mirror of
https://github.com/opencv/opencv.git
synced 2024-11-30 06:10:02 +08:00
4a297a2443
- removed tr1 usage (dropped in C++17) - moved includes of vector/map/iostream/limits into ts.hpp - require opencv_test + anonymous namespace (added compile check) - fixed norm() usage (must be from cvtest::norm for checks) and other conflict functions - added missing license headers
138 lines
5.1 KiB
C++
138 lines
5.1 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
// This is a test file for the function decomposeHomography contributed to OpenCV
|
|
// by Samson Yilma.
|
|
//
|
|
// 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) 2014, Samson Yilma (samson_yilma@yahoo.com), 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"
|
|
|
|
namespace opencv_test { namespace {
|
|
|
|
class CV_HomographyDecompTest: public cvtest::BaseTest {
|
|
|
|
public:
|
|
CV_HomographyDecompTest()
|
|
{
|
|
buildTestDataSet();
|
|
}
|
|
|
|
protected:
|
|
void run(int)
|
|
{
|
|
vector<Mat> rotations;
|
|
vector<Mat> translations;
|
|
vector<Mat> normals;
|
|
|
|
decomposeHomographyMat(_H, _K, rotations, translations, normals);
|
|
|
|
//there should be at least 1 solution
|
|
ASSERT_GT(static_cast<int>(rotations.size()), 0);
|
|
ASSERT_GT(static_cast<int>(translations.size()), 0);
|
|
ASSERT_GT(static_cast<int>(normals.size()), 0);
|
|
|
|
ASSERT_EQ(rotations.size(), normals.size());
|
|
ASSERT_EQ(translations.size(), normals.size());
|
|
|
|
ASSERT_TRUE(containsValidMotion(rotations, translations, normals));
|
|
|
|
decomposeHomographyMat(_H, _K, rotations, noArray(), noArray());
|
|
ASSERT_GT(static_cast<int>(rotations.size()), 0);
|
|
}
|
|
|
|
private:
|
|
|
|
void buildTestDataSet()
|
|
{
|
|
_K = Matx33d(640, 0.0, 320,
|
|
0, 640, 240,
|
|
0, 0, 1);
|
|
|
|
_H = Matx33d(2.649157564634028, 4.583875997496426, 70.694447785121326,
|
|
-1.072756858861583, 3.533262150437228, 1513.656999614321649,
|
|
0.001303887589576, 0.003042206876298, 1.000000000000000
|
|
);
|
|
|
|
//expected solution for the given homography and intrinsic matrices
|
|
_R = Matx33d(0.43307983549125, 0.545749113549648, -0.717356090899523,
|
|
-0.85630229674426, 0.497582023798831, -0.138414255706431,
|
|
0.281404038139784, 0.67421809131173, 0.682818960388909);
|
|
|
|
_t = Vec3d(1.826751712278038, 1.264718492450820, 0.195080809998819);
|
|
_n = Vec3d(0.244875830334816, 0.480857890778889, 0.841909446789566);
|
|
}
|
|
|
|
bool containsValidMotion(std::vector<Mat>& rotations,
|
|
std::vector<Mat>& translations,
|
|
std::vector<Mat>& normals
|
|
)
|
|
{
|
|
double max_error = 1.0e-3;
|
|
|
|
vector<Mat>::iterator riter = rotations.begin();
|
|
vector<Mat>::iterator titer = translations.begin();
|
|
vector<Mat>::iterator niter = normals.begin();
|
|
|
|
for (;
|
|
riter != rotations.end() && titer != translations.end() && niter != normals.end();
|
|
++riter, ++titer, ++niter) {
|
|
|
|
double rdist = cvtest::norm(*riter, _R, NORM_INF);
|
|
double tdist = cvtest::norm(*titer, _t, NORM_INF);
|
|
double ndist = cvtest::norm(*niter, _n, NORM_INF);
|
|
|
|
if ( rdist < max_error
|
|
&& tdist < max_error
|
|
&& ndist < max_error )
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
Matx33d _R, _K, _H;
|
|
Vec3d _t, _n;
|
|
};
|
|
|
|
TEST(Calib3d_DecomposeHomography, regression) { CV_HomographyDecompTest test; test.safe_run(); }
|
|
|
|
}} // namespace
|