TestMultipleViewGeometry.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_TEST_TESTGEOMETRY_TEST_MULTIPLE_VIEW_GEOMETRY_H
#define META_OCEAN_TEST_TESTGEOMETRY_TEST_MULTIPLE_VIEW_GEOMETRY_H
 
#include "ocean/test/testgeometry/TestGeometry.h"
 
#include "ocean/base/RandomGenerator.h"
 
#include "ocean/math/PinholeCamera.h"
 
#include "ocean/test/TestSelector.h"
 
namespace Ocean
{
 
namespace Test
{
 
namespace TestGeometry
{
 
/**
 * This class implements an epipolar geometry test.
 * @ingroup testgeometry
 */
class OCEAN_TEST_GEOMETRY_EXPORT TestMultipleViewGeometry
{
    public:
 
        /**
         * Tests all multiple view geometry functions.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param selector Selector for sub-tests
         * @return True, if succeeded
         */
        static bool testMultipleViewGeometry(const double testDuration, const TestSelector& selector);
 
    private:
 
        /**
         * Tests the calculation of the trifocal tensor matrices.
         * @param addGaussianNoise Gaussian noise will be added
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testTrifocalTensorMatrix(bool addGaussianNoise, const double testDuration);
 
        /**
         * Tests the 3-views case of projective reconstruction algorithm.
         * @param addGaussianNoise Gaussian noise will be added
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testProjectiveReconstructionFrom3Views(bool addGaussianNoise, const double testDuration);
 
        /**
         * Tests the multiple views case of projective reconstruction algorithm.
         * @param views Number of views, with range [3, infinity)
         * @param addGaussianNoise If set, Gaussian noise is added
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testProjectiveReconstruction(const unsigned int views, bool addGaussianNoise, const double testDuration);
 
        /**
         * Tests the multiple views case of projective reconstruction algorithm.
         * Faulty image point correspondences are used.
         * @param views Number of views, with range [3, infinity)
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testFaultyProjectiveReconstruction(const unsigned int views, const double testDuration);
 
        /**
         * Generate groups of corresponding image points for individual camera poses.
         * @param pinholeCamera The pinhole camera profile to be used, must be valid
         * @param points Number of point correspondences, with range [1, infinity)
         * @param views Number of views, with range [2, infinity)
         * @param randomGenerator The random generator to be used
         * @param imagePointsPerPose Resulting groups of corresponding image points, one group for each camera pose
         * @param gaussSigma Additional Gaussian noise will be added [0, infinity), 0 disable noise
         * @param objectPoints Optional resulting 3d object points
         * @return True, if succeeded
         */
        static bool generatedImagePointGroups(const PinholeCamera& pinholeCamera, const size_t points, const unsigned int views, RandomGenerator& randomGenerator, std::vector<Vectors2>& imagePointsPerPose, Scalar gaussSigma = Scalar(0), Vectors3* objectPoints = nullptr);
 
        /**
         * Evaluates the (squared) re-projection error for given camera intrinsics and camera poses.<br>
         * Therefore, 3d objects point are determined from camera poses and then projected to image plane.
         * @param imagePointsPerPose Group of corresponding image points, one group for each camera pose
         * @param pinholeCamera The pinhole camera profile to be used, must be valid
         * @param posesIF The camera poses (inverted flipped)
         * @return The squared re-projection error between image points given and estimated image points.
         */
        static Scalar evaluateReprojectionError(const std::vector<Vectors2>& imagePointsPerPose, const PinholeCamera& pinholeCamera, const HomogenousMatrices4& posesIF);
};
 
}
 
}
 
}
 
#endif // META_OCEAN_TEST_TESTGEOMETRY_TEST_MULTIPLE_VIEW_GEOMETRY_H