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223 lines
8.6 KiB
C++
223 lines
8.6 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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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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// Intel License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000, Intel Corporation, all rights reserved.
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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 Intel Corporation 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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#include "opencv2/calib3d/calib3d_c.h"
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namespace opencv_test { namespace {
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class CV_POSITTest : public cvtest::BaseTest
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{
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public:
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CV_POSITTest();
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protected:
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void run(int);
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};
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CV_POSITTest::CV_POSITTest()
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{
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test_case_count = 20;
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}
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void CV_POSITTest::run( int start_from )
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{
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int code = cvtest::TS::OK;
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/* fixed parameters output */
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/*float rot[3][3]={ 0.49010f, 0.85057f, 0.19063f,
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-0.56948f, 0.14671f, 0.80880f,
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0.65997f, -0.50495f, 0.55629f };
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float trans[3] = { 0.0f, 0.0f, 40.02637f };
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*/
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/* Some variables */
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int i, counter;
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CvTermCriteria criteria;
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CvPoint3D32f* obj_points;
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CvPoint2D32f* img_points;
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CvPOSITObject* object;
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float angleX, angleY, angleZ;
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RNG& rng = ts->get_rng();
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int progress = 0;
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CvMat* true_rotationX = cvCreateMat( 3, 3, CV_32F );
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CvMat* true_rotationY = cvCreateMat( 3, 3, CV_32F );
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CvMat* true_rotationZ = cvCreateMat( 3, 3, CV_32F );
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CvMat* tmp_matrix = cvCreateMat( 3, 3, CV_32F );
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CvMat* true_rotation = cvCreateMat( 3, 3, CV_32F );
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CvMat* rotation = cvCreateMat( 3, 3, CV_32F );
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CvMat* translation = cvCreateMat( 3, 1, CV_32F );
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CvMat* true_translation = cvCreateMat( 3, 1, CV_32F );
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const float flFocalLength = 760.f;
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const float flEpsilon = 0.5f;
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/* Initialization */
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criteria.type = CV_TERMCRIT_EPS|CV_TERMCRIT_ITER;
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criteria.epsilon = flEpsilon;
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criteria.max_iter = 10000;
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/* Allocating source arrays; */
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obj_points = (CvPoint3D32f*)cvAlloc( 8 * sizeof(CvPoint3D32f) );
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img_points = (CvPoint2D32f*)cvAlloc( 8 * sizeof(CvPoint2D32f) );
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/* Fill points arrays with values */
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/* cube model with edge size 10 */
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obj_points[0].x = 0; obj_points[0].y = 0; obj_points[0].z = 0;
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obj_points[1].x = 10; obj_points[1].y = 0; obj_points[1].z = 0;
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obj_points[2].x = 10; obj_points[2].y = 10; obj_points[2].z = 0;
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obj_points[3].x = 0; obj_points[3].y = 10; obj_points[3].z = 0;
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obj_points[4].x = 0; obj_points[4].y = 0; obj_points[4].z = 10;
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obj_points[5].x = 10; obj_points[5].y = 0; obj_points[5].z = 10;
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obj_points[6].x = 10; obj_points[6].y = 10; obj_points[6].z = 10;
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obj_points[7].x = 0; obj_points[7].y = 10; obj_points[7].z = 10;
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/* Loop for test some random object positions */
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for( counter = start_from; counter < test_case_count; counter++ )
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{
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ts->update_context( this, counter, true );
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progress = update_progress( progress, counter, test_case_count, 0 );
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/* set all rotation matrix to zero */
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cvZero( true_rotationX );
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cvZero( true_rotationY );
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cvZero( true_rotationZ );
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/* fill random rotation matrix */
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angleX = (float)(cvtest::randReal(rng)*2*CV_PI);
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angleY = (float)(cvtest::randReal(rng)*2*CV_PI);
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angleZ = (float)(cvtest::randReal(rng)*2*CV_PI);
