OpenCV - vxltestmain.cpp - OpenCV DevZone

vxltestmain.cpp

test case - jremillard -, 2011-09-30 11:45 pm

 #include <opencv2/core/core_c.h>
 #include <opencv2/calib3d/calib3d.hpp>
 void main()
+{
   double leftX[100] = {
 .788994344110,
 .492058784277,
 .037707835020,
 .947112160521,
 .203625967137,
 .271246816070,
 .282034958786,
 .654011124523,
 .782469138014,
 .353029255830,
 .147288271180,
 .157176526866,
 .738996762324,
 .255423780807,
 .804682113850,
 .598005914473,
 .393079571195,
 .991692479528,
 .313275466034,
 .268423772470,
 .417923730786,
 .640331056734,
 .247861810180,
 .150632287300,
 .190134330648,
 .968629474910,
 .314799221784,
 .993579638463,
 .563909335330,
 .661610415995,
 .643876428092,
 .465449099041,
 .125042206891,
 .462986701568,
 .800026759970,
 .303125075684,
 .000644619650,
 .270685403930,
 .979558158650,
 .132769830731,
 .156144125083,
 .858756460500,
 .652111173970,
 .931995831160,
 .832800741770,
 .515066201180,
 .420179810327,
 .131074801250,
 .477231078197,
 .785718690364,
 .460713004421,
 .589971939570,
 .029526850910,
 .062656616731,
 .551573455477,
 .495692955337,
 .352779039770,
 .568657608240,
 .382655681971,
 .702213546856,
 .611269853978,
 .046301355360,
 .738003007420,
 .034558610222,
 .734844378080,
 .105489356300,
 .899738498255,
 .796545664170,
 .041539486744,
 .364906796955,
 .966785591412,
 .352075487680,
 .615870007357,
 .567788775130,
 .120038312034,
 .806998039630,
 .334642870970,
 .164255225170,
 .892920608291,
 .752371643400,
 .816762359825,
 .751442064760,
 .387116359570,
 .609353779401,
 .549977318772,
 .081487738407,
 .784083857100,
 .841350342372,
 .637610009600,
 .589752225134,
 .189056485949,
 .907136384635,
 .118454522557,
 .032425081420,
 .215973093162,
 .014535596073,
 .836902696779,
 .163957727568,
 .079383293920,
 .498714491580
     };
   double leftY[100] = {
 .568680389906,
 .672088029580,
 .049135516459,
 .611735935820,
 .113305707270,
 .938183968757,
 .306254689490,
 .739563869900,
 .310661898480,
 .622775959888,
 .792030193118,
 .113378676214,
 .007622273841,
 .245237004122,
 .819385688849,
 .654415136913,
 .656155355340,
 .690038045976,
 .893731136170,
 .289079003309,
 .027537199040,
 .645567783861,
 .112414038440,
 .803133657840,
 .129255986970,
 .582759068360,
 .555799605940,
 .903538683447,
 .583231225403,
 .452304871445,
 .093157195028,
 .912462394020,
 .220424372762,
 .459469736010,
 .852977547240,
 .566116685050,
 .495382176760,
 .607751518375,
 .532607521270,
 .474108111404,
 .465111852179,
 .707932413849,
 .581172473890,
 .981791585420,
 .020730145300,
 .439768992316,
 .351958947909,
 .587069315517,
 .394830861490,
 .100726098219,
 .567081081710,
 .870599049385,
 .175982706834,
 .467648284011,
 .548523713755,
 .889863925219,
 .348231984880,
 .466764086430,
 .381753956976,
 .471896249690,
 .320911312110,
 .984382198000,
 .758766179480,
 .706567969511,
 .422854449340,
 .054379024920,
 .294128925650,
 .609969072690,
 .446351027386,
 .944440615620,
 .491444820351,
 .469289230580,
 .499012623721,
 .460472678166,
 .172330575738,
 .020652392278,
 .587486217070,
 .405978460920,
 .173146522130,
 .562192476420,
 .884178208513,
 .853881527220,
 .668111241750,
 .685337954740,
 .934828405200,
 .583646377590,
 .376163053056,
 .217434565140,
 .634832473413,
 .542286569158,
 .982828582645,
 .284754665943,
 .583093414128,
 .491996736940,
 .092198867930,
 .019491271607,
 .609698696428,
 .056691993104,
 .501904448665,
 .431873808050
   };
   double rightX[100] = {
 .581191362860,
 .343295806686,
 .905341628320,
 .335570880150,
 .793306052936,
 .780480941250,
 .732219266655,
 .276184691768,
 .316890010314,
 .007433032370,
 .632365718090,
 .551365983808,
 .620937095689,
 .779779165533,
 .368371588510,
 .398564486530,
 .531153729606,
 .711043473850,
 .302455111120,
 .313628344660,
 .062372217846,
 .836738513371,
 .917441046250,
 .029788618130,
 .916709471650,
 .392721738560,
 .020212848142,
 .688292726585,
 .421040209420,
 .370882906301,
 .374443318584,
 .945173072792,
 .208972447896,
 .919383993728,
 .203544750640,
 .565806441387,
 .268799210650,
 .830041007360,
 .833844209331,
 .976922687874,
 .628406752228,
 .439852461700,
 .592389157940,
 .089315915080,
 .722674079417,
 .318439402631,
 .462786909167,
 .747802276880,
 .931303651373,
 .219564757097,
 .459047854407,
 .979888210390,
 .443712611570,
 .554540705170,
 .114540506164,
 .007615133231,
 .480076962070,
 .061702766185,
 .657058169011,
 .939319690569,
 .877974573339,
 .064274478210,
