/*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) 2008-2013, 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" #include "opencv2/core/affine.hpp" namespace opencv_test { namespace { TEST(Calib3d_Affine3f, accuracy) { const double eps = 1e-5; cv::Vec3d rvec(0.2, 0.5, 0.3); cv::Affine3d affine(rvec); cv::Mat expected; cv::Rodrigues(rvec, expected); ASSERT_LE(cvtest::norm(cv::Mat(affine.matrix, false).colRange(0, 3).rowRange(0, 3), expected, cv::NORM_L2), eps); ASSERT_LE(cvtest::norm(cv::Mat(affine.linear()), expected, cv::NORM_L2), eps); cv::Matx33d R = cv::Matx33d::eye(); double angle = 50; R.val[0] = R.val[4] = std::cos(CV_PI*angle/180.0); R.val[3] = std::sin(CV_PI*angle/180.0); R.val[1] = -R.val[3]; cv::Affine3d affine1(cv::Mat(cv::Vec3d(0.2, 0.5, 0.3)).reshape(1, 1), cv::Vec3d(4, 5, 6)); cv::Affine3d affine2(R, cv::Vec3d(1, 1, 0.4)); cv::Affine3d result = affine1.inv() * affine2; expected = cv::Mat(affine1.matrix.inv(cv::DECOMP_SVD)) * cv::Mat(affine2.matrix, false); cv::Mat diff; cv::absdiff(expected, result.matrix, diff); ASSERT_LT(cvtest::norm(diff, cv::NORM_INF), 1e-15); } TEST(Calib3d_Affine3f, accuracy_rvec) { cv::RNG rng; typedef float T; cv::Affine3<T>::Vec3 w; cv::Affine3<T>::Mat3 u, vt, R; for(int i = 0; i < 100; ++i) { rng.fill(R, cv::RNG::UNIFORM, -10, 10, true); cv::SVD::compute(R, w, u, vt, cv::SVD::FULL_UV + cv::SVD::MODIFY_A); R = u * vt; //double s = (double)cv::getTickCount(); cv::Affine3<T>::Vec3 va = cv::Affine3<T>(R).rvec(); //std::cout << "M:" <<(cv::getTickCount() - s)*1000/cv::getTickFrequency() << std::endl; cv::Affine3<T>::Vec3 vo; //s = (double)cv::getTickCount(); cv::Rodrigues(R, vo); //std::cout << "O:" <<(cv::getTickCount() - s)*1000/cv::getTickFrequency() << std::endl; ASSERT_LT(cvtest::norm(va, vo, cv::NORM_L2), 1e-9); } } }} // namespace