From 83ccdabe7e8edae8cf5aabd0c8c2019d7106884b Mon Sep 17 00:00:00 2001
From: Pat O'Keefe <patokeefe1@gmail.com>
Date: Sat, 25 Oct 2014 19:11:02 -0600
Subject: [PATCH] Add test for calib3d function decomposeProjectionMatrix(...)

---
 .../test/test_decompose_projection.cpp        | 140 ++++++++++++++++++
 1 file changed, 140 insertions(+)
 create mode 100644 modules/calib3d/test/test_decompose_projection.cpp

diff --git a/modules/calib3d/test/test_decompose_projection.cpp b/modules/calib3d/test/test_decompose_projection.cpp
new file mode 100644
index 0000000000..ef80942a85
--- /dev/null
+++ b/modules/calib3d/test/test_decompose_projection.cpp
@@ -0,0 +1,140 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "test_precomp.hpp"
+
+class CV_DecomposeProjectionMatrixTest : public cvtest::BaseTest
+{
+public:
+    CV_DecomposeProjectionMatrixTest();
+protected:
+    void run(int);
+};
+
+CV_DecomposeProjectionMatrixTest::CV_DecomposeProjectionMatrixTest()
+{
+    test_case_count = 30;
+}
+
+
+void CV_DecomposeProjectionMatrixTest::run(int start_from)
+{
+
+    ts->set_failed_test_info(cvtest::TS::OK);
+
+    cv::RNG& rng = ts->get_rng();
+    int progress = 0;
+
+
+    for (int iter = start_from; iter < test_case_count; ++iter)
+    {
+        ts->update_context(this, iter, true);
+        progress = update_progress(progress, iter, test_case_count, 0);
+
+        // Create the original (and random) camera matrix, rotation, and translation
+        cv::Vec2d f, c;
+        rng.fill(f, cv::RNG::UNIFORM, 300, 1000);
+        rng.fill(c, cv::RNG::UNIFORM, 150, 600);
+
+        double alpha = 0.01*rng.gaussian(1);
+
+        cv::Matx33d origK(f(0), alpha*f(0), c(0),
+                          0,          f(1), c(1),
+                          0,             0,   1);
+
+
+        cv::Vec3d rVec;
+        rng.fill(rVec, cv::RNG::UNIFORM, -CV_PI, CV_PI);
+
+        cv::Matx33d origR;
+        Rodrigues(rVec, origR);
+
+        cv::Vec3d origT;
+        rng.fill(origT, cv::RNG::NORMAL, 0, 1);
+
+
+        // Compose the projection matrix
+        cv::Matx34d P(3,4);
+        hconcat(origK*origR, origK*origT, P);
+
+
+        // Decompose
+        cv::Matx33d K, R;
+        cv::Vec4d homogCameraCenter;
+        decomposeProjectionMatrix(P, K, R, homogCameraCenter);
+
+
+        // Recover translation from the camera center
+        cv::Vec3d cameraCenter(homogCameraCenter(0), homogCameraCenter(1), homogCameraCenter(2));
+        cameraCenter /= homogCameraCenter(3);
+
+        cv::Vec3d t = -R*cameraCenter;
+
+
+        const double thresh = 1e-6;
+        if ( norm(origK, K, cv::NORM_INF) > thresh )
+        {
+            ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
+            break;
+        }
+
+        if ( norm(origR, R, cv::NORM_INF) > thresh )
+        {
+            ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
+            break;
+        }
+
+        if ( norm(origT, t, cv::NORM_INF) > thresh )
+        {
+            ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
+            break;
+        }
+
+    }
+
+}
+
+TEST(Calib3d_DecomposeProjectionMatrix, accuracy)
+{
+    CV_DecomposeProjectionMatrixTest test;
+    test.safe_run();
+}