136 lines
5.2 KiB
C++
136 lines
5.2 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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using namespace cv;
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using namespace cv::gpu;
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using namespace cvtest;
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TEST(projectPoints, accuracy)
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{
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RNG& rng = TS::ptr()->get_rng();
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Mat src = randomMat(rng, Size(1000, 1), CV_32FC3, 0, 10, false);
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Mat rvec = randomMat(rng, Size(3, 1), CV_32F, 0, 1, false);
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Mat tvec = randomMat(rng, Size(3, 1), CV_32F, 0, 1, false);
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Mat camera_mat = randomMat(rng, Size(3, 3), CV_32F, 0, 1, false);
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camera_mat.at<float>(0, 1) = 0.f;
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camera_mat.at<float>(1, 0) = 0.f;
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camera_mat.at<float>(2, 0) = 0.f;
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camera_mat.at<float>(2, 1) = 0.f;
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vector<Point2f> dst;
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projectPoints(src, rvec, tvec, camera_mat, Mat(), dst);
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GpuMat d_dst;
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projectPoints(GpuMat(src), rvec, tvec, camera_mat, Mat(), d_dst);
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ASSERT_EQ(dst.size(), (size_t)d_dst.cols);
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ASSERT_EQ(1, d_dst.rows);
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ASSERT_EQ(CV_32FC2, d_dst.type());
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Mat h_dst(d_dst);
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for (size_t i = 0; i < dst.size(); ++i)
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{
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Point2f res_gold = dst[i];
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Point2f res_actual = h_dst.at<Point2f>(0, i);
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Point2f err = res_actual - res_gold;
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ASSERT_LT(err.dot(err) / res_gold.dot(res_gold), 1e-3f);
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}
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}
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TEST(transformPoints, accuracy)
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{
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RNG& rng = TS::ptr()->get_rng();
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Mat src = randomMat(rng, Size(1000, 1), CV_32FC3, 0, 10, false);
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Mat rvec = randomMat(rng, Size(3, 1), CV_32F, 0, 1, false);
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Mat tvec = randomMat(rng, Size(3, 1), CV_32F, 0, 1, false);
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GpuMat d_dst;
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transformPoints(GpuMat(src), rvec, tvec, d_dst);
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ASSERT_TRUE(src.size() == d_dst.size());
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ASSERT_EQ(src.type(), d_dst.type());
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Mat h_dst(d_dst);
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Mat rot;
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Rodrigues(rvec, rot);
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for (int i = 0; i < h_dst.cols; ++i)
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{
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Point3f p = src.at<Point3f>(0, i);
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Point3f res_gold(
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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),
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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),
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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));
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Point3f res_actual = h_dst.at<Point3f>(0, i);
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Point3f err = res_actual - res_gold;
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ASSERT_LT(err.dot(err) / res_gold.dot(res_gold), 1e-3f);
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}
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}
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TEST(solvePnpRansac, accuracy)
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{
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RNG& rng = TS::ptr()->get_rng();
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const int num_points = 5000;
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Mat object = randomMat(rng, Size(num_points, 1), CV_32FC3, 0, 100, false);
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Mat camera_mat = randomMat(rng, Size(3, 3), CV_32F, 0.5, 1, false);
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camera_mat.at<float>(0, 1) = 0.f;
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camera_mat.at<float>(1, 0) = 0.f;
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camera_mat.at<float>(2, 0) = 0.f;
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camera_mat.at<float>(2, 1) = 0.f;
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Mat rvec_gold = randomMat(rng, Size(3, 1), CV_32F, 0, 1, false);
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Mat tvec_gold = randomMat(rng, Size(3, 1), CV_32F, 0, 1, false);
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vector<Point2f> image_vec;
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projectPoints(object, rvec_gold, tvec_gold, camera_mat, Mat(), image_vec);
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Mat image(1, image_vec.size(), CV_32FC2, &image_vec[0]);
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Mat rvec;
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Mat tvec;
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solvePnpRansac(object, image, camera_mat, Mat(), rvec, tvec, SolvePnpRansacParams());
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ASSERT_LE(norm(rvec - rvec_gold), 1e-3f);
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ASSERT_LE(norm(tvec - tvec_gold), 1e-3f);
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}
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