/** \brief Test construction of an empty grid
**/
void export_cube_base_test::test_1() {
static const char *testname = "export_cube_base_test::test_1()";
try {
export_cube_test ex;
mat dm1(ex.nao(), ex.nao(), fill::randu);
mat dm2(ex.nao(), ex.nao(), fill::randu);
mat orb1(ex.nao(), 4, fill::randu);
mat orb2(ex.nao(), 5, fill::randu);
std::vector<size_t> i1(4, 0), i2(5, 0);
for (size_t i = 0; i < 4; i++) i1[i] = 2 * i;
for (size_t i = 0; i < 5; i++) i2[i] = i;
ex.perform("dm1", "First test density matrix", dm1);
ex.perform("dm2", "Second test density matrix", dm2);
ex.perform("orb1", "First test density matrix", i1, orb1);
ex.perform("orb2", "Second test density matrix", i2, orb2);
ex.do_export();
} catch (libwfa_exception &e) {
fail_test(testname, __FILE__, __LINE__, e.what());
}
}
void ORBStereoInit::triangulateFeatures( std::vector<DepthInitResult> & triangulated,
const std::vector<Vector2f> & avoidPositionsImg0,
const Image& view0, const Image& view1 )
{
Parameters* params = _pset.ptr<Parameters>();
_matcher.setMaxDescDist( params->maxDescriptorDistance );
_matcher.setMaxLineDist( params->maxEpilineDistance );
Rangef depthRange( params->minDepth, params->maxDepth );
ORB orb0( view0, 2, 0.5f, params->fastThreshold, params->orbMaxFeatures, true );
ORB orb1( view1, 2, 0.5f, params->fastThreshold, params->orbMaxFeatures, true );
// find stereoMatches by avoiding already found matches
std::set<size_t> doNotUse;
for( size_t i = 0; i < orb0.size(); i++ ){
const Vector2f& po = orb0[ i ].pt;
for( size_t k = 0; k < avoidPositionsImg0.size(); k++ ){
if( ( po - avoidPositionsImg0[ k ] ).lengthSqr() < Math::sqr( 16.0f ) ){
doNotUse.insert( i );
break;
}
}
}
FeatureMatch match;
DepthInitResult result;
for( size_t i = 0; i < orb0.size(); ++i ){
match.feature0 = &orb0[ i ];
size_t idx = _matcher.matchEpipolar( match, orb1, doNotUse );
if( match.feature1 ){
doNotUse.insert( idx );
// TODO: check the SAD between the two features for savety?
//if( checkFeatureSAD( match.feature0->pt, match.feature1->pt, first, second ) )
// correct the correspondences
result.meas0 = match.feature0->pt;
result.meas1 = match.feature1->pt;
Vision::correctCorrespondencesSampson( result.meas0, result.meas1, _matcher.fundamental() );
triangulateSinglePoint( result,
_stereoCalib.firstCamera().projectionMatrix(),
_stereoCalib.secondCamera().projectionMatrix(),
depthRange );
if( result.reprojectionError < params->maxReprojectionError ){
triangulated.push_back( result );
}
}
}
}
