1 /*M/////////////////////////////////////////////////////////////////////////////////////// 2 // 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 // 5 // By downloading, copying, installing or using the software you agree to this license. 6 // If you do not agree to this license, do not download, install, 7 // copy or use the software. 8 // 9 // 10 // License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. 14 // Copyright (C) 2009, Willow Garage Inc., all rights reserved. 15 // Third party copyrights are property of their respective owners. 16 // 17 // Redistribution and use in source and binary forms, with or without modification, 18 // are permitted provided that the following conditions are met: 19 // 20 // * Redistribution's of source code must retain the above copyright notice, 21 // this list of conditions and the following disclaimer. 22 // 23 // * Redistribution's in binary form must reproduce the above copyright notice, 24 // this list of conditions and the following disclaimer in the documentation 25 // and/or other materials provided with the distribution. 26 // 27 // * The name of the copyright holders may not be used to endorse or promote products 28 // derived from this software without specific prior written permission. 29 // 30 // This software is provided by the copyright holders and contributors "as is" and 31 // any express or implied warranties, including, but not limited to, the implied 32 // warranties of merchantability and fitness for a particular purpose are disclaimed. 33 // In no event shall the Intel Corporation or contributors be liable for any direct, 34 // indirect, incidental, special, exemplary, or consequential damages 35 // (including, but not limited to, procurement of substitute goods or services; 36 // loss of use, data, or profits; or business interruption) however caused 37 // and on any theory of liability, whether in contract, strict liability, 38 // or tort (including negligence or otherwise) arising in any way out of 39 // the use of this software, even if advised of the possibility of such damage. 40 // 41 //M*/ 42 43 #include "test_precomp.hpp" 44 45 using namespace cv; 46 using namespace std; 47 48 #include <string> 49 #include <iostream> 50 #include <fstream> 51 #include <functional> 52 #include <iterator> 53 #include <limits> 54 #include <numeric> 55 56 class CV_Affine3D_EstTest : public cvtest::BaseTest 57 { 58 public: 59 CV_Affine3D_EstTest(); 60 ~CV_Affine3D_EstTest(); 61 protected: 62 void run(int); 63 64 bool test4Points(); 65 bool testNPoints(); 66 }; 67 68 CV_Affine3D_EstTest::CV_Affine3D_EstTest() 69 { 70 } 71 CV_Affine3D_EstTest::~CV_Affine3D_EstTest() {} 72 73 74 float rngIn(float from, float to) { return from + (to-from) * (float)theRNG(); } 75 76 77 struct WrapAff 78 { 79 const double *F; 80 WrapAff(const Mat& aff) : F(aff.ptr<double>()) {} 81 Point3f operator()(const Point3f& p) 82 { 83 return Point3f( (float)(p.x * F[0] + p.y * F[1] + p.z * F[2] + F[3]), 84 (float)(p.x * F[4] + p.y * F[5] + p.z * F[6] + F[7]), 85 (float)(p.x * F[8] + p.y * F[9] + p.z * F[10] + F[11]) ); 86 } 87 }; 88 89 bool CV_Affine3D_EstTest::test4Points() 90 { 91 Mat aff(3, 4, CV_64F); 92 cv::randu(aff, Scalar(1), Scalar(3)); 93 94 // setting points that are no in the same line 95 96 Mat fpts(1, 4, CV_32FC3); 97 Mat tpts(1, 4, CV_32FC3); 98 99 fpts.ptr<Point3f>()[0] = Point3f( rngIn(1,2), rngIn(1,2), rngIn(5, 6) ); 100 fpts.ptr<Point3f>()[1] = Point3f( rngIn(3,4), rngIn(3,4), rngIn(5, 6) ); 101 fpts.ptr<Point3f>()[2] = Point3f( rngIn(1,2), rngIn(3,4), rngIn(5, 6) ); 102 fpts.ptr<Point3f>()[3] = Point3f( rngIn(3,4), rngIn(1,2), rngIn(5, 6) ); 103 104 transform(fpts.ptr<Point3f>(), fpts.ptr<Point3f>() + 4, tpts.ptr<Point3f>(), WrapAff(aff)); 105 106 Mat aff_est; 107 vector<uchar> outliers; 108 estimateAffine3D(fpts, tpts, aff_est, outliers); 109 110 const double thres = 1e-3; 111 if (cvtest::norm(aff_est, aff, NORM_INF) > thres) 112 { 113 //cout << cvtest::norm(aff_est, aff, NORM_INF) << endl; 114 ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH); 115 return false; 116 } 117 return true; 118 } 119 120 struct Noise 121 { 122 float l; 123 Noise(float level) : l(level) {} 124 Point3f operator()(const Point3f& p) 125 { 126 RNG& rng = theRNG(); 127 return Point3f( p.x + l * (float)rng, p.y + l * (float)rng, p.z + l * (float)rng); 128 } 129 }; 130 131 bool CV_Affine3D_EstTest::testNPoints() 132 { 133 Mat aff(3, 4, CV_64F); 134 cv::randu(aff, Scalar(-2), Scalar(2)); 135 136 // setting points that are no in the same line 137 138 const int n = 100; 139 const int m = 3*n/5; 140 const Point3f shift_outl = Point3f(15, 15, 15); 141 const float noise_level = 20.f; 142 143 Mat fpts(1, n, CV_32FC3); 144 Mat tpts(1, n, CV_32FC3); 145 146 randu(fpts, Scalar::all(0), Scalar::all(100)); 147 transform(fpts.ptr<Point3f>(), fpts.ptr<Point3f>() + n, tpts.ptr<Point3f>(), WrapAff(aff)); 148 149 /* adding noise*/ 150 transform(tpts.ptr<Point3f>() + m, tpts.ptr<Point3f>() + n, tpts.ptr<Point3f>() + m, bind2nd(plus<Point3f>(), shift_outl)); 151 transform(tpts.ptr<Point3f>() + m, tpts.ptr<Point3f>() + n, tpts.ptr<Point3f>() + m, Noise(noise_level)); 152 153 Mat aff_est; 154 vector<uchar> outl; 155 int res = estimateAffine3D(fpts, tpts, aff_est, outl); 156 157 if (!res) 158 { 159 ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH); 160 return false; 161 } 162 163 const double thres = 1e-4; 164 if (cvtest::norm(aff_est, aff, NORM_INF) > thres) 165 { 166 cout << "aff est: " << aff_est << endl; 167 cout << "aff ref: " << aff << endl; 168 ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH); 169 return false; 170 } 171 172 bool outl_good = count(outl.begin(), outl.end(), 1) == m && 173 m == accumulate(outl.begin(), outl.begin() + m, 0); 174 175 if (!outl_good) 176 { 177 ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH); 178 return false; 179 } 180 return true; 181 } 182 183 184 void CV_Affine3D_EstTest::run( int /* start_from */) 185 { 186 cvtest::DefaultRngAuto dra; 187 188 if (!test4Points()) 189 return; 190 191 if (!testNPoints()) 192 return; 193 194 ts->set_failed_test_info(cvtest::TS::OK); 195 } 196 197 TEST(Calib3d_EstimateAffineTransform, accuracy) { CV_Affine3D_EstTest test; test.safe_run(); } 198
