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 // Intel License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2000, Intel Corporation, all rights reserved. 14 // Third party copyrights are property of their respective owners. 15 // 16 // Redistribution and use in source and binary forms, with or without modification, 17 // are permitted provided that the following conditions are met: 18 // 19 // * Redistribution's of source code must retain the above copyright notice, 20 // this list of conditions and the following disclaimer. 21 // 22 // * Redistribution's in binary form must reproduce the above copyright notice, 23 // this list of conditions and the following disclaimer in the documentation 24 // and/or other materials provided with the distribution. 25 // 26 // * The name of Intel Corporation may not be used to endorse or promote products 27 // derived from this software without specific prior written permission. 28 // 29 // This software is provided by the copyright holders and contributors "as is" and 30 // any express or implied warranties, including, but not limited to, the implied 31 // warranties of merchantability and fitness for a particular purpose are disclaimed. 32 // In no event shall the Intel Corporation or contributors be liable for any direct, 33 // indirect, incidental, special, exemplary, or consequential damages 34 // (including, but not limited to, procurement of substitute goods or services; 35 // loss of use, data, or profits; or business interruption) however caused 36 // and on any theory of liability, whether in contract, strict liability, 37 // or tort (including negligence or otherwise) arising in any way out of 38 // the use of this software, even if advised of the possibility of such damage. 39 // 40 //M*/ 41 42 #include "test_precomp.hpp" 43 #include "opencv2/calib3d/calib3d_c.h" 44 45 using namespace cv; 46 using namespace std; 47 48 class CV_POSITTest : public cvtest::BaseTest 49 { 50 public: 51 CV_POSITTest(); 52 protected: 53 void run(int); 54 }; 55 56 57 CV_POSITTest::CV_POSITTest() 58 { 59 test_case_count = 20; 60 } 61 62 void CV_POSITTest::run( int start_from ) 63 { 64 int code = cvtest::TS::OK; 65 66 /* fixed parameters output */ 67 /*float rot[3][3]={ 0.49010f, 0.85057f, 0.19063f, 68 -0.56948f, 0.14671f, 0.80880f, 69 0.65997f, -0.50495f, 0.55629f }; 70 71 float trans[3] = { 0.0f, 0.0f, 40.02637f }; 72 */ 73 74 /* Some variables */ 75 int i, counter; 76 77 CvTermCriteria criteria; 78 CvPoint3D32f* obj_points; 79 CvPoint2D32f* img_points; 80 CvPOSITObject* object; 81 82 float angleX, angleY, angleZ; 83 RNG& rng = ts->get_rng(); 84 int progress = 0; 85 86 CvMat* true_rotationX = cvCreateMat( 3, 3, CV_32F ); 87 CvMat* true_rotationY = cvCreateMat( 3, 3, CV_32F ); 88 CvMat* true_rotationZ = cvCreateMat( 3, 3, CV_32F ); 89 CvMat* tmp_matrix = cvCreateMat( 3, 3, CV_32F ); 90 CvMat* true_rotation = cvCreateMat( 3, 3, CV_32F ); 91 CvMat* rotation = cvCreateMat( 3, 3, CV_32F ); 92 CvMat* translation = cvCreateMat( 3, 1, CV_32F ); 93 CvMat* true_translation = cvCreateMat( 3, 1, CV_32F ); 94 95 const float flFocalLength = 760.f; 96 const float flEpsilon = 0.5f; 97 98 /* Initilization */ 99 criteria.type = CV_TERMCRIT_EPS|CV_TERMCRIT_ITER; 100 criteria.epsilon = flEpsilon; 101 criteria.max_iter = 10000; 102 103 /* Allocating source arrays; */ 104 obj_points = (CvPoint3D32f*)cvAlloc( 8 * sizeof(CvPoint3D32f) ); 105 img_points = (CvPoint2D32f*)cvAlloc( 8 * sizeof(CvPoint2D32f) ); 106 107 /* Fill points arrays with values */ 108 109 /* cube model with edge size 10 */ 110 obj_points[0].x = 0; obj_points[0].y = 0; obj_points[0].z = 0; 111 obj_points[1].x = 10; obj_points[1].y = 0; obj_points[1].z = 0; 112 obj_points[2].x = 10; obj_points[2].y = 10; obj_points[2].z = 0; 113 obj_points[3].x = 0; obj_points[3].y = 10; obj_points[3].z = 0; 114 obj_points[4].x = 0; obj_points[4].y = 0; obj_points[4].z = 10; 115 obj_points[5].x = 10; obj_points[5].y = 0; obj_points[5].z = 10; 116 obj_points[6].x = 10; obj_points[6].y = 10; obj_points[6].z = 10; 117 obj_points[7].x = 0; obj_points[7].y = 