mirror of
https://github.com/opencv/opencv.git
synced 2024-11-25 11:40:44 +08:00
141 lines
4.5 KiB
C++
141 lines
4.5 KiB
C++
/*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) 2009, 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"
|
|
|
|
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;
|
|
Rodrigues(rVec, origR);
|
|
|
|
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 ( norm(origK, K, cv::NORM_INF) > thresh )
|
|
{
|
|
ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
|
|
break;
|
|
}
|
|
|
|
if ( norm(origR, R, cv::NORM_INF) > thresh )
|
|
{
|
|
ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
|
|
break;
|
|
}
|
|
|
|
if ( 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();
|
|
}
|