opencv/modules/3d/test/test_decompose_projection.cpp
Alexander Smorkalov a22130fbfa Merge branch 4.x
2024-02-28 18:49:05 +03:00

164 lines
5.0 KiB
C++

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#include "test_precomp.hpp"
namespace opencv_test { namespace {
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;
cv::Rodrigues(rVec, origR); // TODO cvtest
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 (cv::norm(origK, K, cv::NORM_INF) > thresh)
{
ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
break;
}
if (cv::norm(origR, R, cv::NORM_INF) > thresh)
{
ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
break;
}
if (cv::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();
}
TEST(Calib3d_DecomposeProjectionMatrix, degenerate_cases)
{
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 2; j++)
{
cv::Matx34d P;
P(0, i) = 1;
P(1, (i + j + 1) % 3) = 1;
P(2, (i + 2 * j + 2) % 3) = 1;
cv::Matx33d K, R;
cv::Vec4d t;
decomposeProjectionMatrix(P, K, R, t);
EXPECT_LT(cv::norm(K * R, P.get_minor<3, 3>(0, 0), cv::NORM_INF), 1e-6);
}
}
}
}} // namespace