10; obj_points[7].z = 10; 118 119 /* Loop for test some random object positions */ 120 for( counter = start_from; counter < test_case_count; counter++ ) 121 { 122 ts->update_context( this, counter, true ); 123 progress = update_progress( progress, counter, test_case_count, 0 ); 124 125 /* set all rotation matrix to zero */ 126 cvZero( true_rotationX ); 127 cvZero( true_rotationY ); 128 cvZero( true_rotationZ ); 129 130 /* fill random rotation matrix */ 131 angleX = (float)(cvtest::randReal(rng)*2*CV_PI); 132 angleY = (float)(cvtest::randReal(rng)*2*CV_PI); 133 angleZ = (float)(cvtest::randReal(rng)*2*CV_PI); 134 135 true_rotationX->data.fl[0 *3+ 0] = 1; 136 true_rotationX->data.fl[1 *3+ 1] = (float)cos(angleX); 137 true_rotationX->data.fl[2 *3+ 2] = true_rotationX->data.fl[1 *3+ 1]; 138 true_rotationX->data.fl[1 *3+ 2] = -(float)sin(angleX); 139 true_rotationX->data.fl[2 *3+ 1] = -true_rotationX->data.fl[1 *3+ 2]; 140 141 true_rotationY->data.fl[1 *3+ 1] = 1; 142 true_rotationY->data.fl[0 *3+ 0] = (float)cos(angleY); 143 true_rotationY->data.fl[2 *3+ 2] = true_rotationY->data.fl[0 *3+ 0]; 144 true_rotationY->data.fl[0 *3+ 2] = -(float)sin(angleY); 145 true_rotationY->data.fl[2 *3+ 0] = -true_rotationY->data.fl[0 *3+ 2]; 146 147 true_rotationZ->data.fl[2 *3+ 2] = 1; 148 true_rotationZ->data.fl[0 *3+ 0] = (float)cos(angleZ); 149 true_rotationZ->data.fl[1 *3+ 1] = true_rotationZ->data.fl[0 *3+ 0]; 150 true_rotationZ->data.fl[0 *3+ 1] = -(float)sin(angleZ); 151 true_rotationZ->data.fl[1 *3+ 0] = -true_rotationZ->data.fl[0 *3+ 1]; 152 153 cvMatMul( true_rotationX, true_rotationY, tmp_matrix); 154 cvMatMul( tmp_matrix, true_rotationZ, true_rotation); 155 156 /* fill translation vector */ 157 true_translation->data.fl[2] = (float)(cvtest::randReal(rng)*(2*flFocalLength-40) + 60); 158 true_translation->data.fl[0] = (float)((cvtest::randReal(rng)*2-1)*true_translation->data.fl[2]); 159 true_translation->data.fl[1] = (float)((cvtest::randReal(rng)*2-1)*true_translation->data.fl[2]); 160 161 /* calculate perspective projection */ 162 for ( i = 0; i < 8; i++ ) 163 { 164 float vec[3]; 165 CvMat Vec = cvMat( 3, 1, CV_32F, vec ); 166 CvMat Obj_point = cvMat( 3, 1, CV_32F, &obj_points[i].x ); 167 168 cvMatMul( true_rotation, &Obj_point, &Vec ); 169 170 vec[0] += true_translation->data.fl[0]; 171 vec[1] += true_translation->data.fl[1]; 172 vec[2] += true_translation->data.fl[2]; 173 174 img_points[i].x = flFocalLength * vec[0] / vec[2]; 175 img_points[i].y = flFocalLength * vec[1] / vec[2]; 176 } 177 178 /*img_points[0].x = 0 ; img_points[0].y = 0; 179 img_points[1].x = 80; img_points[1].y = -93; 180 img_points[2].x = 245;img_points[2].y = -77; 181 img_points[3].x = 185;img_points[3].y = 32; 182 img_points[4].x = 32; img_points[4].y = 135; 183 img_points[5].x = 99; img_points[5].y = 35; 184 img_points[6].x = 247; img_points[6].y = 62; 185 img_points[7].x = 195; img_points[7].y = 179; 186 */ 187 188 object = cvCreatePOSITObject( obj_points, 8 ); 189 cvPOSIT( object, img_points, flFocalLength, criteria, 190 rotation->data.fl, translation->data.fl ); 191 cvReleasePOSITObject( &object ); 192 193 Mat _rotation = cvarrToMat(rotation), _true_rotation = cvarrToMat(true_rotation); 194 Mat _translation = cvarrToMat(translation), _true_translation = cvarrToMat(true_translation); 195 code = cvtest::cmpEps2( ts, _rotation, _true_rotation, flEpsilon, false, "rotation matrix" ); 196 if( code < 0 ) 197 break; 198 199 code = cvtest::cmpEps2( ts, _translation, _true_translation, flEpsilon, false, "translation vector" ); 200 if( code < 0 ) 201 break; 202 } 203 204 cvFree( &obj_points ); 205 cvFree( &img_points ); 206 207 cvReleaseMat( &true_rotationX ); 208 cvReleaseMat( &true_rotationY ); 209 cvReleaseMat( &true_rotationZ ); 210 cvReleaseMat( &tmp_matrix ); 211 cvReleaseMat( &true_rotation ); 212 cvReleaseMat( &rotation ); 213 cvReleaseMat( &translation ); 214 cvReleaseMat( &true_translation ); 215 216 if( code < 0 ) 217 ts->set_failed_test_info( code ); 218 } 219 220 TEST(Calib3d_POSIT, accuracy) { CV_POSITTest test; test.safe_run(); } 221 222 /* End of file. */ 223
