MultiViewIO

- Added backwards compatibility check for SceneStructureMetric
lessthanoptimal · Sep 7, 2024 · 3e18970 · 3e18970
1 parent a4ed1bc
commit 3e18970
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Showing 2 changed files with 176 additions and 7 deletions.
diff --git a/main/boofcv-io/src/test/java/boofcv/io/geo/TestMultiViewIO.java b/main/boofcv-io/src/test/java/boofcv/io/geo/TestMultiViewIO.java
@@ -40,10 +40,7 @@
 import org.ejml.dense.row.RandomMatrices_DDRM;
 import org.junit.jupiter.api.Test;
 
-import java.io.ByteArrayInputStream;
-import java.io.ByteArrayOutputStream;
-import java.io.InputStreamReader;
-import java.io.OutputStreamWriter;
+import java.io.*;
 import java.util.ArrayList;
 import java.util.List;
 
@@ -314,19 +311,44 @@ private SceneWorkingGraph createWorkingGraph( PairwiseImageGraph pairwise ) {
 
 			var output = new ByteArrayOutputStream();
 			MultiViewIO.save(expected, new OutputStreamWriter(output, UTF_8));
+			System.out.println(output.toString(UTF_8));
 
 			var input = new ByteArrayInputStream(output.toByteArray());
 			SceneStructureMetric found = MultiViewIO.load(new InputStreamReader(input, UTF_8), (SceneStructureMetric)null);
 			assertTrue(expected.isIdentical(found, UtilEjml.TEST_F64));
 		}
 	}
 
+	/** Test backwards compatibility by loading an older saved file */
+	@Test void backwards_SceneStructureMetric() {
+		try (var input = getClass().getResource("scene_metric.yaml").openStream()) {
+			SceneStructureMetric found = MultiViewIO.load(new InputStreamReader(input, UTF_8), (SceneStructureMetric)null);
+
+			// basic sanity check
+			assertEquals(3, found.views.size);
+			assertEquals(2, found.motions.size);
+			assertEquals(2, found.rigids.size);
+			assertEquals(2, found.cameras.size);
+			assertEquals(4, found.points.size);
+			assertEquals(true, found.isHomogeneous());
+
+			// Check the value of one of the points
+			assertArrayEquals(new double[]{
+							0.5297796154781623, -0.14287775801607175, -0.589691194962917, 0.042599130798539914},
+					found.points.get(0).coordinate);
+
+			// this won't catch all possible errors but will catch most errors which break backwards compatibility
+		} catch (IOException e) {
+			throw new RuntimeException(e);
+		}
+	}
+
 	private SceneStructureMetric createSceneStructureMetric() {
 		var ret = new SceneStructureMetric(rand.nextBoolean());
 
-		int numMotions = 1 + rand.nextInt(4);
-		ret.initialize(1 + rand.nextInt(4), rand.nextInt(4),
-				numMotions, rand.nextInt(4), rand.nextInt(4));
+		int numMotions = 2;
+		ret.initialize(2, 3,
+				2, 4, 2);
 
 		for (int i = 0; i < numMotions; i++) {
 			SceneStructureMetric.Motion m = ret.motions.grow();

diff --git a/main/boofcv-io/src/test/resources/boofcv/io/geo/scene_metric.yaml b/main/boofcv-io/src/test/resources/boofcv/io/geo/scene_metric.yaml
@@ -0,0 +1,147 @@
+# SceneStructureMetric in YAML format. BoofCV 1.1.7-SNAPSHOT
+cameras:
+  - known: true
+    model:
+      f: 0.20761246400921188
+      k1: -0.46088237974384527
+      k2: -0.162030555545339
+      type: PinholeSimplified
+  - known: false
+    model:
+      f: 1.5048724010069527
+      k1: -0.48658249180944985
+      k2: 0.40414871036031635
+      type: PinholeSimplified
+motions:
+  - known: false
+    motion:
+      R:
+        - 0.32671811809927165
+        - -0.803351178079751
+        - 0.4978776516209044
+        - -0.1930630644762411
+        - 0.4589502504885895
+        - 0.8672319878276536
+        - -0.9251929120138747
+        - -0.37946218817470767
+        - -0.0051500781498539155
+      x: -0.9384684558499732
+      y: 0.3833892546696617
+      z: -0.9171050084345489
+  - known: false
+    motion:
+      R:
+        - 0.12950092699138846
+        - 0.984032558743777
+        - 0.12210419010233053
+        - -0.977932190128107
+        - 0.14710644352772517
+        - -0.1483520332987328
+        - -0.16394554406758116
+        - -0.1001978922173476
+        - 0.9813675361329136
+      x: 0.7591895124739547
+      y: -0.5544830953293928
+      z: 1.0297458124907035
+rigids:
+  - known: true
+    object_to_world:
+      R:
+        - 0.3140746490838585
+        - -0.14715529892599727
+        - -0.937924534704606
+        - -0.613298755646805
+        - -0.7855706406894805
+        - -0.08211823676139035
+        - -0.7247218439683819
+        - 0.6010192064191623
+        - -0.33697798502327825
+      x: 0.6116157968152922
+      y: -1.239961248433883
+      z: 0.415167663727025
+    indexFirst: 4
+    points:
+      - coordinate:
+          - 0.16059095583255734
+          - -0.09293038691788402
+          - -0.2034143688180055
+          - -0.3968434370734817
+        views:
+          - 2
+          - 2
+          - 0
+      - coordinate:
+          - 0.9602722994622256
+          - 0.32809730148913063
+          - 0.10558526069812868
+          - 0.2499283145243806
+        views:
+          - 3
+          - 2
+          - 2
+      - coordinate:
+          - 1.3961865412218015
+          - -1.0765261297950028
+          - -0.32202784578818167
+          - 0.9897983612473604
+        views:
+          - 2
+  - known: false
+    object_to_world:
+      R:
+        - 0.9030299921545282
+        - -0.4295472377440316
+        - 0.005099393676212316
+        - 0.3973492181727075
+        - 0.8307117680871192
+        - -0.38991224292026294
+        - 0.1632496005720402
+        - 0.3541286897556374
+        - 0.9208379005042227
+      x: -0.5228738472806529
+      y: 0.14443888166505617
+      z: 0.7118665016808619
+    indexFirst: 0
+    points: []
+data_type: SceneStructureMetric
+homogenous: true
+version: 0
+views:
+  - parent_to_view: 1
+    camera: 0
+  - parent_to_view: 1
+    camera: 0
+  - parent: 0
+    parent_to_view: 1
+    camera: 1
+points:
+  - coordinate:
+      - 0.5297796154781623
+      - -0.14287775801607175
+      - -0.589691194962917
+      - 0.042599130798539914
+    views:
+      - 1
+  - coordinate:
+      - -0.28481221072715185
+      - -0.04975872980620485
+      - 1.2424021169636152
+      - 0.7243988298037435
+    views:
+      - 1
+  - coordinate:
+      - 1.854258912507951
+      - -1.2986404653349994
+      - -0.12095099229357216
+      - 0.25568158777007394
+    views:
+      - 3
+  - coordinate:
+      - 1.438490351915261
+      - -0.5290818471910753
+      - 0.8679390345243388
+      - -0.07089176363523368
+    views:
+      - 3
+      - 2
+      - 1