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opencv/modules/calib3d/test/test_posit.cpp

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/*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.
//
//
// Intel License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000, Intel Corporation, 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 Intel Corporation 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"
using namespace cv;
using namespace std;
class CV_POSITTest : public cvtest::BaseTest
{
public:
CV_POSITTest();
protected:
void run(int);
};
CV_POSITTest::CV_POSITTest()
{
test_case_count = 20;
}
void CV_POSITTest::run( int start_from )
{
int code = cvtest::TS::OK;
/* fixed parameters output */
/*float rot[3][3]={ 0.49010f, 0.85057f, 0.19063f,
-0.56948f, 0.14671f, 0.80880f,
0.65997f, -0.50495f, 0.55629f };
float trans[3] = { 0.0f, 0.0f, 40.02637f };
*/
/* Some variables */
int i, counter;
CvTermCriteria criteria;
CvPoint3D32f* obj_points;
CvPoint2D32f* img_points;
CvPOSITObject* object;
float angleX, angleY, angleZ;
RNG& rng = ts->get_rng();
int progress = 0;
CvMat* true_rotationX = cvCreateMat( 3, 3, CV_32F );
CvMat* true_rotationY = cvCreateMat( 3, 3, CV_32F );
CvMat* true_rotationZ = cvCreateMat( 3, 3, CV_32F );
CvMat* tmp_matrix = cvCreateMat( 3, 3, CV_32F );
CvMat* true_rotation = cvCreateMat( 3, 3, CV_32F );
CvMat* rotation = cvCreateMat( 3, 3, CV_32F );
CvMat* translation = cvCreateMat( 3, 1, CV_32F );
CvMat* true_translation = cvCreateMat( 3, 1, CV_32F );
const float flFocalLength = 760.f;
const float flEpsilon = 0.5f;
/* Initilization */
criteria.type = CV_TERMCRIT_EPS|CV_TERMCRIT_ITER;
criteria.epsilon = flEpsilon;
criteria.max_iter = 10000;
/* Allocating source arrays; */
obj_points = (CvPoint3D32f*)cvAlloc( 8 * sizeof(CvPoint3D32f) );
img_points = (CvPoint2D32f*)cvAlloc( 8 * sizeof(CvPoint2D32f) );
/* Fill points arrays with values */
/* cube model with edge size 10 */
obj_points[0].x = 0; obj_points[0].y = 0; obj_points[0].z = 0;
obj_points[1].x = 10; obj_points[1].y = 0; obj_points[1].z = 0;
obj_points[2].x = 10; obj_points[2].y = 10; obj_points[2].z = 0;
obj_points[3].x = 0; obj_points[3].y = 10; obj_points[3].z = 0;
obj_points[4].x = 0; obj_points[4].y = 0; obj_points[4].z = 10;
obj_points[5].x = 10; obj_points[5].y = 0; obj_points[5].z = 10;
obj_points[6].x = 10; obj_points[6].y = 10; obj_points[6].z = 10;
obj_points[7].x = 0; obj_points[7].y = 10; obj_points[7].z = 10;
/* Loop for test some random object positions */
for( counter = start_from; counter < test_case_count; counter++ )
{
ts->update_context( this, counter, true );
progress = update_progress( progress, counter, test_case_count, 0 );
/* set all rotation matrix to zero */
cvZero( true_rotationX );
cvZero( true_rotationY );
cvZero( true_rotationZ );
/* fill random rotation matrix */
angleX = (float)(cvtest::randReal(rng)*2*CV_PI);
angleY = (float)(cvtest::randReal(rng)*2*CV_PI);
angleZ = (float)(cvtest::randReal(rng)*2*CV_PI);
true_rotationX->data.fl[0 *3+ 0] = 1;
true_rotationX->data.fl[1 *3+ 1] = (float)cos(angleX);