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true_rotationX->data.fl[0 *3+ 0] = 1;
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true_rotationX->data.fl[1 *3+ 1] = (float)cos(angleX);
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true_rotationX->data.fl[2 *3+ 2] = true_rotationX->data.fl[1 *3+ 1];
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true_rotationX->data.fl[1 *3+ 2] = -(float)sin(angleX);
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true_rotationX->data.fl[2 *3+ 1] = -true_rotationX->data.fl[1 *3+ 2];
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true_rotationY->data.fl[1 *3+ 1] = 1;
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true_rotationY->data.fl[0 *3+ 0] = (float)cos(angleY);
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true_rotationY->data.fl[2 *3+ 2] = true_rotationY->data.fl[0 *3+ 0];
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true_rotationY->data.fl[0 *3+ 2] = -(float)sin(angleY);
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true_rotationY->data.fl[2 *3+ 0] = -true_rotationY->data.fl[0 *3+ 2];
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true_rotationZ->data.fl[2 *3+ 2] = 1;
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true_rotationZ->data.fl[0 *3+ 0] = (float)cos(angleZ);
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true_rotationZ->data.fl[1 *3+ 1] = true_rotationZ->data.fl[0 *3+ 0];
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true_rotationZ->data.fl[0 *3+ 1] = -(float)sin(angleZ);
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true_rotationZ->data.fl[1 *3+ 0] = -true_rotationZ->data.fl[0 *3+ 1];
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cvMatMul( true_rotationX, true_rotationY, tmp_matrix);
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cvMatMul( tmp_matrix, true_rotationZ, true_rotation);
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/* fill translation vector */
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true_translation->data.fl[2] = (float)(cvtest::randReal(rng)*(2*flFocalLength-40) + 60);
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true_translation->data.fl[0] = (float)((cvtest::randReal(rng)*2-1)*true_translation->data.fl[2]);
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true_translation->data.fl[1] = (float)((cvtest::randReal(rng)*2-1)*true_translation->data.fl[2]);
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/* calculate perspective projection */
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for ( i = 0; i < 8; i++ )
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{
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float vec[3];
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CvMat Vec = cvMat( 3, 1, CV_32F, vec );
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CvMat Obj_point = cvMat( 3, 1, CV_32F, &obj_points[i].x );
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cvMatMul( true_rotation, &Obj_point, &Vec );
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vec[0] += true_translation->data.fl[0];
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vec[1] += true_translation->data.fl[1];
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vec[2] += true_translation->data.fl[2];
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img_points[i].x = flFocalLength * vec[0] / vec[2];
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img_points[i].y = flFocalLength * vec[1] / vec[2];
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}
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/*img_points[0].x = 0 ; img_points[0].y = 0;
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img_points[1].x = 80; img_points[1].y = -93;
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img_points[2].x = 245;img_points[2].y = -77;
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img_points[3].x = 185;img_points[3].y = 32;
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img_points[4].x = 32; img_points[4].y = 135;
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img_points[5].x = 99; img_points[5].y = 35;
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img_points[6].x = 247; img_points[6].y = 62;
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img_points[7].x = 195; img_points[7].y = 179;
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*/
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object = cvCreatePOSITObject( obj_points, 8 );
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cvPOSIT( object, img_points, flFocalLength, criteria,
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rotation->data.fl, translation->data.fl );
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cvReleasePOSITObject( &object );
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Mat _rotation = cvarrToMat(rotation), _true_rotation = cvarrToMat(true_rotation);
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Mat _translation = cvarrToMat(translation), _true_translation = cvarrToMat(true_translation);
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code = cvtest::cmpEps2( ts, _rotation, _true_rotation, flEpsilon, false, "rotation matrix" );
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if( code < 0 )
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break;
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code = cvtest::cmpEps2( ts, _translation, _true_translation, flEpsilon, false, "translation vector" );
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if( code < 0 )
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break;
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}
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cvFree( &obj_points );
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cvFree( &img_points );
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cvReleaseMat( &true_rotationX );
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cvReleaseMat( &true_rotationY );
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cvReleaseMat( &true_rotationZ );
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cvReleaseMat( &tmp_matrix );
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cvReleaseMat( &true_rotation );
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cvReleaseMat( &rotation );
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cvReleaseMat( &translation );
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cvReleaseMat( &true_translation );
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if( code < 0 )
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ts->set_failed_test_info( code );
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}
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TEST(Calib3d_POSIT, accuracy) { CV_POSITTest test; test.safe_run(); }
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}} // namespace
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/* End of file. */
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