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78bd55c8df
* Fix the bug in case determinant of rotation matrix is -1 * calib3d(test): check det(R) == 1
170 lines
5.9 KiB
C++
170 lines
5.9 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// This is a test file for the function decomposeHomography contributed to OpenCV
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// by Samson Yilma.
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2014, Samson Yilma (samson_yilma@yahoo.com), all rights reserved.
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//
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "test_precomp.hpp"
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namespace opencv_test { namespace {
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class CV_HomographyDecompTest: public cvtest::BaseTest {
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public:
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CV_HomographyDecompTest()
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{
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buildTestDataSet();
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}
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protected:
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void run(int)
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{
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vector<Mat> rotations;
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vector<Mat> translations;
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vector<Mat> normals;
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decomposeHomographyMat(_H, _K, rotations, translations, normals);
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//there should be at least 1 solution
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ASSERT_GT(static_cast<int>(rotations.size()), 0);
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ASSERT_GT(static_cast<int>(translations.size()), 0);
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ASSERT_GT(static_cast<int>(normals.size()), 0);
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ASSERT_EQ(rotations.size(), normals.size());
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ASSERT_EQ(translations.size(), normals.size());
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ASSERT_TRUE(containsValidMotion(rotations, translations, normals));
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decomposeHomographyMat(_H, _K, rotations, noArray(), noArray());
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ASSERT_GT(static_cast<int>(rotations.size()), 0);
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}
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private:
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void buildTestDataSet()
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{
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_K = Matx33d(640, 0.0, 320,
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0, 640, 240,
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0, 0, 1);
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_H = Matx33d(2.649157564634028, 4.583875997496426, 70.694447785121326,
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-1.072756858861583, 3.533262150437228, 1513.656999614321649,
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0.001303887589576, 0.003042206876298, 1.000000000000000
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);
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//expected solution for the given homography and intrinsic matrices
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_R = Matx33d(0.43307983549125, 0.545749113549648, -0.717356090899523,
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-0.85630229674426, 0.497582023798831, -0.138414255706431,
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0.281404038139784, 0.67421809131173, 0.682818960388909);
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_t = Vec3d(1.826751712278038, 1.264718492450820, 0.195080809998819);
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_n = Vec3d(0.244875830334816, 0.480857890778889, 0.841909446789566);
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}
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bool containsValidMotion(std::vector<Mat>& rotations,
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std::vector<Mat>& translations,
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std::vector<Mat>& normals
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)
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{
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double max_error = 1.0e-3;
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vector<Mat>::iterator riter = rotations.begin();
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vector<Mat>::iterator titer = translations.begin();
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vector<Mat>::iterator niter = normals.begin();
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for (;
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riter != rotations.end() && titer != translations.end() && niter != normals.end();
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++riter, ++titer, ++niter) {
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double rdist = cvtest::norm(*riter, _R, NORM_INF);
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double tdist = cvtest::norm(*titer, _t, NORM_INF);
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double ndist = cvtest::norm(*niter, _n, NORM_INF);
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if ( rdist < max_error
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&& tdist < max_error
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&& ndist < max_error )
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return true;
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}
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return false;
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}
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Matx33d _R, _K, _H;
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Vec3d _t, _n;
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};
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TEST(Calib3d_DecomposeHomography, regression) { CV_HomographyDecompTest test; test.safe_run(); }
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TEST(Calib3d_DecomposeHomography, issue_4978)
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{
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Matx33d K(
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1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0
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);
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Matx33d H(
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-0.102896, 0.270191, -0.0031153,
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0.0406387, 1.19569, -0.0120456,
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0.445351, 0.0410889, 1
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);
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vector<Mat> rotations;
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vector<Mat> translations;
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vector<Mat> normals;
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decomposeHomographyMat(H, K, rotations, translations, normals);
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ASSERT_GT(rotations.size(), (size_t)0u);
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for (size_t i = 0; i < rotations.size(); i++)
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{
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// check: det(R) = 1
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EXPECT_TRUE(std::fabs(cv::determinant(rotations[i]) - 1.0) < 0.01)
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<< "R: det=" << cv::determinant(rotations[0]) << std::endl << rotations[i] << std::endl
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<< "T:" << std::endl << translations[i] << std::endl;
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}
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}
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}} // namespace
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