true_rotationX->data.fl[2 *3+ 2] = true_rotationX->data.fl[1 *3+ 1];
true_rotationX->data.fl[1 *3+ 2] = -(float)sin(angleX);
true_rotationX->data.fl[2 *3+ 1] = -true_rotationX->data.fl[1 *3+ 2];
true_rotationY->data.fl[1 *3+ 1] = 1;
true_rotationY->data.fl[0 *3+ 0] = (float)cos(angleY);
true_rotationY->data.fl[2 *3+ 2] = true_rotationY->data.fl[0 *3+ 0];
true_rotationY->data.fl[0 *3+ 2] = -(float)sin(angleY);
true_rotationY->data.fl[2 *3+ 0] = -true_rotationY->data.fl[0 *3+ 2];
true_rotationZ->data.fl[2 *3+ 2] = 1;
true_rotationZ->data.fl[0 *3+ 0] = (float)cos(angleZ);
true_rotationZ->data.fl[1 *3+ 1] = true_rotationZ->data.fl[0 *3+ 0];
true_rotationZ->data.fl[0 *3+ 1] = -(float)sin(angleZ);
true_rotationZ->data.fl[1 *3+ 0] = -true_rotationZ->data.fl[0 *3+ 1];
cvMatMul( true_rotationX, true_rotationY, tmp_matrix);
cvMatMul( tmp_matrix, true_rotationZ, true_rotation);
/* fill translation vector */
true_translation->data.fl[2] = (float)(cvtest::randReal(rng)*(2*flFocalLength-40) + 60);
true_translation->data.fl[0] = (float)((cvtest::randReal(rng)*2-1)*true_translation->data.fl[2]);
true_translation->data.fl[1] = (float)((cvtest::randReal(rng)*2-1)*true_translation->data.fl[2]);
/* calculate perspective projection */
for ( i = 0; i < 8; i++ )
{
float vec[3];
CvMat Vec = cvMat( 3, 1, CV_32F, vec );
CvMat Obj_point = cvMat( 3, 1, CV_32F, &obj_points[i].x );
cvMatMul( true_rotation, &Obj_point, &Vec );
vec[0] += true_translation->data.fl[0];
vec[1] += true_translation->data.fl[1];
vec[2] += true_translation->data.fl[2];
img_points[i].x = flFocalLength * vec[0] / vec[2];
img_points[i].y = flFocalLength * vec[1] / vec[2];
}
/*img_points[0].x = 0 ; img_points[0].y = 0;
img_points[1].x = 80; img_points[1].y = -93;
img_points[2].x = 245;img_points[2].y = -77;
img_points[3].x = 185;img_points[3].y = 32;
img_points[4].x = 32; img_points[4].y = 135;
img_points[5].x = 99; img_points[5].y = 35;
img_points[6].x = 247; img_points[6].y = 62;
img_points[7].x = 195; img_points[7].y = 179;
*/
object = cvCreatePOSITObject( obj_points, 8 );
cvPOSIT( object, img_points, flFocalLength, criteria,
rotation->data.fl, translation->data.fl );
cvReleasePOSITObject( &object );
//Mat _rotation = cvarrToMat(rotation), _true_rotation = cvarrToMat(true_rotation);
//Mat _translation = cvarrToMat(translation), _true_translation = cvarrToMat(true_translation);
code = cvtest::cmpEps2( ts, rotation, true_rotation, flEpsilon, false, "rotation matrix" );
if( code < 0 )
break;
code = cvtest::cmpEps2( ts, translation, true_translation, flEpsilon, false, "translation vector" );
if( code < 0 )
break;
}
cvFree( &obj_points );
cvFree( &img_points );
cvReleaseMat( &true_rotationX );
cvReleaseMat( &true_rotationY );
cvReleaseMat( &true_rotationZ );
cvReleaseMat( &tmp_matrix );
cvReleaseMat( &true_rotation );
cvReleaseMat( &rotation );
cvReleaseMat( &translation );
cvReleaseMat( &true_translation );
if( code < 0 )
ts->set_failed_test_info( code );
}
TEST(Calib3d_POSIT, accuracy) { CV_POSITTest test; test.safe_run(); }
/* End of file. */
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