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// All rights reserved.
//
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// 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.
//
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// its contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
#define TEST_NAME "base/cost_functions"
#include "util/testing.h"
#include "base/camera_models.h"
#include "base/cost_functions.h"
#include "base/pose.h"
using namespace colmap;
BOOST_AUTO_TEST_CASE(TestBundleAdjustmentCostFunction) {
std::unique_ptr<ceres::CostFunction> cost_function(
BundleAdjustmentCostFunction<SimplePinholeCameraModel>::Create(
Eigen::Vector2d::Zero()));
double qvec[4] = {1, 0, 0, 0};
double tvec[3] = {0, 0, 0};
double point3D[3] = {0, 0, 1};
double camera_params[3] = {1, 0, 0};
double residuals[2];
const double* parameters[4] = {qvec, tvec, point3D, camera_params};
BOOST_CHECK(cost_function->Evaluate(parameters, residuals, nullptr));
BOOST_CHECK_EQUAL(residuals[0], 0);
BOOST_CHECK_EQUAL(residuals[1], 0);
point3D[1] = 1;
BOOST_CHECK(cost_function->Evaluate(parameters, residuals, nullptr));
BOOST_CHECK_EQUAL(residuals[0], 0);
BOOST_CHECK_EQUAL(residuals[1], 1);
camera_params[0] = 2;
BOOST_CHECK(cost_function->Evaluate(parameters, residuals, nullptr));
BOOST_CHECK_EQUAL(residuals[0], 0);
BOOST_CHECK_EQUAL(residuals[1], 2);
point3D[0] = -1;
BOOST_CHECK(cost_function->Evaluate(parameters, residuals, nullptr));
BOOST_CHECK_EQUAL(residuals[0], -2);
BOOST_CHECK_EQUAL(residuals[1], 2);
}
BOOST_AUTO_TEST_CASE(TestBundleAdjustmentConstantPoseCostFunction) {
std::unique_ptr<ceres::CostFunction> cost_function(
BundleAdjustmentConstantPoseCostFunction<
SimplePinholeCameraModel>::Create(ComposeIdentityQuaternion(),
Eigen::Vector3d::Zero(),
Eigen::Vector2d::Zero()));
double point3D[3] = {0, 0, 1};
double camera_params[3] = {1, 0, 0};
double residuals[2];
const double* parameters[2] = {point3D, camera_params};
BOOST_CHECK(cost_function->Evaluate(parameters, residuals, nullptr));
BOOST_CHECK_EQUAL(residuals[0], 0);
BOOST_CHECK_EQUAL(residuals[1], 0);
point3D[1] = 1;
BOOST_CHECK(cost_function->Evaluate(parameters, residuals, nullptr));
BOOST_CHECK_EQUAL(residuals[0], 0);
BOOST_CHECK_EQUAL(residuals[1], 1);
camera_params[0] = 2;
BOOST_CHECK(cost_function->Evaluate(parameters, residuals, nullptr));
BOOST_CHECK_EQUAL(residuals[0], 0);
BOOST_CHECK_EQUAL(residuals[1], 2);
point3D[0] = -1;
BOOST_CHECK(cost_function->Evaluate(parameters, residuals, nullptr));
BOOST_CHECK_EQUAL(residuals[0], -2);
BOOST_CHECK_EQUAL(residuals[1], 2);
}
BOOST_AUTO_TEST_CASE(TestRigBundleAdjustmentCostFunction) {
std::unique_ptr<ceres::CostFunction> cost_function(
RigBundleAdjustmentCostFunction<SimplePinholeCameraModel>::Create(
Eigen::Vector2d::Zero()));
double rig_qvec[4] = {1, 0, 0, 0};
double rig_tvec[3] = {0, 0, -1};
double rel_qvec[4] = {1, 0, 0, 0};
double rel_tvec[3] = {0, 0, 1};
double point3D[3] = {0, 0, 1};
double camera_params[3] = {1, 0, 0};
double residuals[2];
const double* parameters[6] = {rig_qvec, rig_tvec, rel_qvec,
rel_tvec, point3D, camera_params};
BOOST_CHECK(cost_function->Evaluate(parameters, residuals, nullptr));
BOOST_CHECK_EQUAL(residuals[0], 0);
BOOST_CHECK_EQUAL(residuals[1], 0);
point3D[1] = 1;
BOOST_CHECK(cost_function->Evaluate(parameters, residuals, nullptr));
BOOST_CHECK_EQUAL(residuals[0], 0);
BOOST_CHECK_EQUAL(residuals[1], 1);
camera_params[0] = 2;
BOOST_CHECK(cost_function->Evaluate(parameters, residuals, nullptr));
BOOST_CHECK_EQUAL(residuals[0], 0);
BOOST_CHECK_EQUAL(residuals[1], 2);
point3D[0] = -1;
BOOST_CHECK(cost_function->Evaluate(parameters, residuals, nullptr));
BOOST_CHECK_EQUAL(residuals[0], -2);
BOOST_CHECK_EQUAL(residuals[1], 2);
}
BOOST_AUTO_TEST_CASE(TestRelativePoseCostFunction) {
std::unique_ptr<ceres::CostFunction> cost_function(
RelativePoseCostFunction::Create(Eigen::Vector2d(0, 0),
Eigen::Vector2d(0, 0)));
double qvec[4] = {1, 0, 0, 0};
double tvec[3] = {0, 1, 0};
double residuals[1];
const double* parameters[2] = {qvec, tvec};
BOOST_CHECK(cost_function->Evaluate(parameters, residuals, nullptr));
BOOST_CHECK_EQUAL(residuals[0], 0);
cost_function.reset(RelativePoseCostFunction::Create(Eigen::Vector2d(0, 0),
Eigen::Vector2d(1, 0)));
BOOST_CHECK(cost_function->Evaluate(parameters, residuals, nullptr));
BOOST_CHECK_EQUAL(residuals[0], 0.5);
cost_function.reset(RelativePoseCostFunction::Create(Eigen::Vector2d(0, 0),
Eigen::Vector2d(1, 1)));
BOOST_CHECK(cost_function->Evaluate(parameters, residuals, nullptr));
BOOST_CHECK_EQUAL(residuals[0], 0.5);
}
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