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65 lines
2.1 KiB
C++
65 lines
2.1 KiB
C++
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// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html.
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//
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// Copyright (C) 2022, Wanli Zhong <zhongwl2018@mail.sustech.edu.cn>
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#include "test_precomp.hpp"
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#include "test_ptcloud_utils.hpp"
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#include "opencv2/flann.hpp"
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namespace opencv_test { namespace {
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TEST(NormalEstimationTest, PlaneNormalEstimation)
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{
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// generate a plane for test
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Mat plane_pts;
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vector<float> model({1, 2, 3, 4});
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float thr = 0.f;
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int num = 1000;
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vector<float> limit({5, 55, 5, 55, 0, 0});
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generatePlane(plane_pts, model, thr, num, limit);
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// get knn search result
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int k = 10;
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Mat knn_idx(num, k, CV_32S);
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// build kdtree
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flann::Index tree(plane_pts, flann::KDTreeIndexParams());
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tree.knnSearch(plane_pts, knn_idx, noArray(), k);
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// estimate normal and curvature
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vector<Point3f> normals;
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vector<float> curvatures;
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normalEstimate(normals, curvatures, plane_pts, knn_idx, k);
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float theta_thr = 1.f; // threshold for degree of angle between normal of plane and normal of point
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float curvature_thr = 0.01f; // threshold for curvature and actual curvature of the point
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float actual_curvature = 0.f;
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Point3f n1(model[0], model[1], model[2]);
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float n1m = n1.dot(n1);
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float total_theta = 0.f;
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float total_diff_curvature = 0.f;
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for (int i = 0; i < num; ++i)
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{
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float n12 = n1.dot(normals[i]);
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float n2m = normals[i].dot(normals[i]);
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float cos_theta = n12 / sqrt(n1m * n2m);
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// accuracy problems caused by float numbers, need to be fixed
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cos_theta = cos_theta > 1 ? 1 : cos_theta;
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cos_theta = cos_theta < -1 ? -1 : cos_theta;
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float theta = acos(abs(cos_theta));
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total_theta += theta;
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total_diff_curvature += abs(curvatures[i] - actual_curvature);
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}
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float avg_theta = total_theta / (float) num;
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ASSERT_LE(avg_theta, theta_thr);
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float avg_diff_curvature = total_diff_curvature / (float) num;
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ASSERT_LE(avg_diff_curvature, curvature_thr);
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}
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} // namespace
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} // opencv_test
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