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 class CV_DecomposeProjectionMatrixTest : public cvtest::BaseTest 46 { 47 public: 48 CV_DecomposeProjectionMatrixTest(); 49 protected: 50 void run(int); 51 }; 52 53 CV_DecomposeProjectionMatrixTest::CV_DecomposeProjectionMatrixTest() 54 { 55 test_case_count = 30; 56 } 57 58 59 void CV_DecomposeProjectionMatrixTest::run(int start_from) 60 { 61 62 ts->set_failed_test_info(cvtest::TS::OK); 63 64 cv::RNG& rng = ts->get_rng(); 65 int progress = 0; 66 67 68 for (int iter = start_from; iter < test_case_count; ++iter) 69 { 70 ts->update_context(this, iter, true); 71 progress = update_progress(progress, iter, test_case_count, 0); 72 73 // Create the original (and random) camera matrix, rotation, and translation 74 cv::Vec2d f, c; 75 rng.fill(f, cv::RNG::UNIFORM, 300, 1000); 76 rng.fill(c, cv::RNG::UNIFORM, 150, 600); 77 78 double alpha = 0.01*rng.gaussian(1); 79 80 cv::Matx33d origK(f(0), alpha*f(0), c(0), 81 0, f(1), c(1), 82 0, 0, 1); 83 84 85 cv::Vec3d rVec; 86 rng.fill(rVec, cv::RNG::UNIFORM, -CV_PI, CV_PI); 87 88 cv::Matx33d origR; 89 Rodrigues(rVec, origR); 90 91 cv::Vec3d origT; 92 rng.fill(origT, cv::RNG::NORMAL, 0, 1); 93 94 95 // Compose the projection matrix 96 cv::Matx34d P(3,4); 97 hconcat(origK*origR, origK*origT, P); 98 99 100 // Decompose 101 cv::Matx33d K, R; 102 cv::Vec4d homogCameraCenter; 103 decomposeProjectionMatrix(P, K, R, homogCameraCenter); 104 105 106 // Recover translation from the camera center 107 cv::Vec3d cameraCenter(homogCameraCenter(0), homogCameraCenter(1), homogCameraCenter(2)); 108 cameraCenter /= homogCameraCenter(3); 109 110 cv::Vec3d t = -R*cameraCenter; 111 112 113 const double thresh = 1e-6; 114 if ( norm(origK, K, cv::NORM_INF) > thresh ) 115 { 116 ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY); 117 break; 118 } 119 120 if ( norm(origR, R, cv::NORM_INF) > thresh ) 121 { 122 ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY); 123 break; 124 } 125 126 if ( norm(origT, t, cv::NORM_INF) > thresh ) 127 { 128 ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY); 129 break; 130 } 131 132 } 133 134 } 135 136 TEST(Calib3d_DecomposeProjectionMatrix, accuracy) 137 { 138 CV_DecomposeProjectionMatrixTest test; 139 test.safe_run(); 140 } 141
