140 lines
5.6 KiB
C++
140 lines
5.6 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"
|
|
|
|
using namespace cv;
|
|
using namespace std;
|
|
|
|
class CV_solvePnPRansac_Test : public cvtest::BaseTest
|
|
{
|
|
public:
|
|
CV_solvePnPRansac_Test() {}
|
|
~CV_solvePnPRansac_Test() {}
|
|
protected:
|
|
void generate3DPointCloud(vector<Point3f>& points, Point3f pmin = Point3f(-1,
|
|
-1, 5), Point3f pmax = Point3f(1, 1, 10))
|
|
{
|
|
const Point3f delta = pmax - pmin;
|
|
for (size_t i = 0; i < points.size(); i++)
|
|
{
|
|
Point3f p(float(rand()) / RAND_MAX, float(rand()) / RAND_MAX,
|
|
float(rand()) / RAND_MAX);
|
|
p.x *= delta.x;
|
|
p.y *= delta.y;
|
|
p.z *= delta.z;
|
|
p = p + pmin;
|
|
points[i] = p;
|
|
}
|
|
}
|
|
|
|
void run(int)
|
|
{
|
|
cvtest::TS& ts = *this->ts;
|
|
ts.set_failed_test_info(cvtest::TS::OK);
|
|
Mat intrinsics = Mat::eye(3, 3, CV_32FC1);
|
|
intrinsics.at<float> (0, 0) = 400.0;
|
|
intrinsics.at<float> (1, 1) = 400.0;
|
|
intrinsics.at<float> (0, 2) = 640 / 2;
|
|
intrinsics.at<float> (1, 2) = 480 / 2;
|
|
Mat dist_coeffs = Mat::zeros(5, 1, CV_32FC1);
|
|
Mat rvec1 = Mat::zeros(3, 1, CV_64FC1);
|
|
Mat tvec1 = Mat::zeros(3, 1, CV_64FC1);
|
|
rvec1.at<double> (0, 0) = 1.0f;
|
|
tvec1.at<double> (0, 0) = 1.0f;
|
|
tvec1.at<double> (1, 0) = 1.0f;
|
|
vector<Point3f> points;
|
|
points.resize(500);
|
|
generate3DPointCloud(points);
|
|
|
|
vector<Point2f> points1;
|
|
points1.resize(points.size());
|
|
projectPoints(Mat(points), rvec1, tvec1, intrinsics, dist_coeffs, points1);
|
|
for (size_t i = 0; i < points1.size(); i++)
|
|
{
|
|
if (i % 20 == 0)
|
|
{
|
|
points1[i] = points1[rand() % points.size()];
|
|
}
|
|
}
|
|
double eps = 1.0e-7;
|
|
for (int testIndex = 0; testIndex< 10; testIndex++)
|
|
{
|
|
try
|
|
{
|
|
Mat rvec, tvec;
|
|
vector<int> inliers;
|
|
|
|
solvePnPRansac(Mat(points), Mat(points1), intrinsics, dist_coeffs, rvec, tvec,
|
|
false, 1000, 2.0, -1, &inliers);
|
|
|
|
bool isTestSuccess = inliers.size() == 475;
|
|
|
|
isTestSuccess = isTestSuccess
|
|
&& (abs(rvec.at<double> (0, 0) - 1) < eps);
|
|
isTestSuccess = isTestSuccess && (abs(rvec.at<double> (1, 0)) < eps);
|
|
isTestSuccess = isTestSuccess && (abs(rvec.at<double> (2, 0)) < eps);
|
|
isTestSuccess = isTestSuccess
|
|
&& (abs(tvec.at<double> (0, 0) - 1) < eps);
|
|
isTestSuccess = isTestSuccess
|
|
&& (abs(tvec.at<double> (1, 0) - 1) < eps);
|
|
isTestSuccess = isTestSuccess && (abs(tvec.at<double> (2, 0)) < eps);
|
|
if (!isTestSuccess)
|
|
{
|
|
ts.printf( cvtest::TS::LOG, "Invalid accuracy, inliers.size = %d\n", inliers.size());
|
|
ts.set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
|
|
break;
|
|
}
|
|
|
|
}
|
|
catch(...)
|
|
{
|
|
ts.printf(cvtest::TS::LOG, "Exception in solvePnPRansac\n");
|
|
ts.set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
|
|
}
|
|
}
|
|
}
|
|
};
|
|
|
|
TEST(Calib3d_SolvePnPRansac, accuracy) { CV_solvePnPRansac_Test test; test.safe_run(); }
|
|
|