141 lines
4.5 KiB
C++
141 lines
4.5 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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// 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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// 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 the copyright holders 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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class CV_DecomposeProjectionMatrixTest : public cvtest::BaseTest
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{
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public:
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CV_DecomposeProjectionMatrixTest();
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protected:
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void run(int);
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};
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CV_DecomposeProjectionMatrixTest::CV_DecomposeProjectionMatrixTest()
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{
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test_case_count = 30;
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}
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void CV_DecomposeProjectionMatrixTest::run(int start_from)
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{
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ts->set_failed_test_info(cvtest::TS::OK);
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cv::RNG& rng = ts->get_rng();
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int progress = 0;
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for (int iter = start_from; iter < test_case_count; ++iter)
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{
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ts->update_context(this, iter, true);
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progress = update_progress(progress, iter, test_case_count, 0);
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// Create the original (and random) camera matrix, rotation, and translation
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cv::Vec2d f, c;
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rng.fill(f, cv::RNG::UNIFORM, 300, 1000);
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rng.fill(c, cv::RNG::UNIFORM, 150, 600);
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double alpha = 0.01*rng.gaussian(1);
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cv::Matx33d origK(f(0), alpha*f(0), c(0),
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0, f(1), c(1),
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0, 0, 1);
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cv::Vec3d rVec;
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rng.fill(rVec, cv::RNG::UNIFORM, -CV_PI, CV_PI);
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cv::Matx33d origR;
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Rodrigues(rVec, origR);
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cv::Vec3d origT;
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rng.fill(origT, cv::RNG::NORMAL, 0, 1);
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// Compose the projection matrix
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cv::Matx34d P(3,4);
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hconcat(origK*origR, origK*origT, P);
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// Decompose
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cv::Matx33d K, R;
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cv::Vec4d homogCameraCenter;
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decomposeProjectionMatrix(P, K, R, homogCameraCenter);
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// Recover translation from the camera center
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cv::Vec3d cameraCenter(homogCameraCenter(0), homogCameraCenter(1), homogCameraCenter(2));
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cameraCenter /= homogCameraCenter(3);
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cv::Vec3d t = -R*cameraCenter;
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const double thresh = 1e-6;
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if ( norm(origK, K, cv::NORM_INF) > thresh )
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{
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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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if ( norm(origR, R, cv::NORM_INF) > thresh )
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{
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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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if ( norm(origT, t, cv::NORM_INF) > thresh )
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{
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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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}
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TEST(Calib3d_DecomposeProjectionMatrix, accuracy)
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{
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CV_DecomposeProjectionMatrixTest test;
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test.safe_run();
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}
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