Add camera solver test for soccer cones dataset.

Author: david-cattermole

lib/rust/mmsfm/tests/camera_solve_soccer_cones_test.rs

@@ -0,0 +1,199 @@
+//
+// Copyright (C) 2025, 2026 David Cattermole.
+//
+// This file is part of mmSolver.
+//
+// mmSolver is free software: you can redistribute it and/or modify it
+// under the terms of the GNU Lesser General Public License as
+// published by the Free Software Foundation, either version 3 of the
+// License, or (at your option) any later version.
+//
+// mmSolver is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with mmSolver.  If not, see <https://www.gnu.org/licenses/>.
+// ====================================================================
+//
+
+//! Integration test for complete camera solve using Soccer Cones datasets.
+
+#![allow(unused)]
+#![allow(unused_imports)]
+#![allow(dead_code)]
+#![allow(non_snake_case)]
+
+mod common;
+
+use anyhow::Result;
+use mmsfm_rust::datatype::{
+    CameraFilmBack, ImageSize, MillimeterUnit, UnitValue,
+};
+use mmsfm_rust::sfm_camera::{
+    BundleAdjustmentSolverType, CameraSolveConfig, GlobalAdjustmentConfig,
+};
+
+use crate::common::bundle_adjustment_solver_type_to_naming;
+use crate::common::data_utils::load_marker_data;
+use crate::common::marker_noise::add_noise_to_markers;
+use crate::common::visualization::scene::ViewConfigurationBuilder;
+use crate::common::NamingSolverType;
+use crate::common::{
+    test_output_file_naming, DataCondition, OutputFileNaming, TestType,
+    VisualizationType,
+};
+
+/// Camera parameters shared by both v1 and v2 soccer cones datasets.
+///
+/// The UV files embed camera metadata (24mm focal, 35x19.6875mm film back)
+/// but the solver is run with approximate 35mm / 36x20.25mm values for
+/// investigation purposes.
+fn soccer_cones_camera_params(
+) -> (MillimeterUnit<f64>, CameraFilmBack<f64>, ImageSize<f64>) {
+    let focal_length = MillimeterUnit::new(35.0);
+    let film_back = CameraFilmBack::new(
+        MillimeterUnit::new(36.0),
+        MillimeterUnit::new(20.25), // 16:9 aspect ratio.
+    );
+    let image_size = ImageSize::from_pixels(3840.0, 2160.0);
+    (focal_length, film_back, image_size)
+}
+
+fn run_camera_solve_soccer_cones(
+    uv_filename: &str,
+    dataset_label: &str,
+    test_prefix: &str,
+    is_noisy: bool,
+) -> Result<()> {
+    let (mut markers, frame_range) = load_marker_data(uv_filename)?;
+
+    let solver_type = BundleAdjustmentSolverType::SparseLevenbergMarquardt;
+    let naming_solver_type =
+        bundle_adjustment_solver_type_to_naming(&solver_type);
+    let solver_suffix = naming_solver_type.as_str();
+
+    let (dataset_name, condition) = if is_noisy {
+        add_noise_to_markers(&mut markers, 0.005);
+        (
+            format!("{} (noisy, {})", dataset_label, solver_suffix),
+            DataCondition::Noisy,
+        )
+    } else {
+        (
+            format!("{} (clean, {})", dataset_label, solver_suffix),
+            DataCondition::Clean,
+        )
+    };
+
+    // Create output naming for visualizations.
+    let naming = test_output_file_naming(
+        TestType::CameraSolve,
+        test_prefix,
+        VisualizationType::Scene3d,
+    )
+    .with_condition(condition)
+    .with_solver(naming_solver_type);
+
+    let (focal_length, film_back, image_size) = soccer_cones_camera_params();
+
+    // Random seed for reproducibility.
+    let seed = 42;
+
+    // Configure global focal length optimization using DE.
+    // The embedded focal length is 24mm; we search around 35mm ± 5mm.
+    let generation_count = 10;
+    let global_config = GlobalAdjustmentConfig::small_refinement(
+        (30.0, 40.0),
+        generation_count,
+        seed,
+    );
+
+    // Configure solver.
+    let config = CameraSolveConfig {
+        origin_frame: 1,
+        bundle_solver_type: solver_type,
+        ..Default::default()
+    };
+
+    // Define visualization views.
+    let views = vec![
+        ViewConfigurationBuilder::new()
+            .view_name("top")
+            .rotation_ortho_top()
+            .resolution_hd()
+            .build(),
+        ViewConfigurationBuilder::new()
+            .view_name("right")
+            .rotation_ortho_right()
+            .resolution_hd()
+            .build(),
+    ];
+
+    let step_by = 1;
+    common::run_camera_solve_dataset_test(
+        &markers,
+        frame_range,
+        &dataset_name,
+        &naming,
+        views,
+        focal_length,
+        film_back,
+        image_size,
+        config,
+        None,
+        // Some(&global_config), // Uncomment to optimize focal length.
+        step_by,
+    )
+}
+
+// ---------------------------------------------------------------------------
+// Soccer Cones v1 (71 markers, 231 frames)
+// ---------------------------------------------------------------------------
+
+#[test]
+fn test_camera_solve_clean_soccer_cones_v1_sparse_lm() -> Result<()> {
+    run_camera_solve_soccer_cones(
+        "tracking_soccer_cones_v1.uv",
+        "Soccer Cones v1",
+        "soccer_cones_v1",
+        false,
+    )
+}
+
+#[test]
+#[ignore]
+fn test_camera_solve_noisy_soccer_cones_v1_sparse_lm() -> Result<()> {
+    run_camera_solve_soccer_cones(
+        "tracking_soccer_cones_v1.uv",
+        "Soccer Cones v1",
+        "soccer_cones_v1",
+        true,
+    )
+}
+
+// ---------------------------------------------------------------------------
+// Soccer Cones v2 (62 markers, 231 frames)
+// ---------------------------------------------------------------------------
+
+#[test]
+fn test_camera_solve_clean_soccer_cones_v2_sparse_lm() -> Result<()> {
+    run_camera_solve_soccer_cones(
+        "tracking_soccer_cones_v2.uv",
+        "Soccer Cones v2",
+        "soccer_cones_v2",
+        false,
+    )
+}
+
+#[test]
+#[ignore]
+fn test_camera_solve_noisy_soccer_cones_v2_sparse_lm() -> Result<()> {
+    run_camera_solve_soccer_cones(
+        "tracking_soccer_cones_v2.uv",
+        "Soccer Cones v2",
+        "soccer_cones_v2",
+        true,
+    )
+}