added gpu::solvePnpRansac

modules/gpu/test/test_calib3d.cpp

@@ -0,0 +1,135 @@
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+
+#include "test_precomp.hpp"
+
+using namespace cv;
+using namespace cv::gpu;
+using namespace cvtest;
+
+TEST(projectPoints, accuracy)
+{
+    RNG& rng = TS::ptr()->get_rng();
+    Mat src = randomMat(rng, Size(1000, 1), CV_32FC3, 0, 10, false);
+    Mat rvec = randomMat(rng, Size(3, 1), CV_32F, 0, 1, false);
+    Mat tvec = randomMat(rng, Size(3, 1), CV_32F, 0, 1, false);
+    Mat camera_mat = randomMat(rng, Size(3, 3), CV_32F, 0, 1, false);
+    camera_mat.at<float>(0, 1) = 0.f;
+    camera_mat.at<float>(1, 0) = 0.f;
+    camera_mat.at<float>(2, 0) = 0.f;
+    camera_mat.at<float>(2, 1) = 0.f;
+
+    vector<Point2f> dst;
+    projectPoints(src, rvec, tvec, camera_mat, Mat(), dst);
+
+    GpuMat d_dst;
+    projectPoints(GpuMat(src), rvec, tvec, camera_mat, Mat(), d_dst);
+
+    ASSERT_EQ(dst.size(), (size_t)d_dst.cols);
+    ASSERT_EQ(1, d_dst.rows);
+    ASSERT_EQ(CV_32FC2, d_dst.type());
+
+    Mat h_dst(d_dst);
+    for (size_t i = 0; i < dst.size(); ++i)
+    {
+        Point2f res_gold = dst[i];
+        Point2f res_actual = h_dst.at<Point2f>(0, i);
+        Point2f err = res_actual - res_gold;
+        ASSERT_LT(err.dot(err) / res_gold.dot(res_gold), 1e-3f);
+    }
+}
+
+
+TEST(transformPoints, accuracy)
+{
+    RNG& rng = TS::ptr()->get_rng();
+    Mat src = randomMat(rng, Size(1000, 1), CV_32FC3, 0, 10, false);
+    Mat rvec = randomMat(rng, Size(3, 1), CV_32F, 0, 1, false);
+    Mat tvec = randomMat(rng, Size(3, 1), CV_32F, 0, 1, false);
+
+    GpuMat d_dst;
+    transformPoints(GpuMat(src), rvec, tvec, d_dst);
+    ASSERT_TRUE(src.size() == d_dst.size());
+    ASSERT_EQ(src.type(), d_dst.type());
+
+    Mat h_dst(d_dst);
+    Mat rot;
+    Rodrigues(rvec, rot);
+    for (int i = 0; i < h_dst.cols; ++i)
+    {
+        Point3f p = src.at<Point3f>(0, i);
+        Point3f res_gold(
+                rot.at<float>(0, 0) * p.x + rot.at<float>(0, 1) * p.y + rot.at<float>(0, 2) * p.z + tvec.at<float>(0, 0),
+                rot.at<float>(1, 0) * p.x + rot.at<float>(1, 1) * p.y + rot.at<float>(1, 2) * p.z + tvec.at<float>(0, 1),
+                rot.at<float>(2, 0) * p.x + rot.at<float>(2, 1) * p.y + rot.at<float>(2, 2) * p.z + tvec.at<float>(0, 2));
+        Point3f res_actual = h_dst.at<Point3f>(0, i);
+        Point3f err = res_actual - res_gold;
+        ASSERT_LT(err.dot(err) / res_gold.dot(res_gold), 1e-3f);
+    }
+}
+
+
+TEST(solvePnpRansac, accuracy)
+{
+    RNG& rng = TS::ptr()->get_rng();
+
+    const int num_points = 5000;
+    Mat object = randomMat(rng, Size(num_points, 1), CV_32FC3, 0, 100, false);
+    Mat camera_mat = randomMat(rng, Size(3, 3), CV_32F, 1, 1, false);
+    camera_mat.at<float>(0, 1) = 0.f;
+    camera_mat.at<float>(1, 0) = 0.f;
+    camera_mat.at<float>(2, 0) = 0.f;
+    camera_mat.at<float>(2, 1) = 0.f;
+
+    Mat rvec_gold = randomMat(rng, Size(3, 1), CV_32F, 0, 1, false);
+    Mat tvec_gold = randomMat(rng, Size(3, 1), CV_32F, 0, 1, false);
+
+    vector<Point2f> image_vec;
+    projectPoints(object, rvec_gold, tvec_gold, camera_mat, Mat(), image_vec);
+    Mat image(1, image_vec.size(), CV_32FC2, &image_vec[0]);
+
+    Mat rvec;
+    Mat tvec;
+    solvePnpRansac(object, image, camera_mat, Mat(), rvec, tvec, SolvePnpRansacParams());
+
+    ASSERT_LE(norm(rvec - rvec_gold), 1e-3f);
+    ASSERT_LE(norm(tvec - tvec_gold), 1e-3f);
+}