 .471997764340,
 .102948211683,
 .934397567030,
 .756814795390,
 .659991860198,
 .287780819320,
 .482307570270,
 .758789864115,
 .623721686144,
 .627925269750,
 .470102134863,
 .574093410690,
 .623263765932,
 .944851804120,
 .317295889327,
 .144331247340,
 .149262065972,
 .783857281078,
 .831997097316,
 .773940405740,
 .082051361740,
 .476353852890,
 .828041134124,
 .237426737564,
 .546237768030,
 .093290226467,
 .833852784570,
 .006357571872,
 .793779584177,
 .467403105004,
 .592023726456,
 .444326598887,
 .423307915200,
 .328873961122,
 .206495964013,
 .324083382812,
 .378277723293,
 .355739249629
   };
   double rightY[100] = {
 .540973568935,
 .121666977900,
 .905151669792,
 .923969853700,
 .188730040110,
 .158472199461,
 .601407999510,
 .118434694830,
 .765787848670,
 .401752580571,
 .375598733834,
 .351623530078,
 .678013550737,
 .800943179700,
 .581528294728,
 .799466521775,
 .586371632950,
 .070001928692,
 .136825081380,
 .543019202855,
 .481343788060,
 .538453621911,
 .283769250830,
 .077610341650,
 .928016559700,
 .134560117880,
 .489271247010,
 .738932786260,
 .273438749521,
 .351711226077,
 .736636729588,
 .609068411985,
 .524024920999,
 .078880701880,
 .333955510580,
 .809777973680,
 .434400751070,
 .355545034644,
 .289607463950,
 .129030155904,
 .215845013008,
 .770380895331,
 .933891434030,
 .108895182000,
 .152218127700,
 .606553115948,
 .912475034605,
 .515311305773,
 .272194789300,
 .799857404917,
 .030258090510,
 .246715861156,
 .121601703413,
 .638800455231,
 .434690622302,
 .513625149760,
 .386582462180,
 .810785248360,
 .283176708385,
 .668431922810,
 .450361168510,
 .328440499420,
 .201219828390,
 .526002379886,
 .633284446810,
 .120159069780,
 .244851470210,
 .575228170793,
 .500918561028,
 .060862050010,
 .423633333594,
 .535073359220,
 .858702584954,
 .025788343182,
 .707760350099,
 .163858185911,
 .656398216860,
 .246924110840,
 .775974400950,
 .748767378500,
 .313267876563,
 .130887913800,
 .283545867040,
 .055284173930,
 .450720856590,
 .063393736530,
 .513377200014,
 .520921876046,
 .256365073446,
 .279584948482,
 .383700359175,
 .939776907872,
 .789085214262,
 .690253957340,
 .251625307240,
 .848350522008,
 .261554359302,
 .851333636110,
 .405726415935,
 .918311323310
   };
   CvMat *points1 = cvCreateMat(1,100,CV_32FC2);
   CvMat *points2 = cvCreateMat(1,100,CV_32FC2);
   /* Fill the points here  */
   for( int ii = 0; ii < 100; ++ii)
+  {
     cvSet2D(points1,0,ii,cvScalar(leftX[ii],leftY[ii]));
     cvSet2D(points2,0,ii,cvScalar(rightX[ii],rightY[ii]));
+  }
   CvMat* fundamental_matrix = cvCreateMat(3,3,CV_32FC1);
   int fm_count = cvFindFundamentalMat( points1,points2,fundamental_matrix,CV_FM_RANSAC,1,0.99,NULL );
   double f[3][3];
   for (int row = 0; row < 3; row++)
     for (int col = 0; col < 3; col++)
       f[row][col] = cvGetReal2D(fundamental_matrix,row,col);
   /* F should be
 -                [0]        0x0124f7cc        double [3]
                 [0]        0.00000000000000000        double
                 [1]        -4.5553643550843581e-007        double
                 [2]        0.00048625507649367028        double
 -                [1]        0x0124f7e4        double [3]
                 [0]        -3.8265051658361694e-007        double
                 [1]        0.00000000000000000        double
                 [2]        -0.0087876941283445507        double
 -                [2]        0x0124f7fc        double [3]
                 [0]        0.00040328144121783540        double
                 [1]        0.0096131518188611893        double
                 [2]        -0.99991498230271214        double
 -                but comes out as
 -                [0]        0x0124f6c4        double [3]
                 [0]        -1.2345863220630804e-010        double
                 [1]        4.5348457433647127e-007        double
                 [2]        -0.00048524167505092919        double
 -                [1]        0x0124f6dc        double [3]
                 [0]        3.8508520106006472e-007        double
                 [1]        7.4300510188862745e-011        double
                 [2]        0.0087848054245114326        double
 -                [2]        0x0124f6f4        double [3]
                 [0]        -0.00040433430694974959        double
                 [1]        -0.0096106734126806259        double
                 [2]        1.0000000000000000        double
   */
+}

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