colmap::Image::SetCameraId(), colmap::RigBundleAdjuster::Solve(), and colmap::BundleAdjuster::Summary().

BOOST_AUTO_TEST_CASE() [10/14]

BOOST_AUTO_TEST_CASE

(

TestRigTwoView

)

Definition at line 757 of file bundle_adjustment_test.cc.

References colmap::BundleAdjustmentConfig::AddImage(), colmap::Camera::Camera(), colmap::Reconstruction::Camera(), CheckVariableCamera, CheckVariableCameraRig, CheckVariableImage, CheckVariablePoint, colmap::ComposeIdentityQuaternion(), GenerateReconstruction(), colmap::Image::Image(), colmap::Reconstruction::Image(), colmap::Reconstruction::Points3D(), colmap::RigBundleAdjuster::Solve(), and colmap::BundleAdjuster::Summary().

BOOST_AUTO_TEST_CASE() [11/14]

BOOST_AUTO_TEST_CASE

(

TestTwoView

)

Definition at line 210 of file bundle_adjustment_test.cc.

References colmap::BundleAdjustmentConfig::AddImage(), colmap::Camera::Camera(), colmap::Reconstruction::Camera(), CheckConstantImage, CheckConstantXImage, CheckVariableCamera, CheckVariablePoint, GenerateReconstruction(), colmap::Image::Image(), colmap::Reconstruction::Image(), colmap::Reconstruction::Points3D(), colmap::BundleAdjustmentConfig::SetConstantPose(), colmap::BundleAdjustmentConfig::SetConstantTvec(), colmap::BundleAdjuster::Solve(), and colmap::BundleAdjuster::Summary().

BOOST_AUTO_TEST_CASE() [12/14]

BOOST_AUTO_TEST_CASE

(

TestTwoViewConstantCamera

)

Definition at line 247 of file bundle_adjustment_test.cc.

References colmap::BundleAdjustmentConfig::AddImage(), colmap::Camera::Camera(), colmap::Reconstruction::Camera(), CheckConstantCamera, CheckConstantImage, CheckVariableCamera, CheckVariablePoint, GenerateReconstruction(), colmap::Image::Image(), colmap::Reconstruction::Image(), colmap::Reconstruction::Points3D(), colmap::BundleAdjustmentConfig::SetConstantCamera(), colmap::BundleAdjustmentConfig::SetConstantPose(), colmap::BundleAdjuster::Solve(), and colmap::BundleAdjuster::Summary().

BOOST_AUTO_TEST_CASE() [13/14]

BOOST_AUTO_TEST_CASE

(

TestVariableImage

)

Definition at line 437 of file bundle_adjustment_test.cc.

References colmap::BundleAdjustmentConfig::AddImage(), colmap::Camera::Camera(), colmap::Reconstruction::Camera(), CheckConstantImage, CheckConstantXImage, CheckVariableCamera, CheckVariableImage, CheckVariablePoint, GenerateReconstruction(), colmap::Image::Image(), colmap::Reconstruction::Image(), colmap::Reconstruction::Points3D(), colmap::BundleAdjustmentConfig::SetConstantPose(), colmap::BundleAdjustmentConfig::SetConstantTvec(), colmap::BundleAdjuster::Solve(), and colmap::BundleAdjuster::Summary().

BOOST_AUTO_TEST_CASE() [14/14]

BOOST_AUTO_TEST_CASE

(

TestVariablePrincipalPoint

)

Definition at line 531 of file bundle_adjustment_test.cc.

References colmap::BundleAdjustmentConfig::AddImage(), colmap::Camera::Camera(), colmap::Reconstruction::Camera(), CheckConstantImage, CheckConstantXImage, CheckVariablePoint, colmap::SimpleRadialCameraModel::extra_params_idxs, colmap::SimpleRadialCameraModel::focal_length_idxs, GenerateReconstruction(), colmap::Image::Image(), colmap::Reconstruction::Image(), colmap::Reconstruction::Points3D(), colmap::SimpleRadialCameraModel::principal_point_idxs, colmap::BundleAdjustmentOptions::refine_principal_point, colmap::BundleAdjustmentConfig::SetConstantPose(), colmap::BundleAdjustmentConfig::SetConstantTvec(), colmap::BundleAdjuster::Solve(), and colmap::BundleAdjuster::Summary().

GeneratePointCloud()

void GeneratePointCloud	(	const size_t	num_points,
		const Eigen::Vector3d &	min,
		const Eigen::Vector3d &	max,
		Reconstruction *	reconstruction
	)

Definition at line 111 of file bundle_adjustment_test.cc.

References colmap::Reconstruction::AddPoint3D(), and colmap::RandomReal().

Referenced by GenerateReconstruction().

GenerateReconstruction()

void GenerateReconstruction	(	const size_t	num_images,
		const size_t	num_points,
		Reconstruction *	reconstruction,
		CorrespondenceGraph *	correspondence_graph
	)

Definition at line 123 of file bundle_adjustment_test.cc.

References colmap::Reconstruction::AddCamera(), colmap::Reconstruction::AddImage(), colmap::CorrespondenceGraph::AddImage(), colmap::Reconstruction::AddObservation(), colmap::ComposeIdentityQuaternion(), GeneratePointCloud(), colmap::HasPointPositiveDepth(), image, colmap::Reconstruction::Image(), colmap::TrackElement::image_id, colmap::Camera::InitializeWithId(), colmap::SimpleRadialCameraModel::model_id, colmap::TrackElement::point2D_idx, colmap::Reconstruction::Points3D(), colmap::ProjectPointToImage(), colmap::RandomReal(), colmap::Camera::SetCameraId(), colmap::Image::SetPoints2D(), colmap::SetPRNGSeed(), colmap::Reconstruction::SetUp(), and patch::to_string().

Referenced by BOOST_AUTO_TEST_CASE().