added solvePnPRansac method
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Alexander Shishkov
139
modules/calib3d/test/test_solvepnp_ransac.cpp
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139
modules/calib3d/test/test_solvepnp_ransac.cpp
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/*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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// 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) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Redistribution and use in source and binary forms, with or without modification,
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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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// * Redistribution's in binary form must reproduce the above copyright notice,
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//M*/
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#include "test_precomp.hpp"
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using namespace cv;
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using namespace std;
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class CV_solvePnPRansac_Test : public cvtest::BaseTest
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{
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public:
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CV_solvePnPRansac_Test() {}
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~CV_solvePnPRansac_Test() {}
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protected:
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void generate3DPointCloud(vector<Point3f>& points, Point3f pmin = Point3f(-1,
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-1, 5), Point3f pmax = Point3f(1, 1, 10))
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{
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const Point3f delta = pmax - pmin;
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for (size_t i = 0; i < points.size(); i++)
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{
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Point3f p(float(rand()) / RAND_MAX, float(rand()) / RAND_MAX,
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float(rand()) / RAND_MAX);
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p.x *= delta.x;
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p.y *= delta.y;
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p.z *= delta.z;
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p = p + pmin;
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points[i] = p;
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}
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}
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void run(int)
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{
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cvtest::TS& ts = *this->ts;
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ts.set_failed_test_info(cvtest::TS::OK);
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Mat intrinsics = Mat::eye(3, 3, CV_32FC1);
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intrinsics.at<float> (0, 0) = 400.0;
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intrinsics.at<float> (1, 1) = 400.0;
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intrinsics.at<float> (0, 2) = 640 / 2;
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intrinsics.at<float> (1, 2) = 480 / 2;
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Mat dist_coeffs = Mat::zeros(5, 1, CV_32FC1);
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Mat rvec1 = Mat::zeros(3, 1, CV_64FC1);
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Mat tvec1 = Mat::zeros(3, 1, CV_64FC1);
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rvec1.at<double> (0, 0) = 1.0f;
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tvec1.at<double> (0, 0) = 1.0f;
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tvec1.at<double> (1, 0) = 1.0f;
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vector<Point3f> points;
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points.resize(500);
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generate3DPointCloud(points);
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vector<Point2f> points1;
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points1.resize(points.size());
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projectPoints(Mat(points), rvec1, tvec1, intrinsics, dist_coeffs, points1);
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for (size_t i = 0; i < points1.size(); i++)
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{
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if (i % 20 == 0)
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{
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points1[i] = points1[rand() % points.size()];
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}
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}
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double eps = 1.0e-7;
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for (int testIndex = 0; testIndex< 10; testIndex++)
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{
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try
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{
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Mat rvec, tvec;
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vector<int> inliers;
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solvePnPRansac(Mat(points), Mat(points1), intrinsics, dist_coeffs, rvec, tvec,
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false, 1000, 2.0, -1, &inliers);
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bool isTestSuccess = inliers.size() == 475;
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isTestSuccess = isTestSuccess
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&& (abs(rvec.at<double> (0, 0) - 1) < eps);
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isTestSuccess = isTestSuccess && (abs(rvec.at<double> (1, 0)) < eps);
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isTestSuccess = isTestSuccess && (abs(rvec.at<double> (2, 0)) < eps);
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isTestSuccess = isTestSuccess
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&& (abs(tvec.at<double> (0, 0) - 1) < eps);
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isTestSuccess = isTestSuccess
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&& (abs(tvec.at<double> (1, 0) - 1) < eps);
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isTestSuccess = isTestSuccess && (abs(tvec.at<double> (2, 0)) < eps);
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if (!isTestSuccess)
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{
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ts.printf( cvtest::TS::LOG, "Invalid accuracy, inliers.size = %d\n", inliers.size());
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ts.set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
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break;
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}
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}
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catch(...)
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{
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ts.printf(cvtest::TS::LOG, "Exception in solvePnPRansac\n");
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ts.set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
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}
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}
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}
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};
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TEST(Calib3d_SolvePnPRansac, accuracy) { CV_solvePnPRansac_Test test; test.safe_run(); }
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