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| // For Open Source Computer Vision Library |
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| //M*/ |
| |
| #include "test_precomp.hpp" |
| #include "opencv2/calib3d/calib3d_c.h" |
| |
| using namespace cv; |
| using namespace std; |
| |
| class CV_POSITTest : public cvtest::BaseTest |
| { |
| public: |
| CV_POSITTest(); |
| protected: |
| void run(int); |
| }; |
| |
| |
| CV_POSITTest::CV_POSITTest() |
| { |
| test_case_count = 20; |
| } |
| |
| void CV_POSITTest::run( int start_from ) |
| { |
| int code = cvtest::TS::OK; |
| |
| /* fixed parameters output */ |
| /*float rot[3][3]={ 0.49010f, 0.85057f, 0.19063f, |
| -0.56948f, 0.14671f, 0.80880f, |
| 0.65997f, -0.50495f, 0.55629f }; |
| |
| float trans[3] = { 0.0f, 0.0f, 40.02637f }; |
| */ |
| |
| /* Some variables */ |
| int i, counter; |
| |
| CvTermCriteria criteria; |
| CvPoint3D32f* obj_points; |
| CvPoint2D32f* img_points; |
| CvPOSITObject* object; |
| |
| float angleX, angleY, angleZ; |
| RNG& rng = ts->get_rng(); |
| int progress = 0; |
| |
| CvMat* true_rotationX = cvCreateMat( 3, 3, CV_32F ); |
| CvMat* true_rotationY = cvCreateMat( 3, 3, CV_32F ); |
| CvMat* true_rotationZ = cvCreateMat( 3, 3, CV_32F ); |
| CvMat* tmp_matrix = cvCreateMat( 3, 3, CV_32F ); |
| CvMat* true_rotation = cvCreateMat( 3, 3, CV_32F ); |
| CvMat* rotation = cvCreateMat( 3, 3, CV_32F ); |
| CvMat* translation = cvCreateMat( 3, 1, CV_32F ); |
| CvMat* true_translation = cvCreateMat( 3, 1, CV_32F ); |
| |
| const float flFocalLength = 760.f; |
| const float flEpsilon = 0.5f; |
| |
| /* Initilization */ |
| criteria.type = CV_TERMCRIT_EPS|CV_TERMCRIT_ITER; |
| criteria.epsilon = flEpsilon; |
| criteria.max_iter = 10000; |
| |
| /* Allocating source arrays; */ |
| obj_points = (CvPoint3D32f*)cvAlloc( 8 * sizeof(CvPoint3D32f) ); |
| img_points = (CvPoint2D32f*)cvAlloc( 8 * sizeof(CvPoint2D32f) ); |
| |
| /* Fill points arrays with values */ |
| |
| /* cube model with edge size 10 */ |
| obj_points[0].x = 0; obj_points[0].y = 0; obj_points[0].z = 0; |
| obj_points[1].x = 10; obj_points[1].y = 0; obj_points[1].z = 0; |
| obj_points[2].x = 10; obj_points[2].y = 10; obj_points[2].z = 0; |
| obj_points[3].x = 0; obj_points[3].y = 10; obj_points[3].z = 0; |
| obj_points[4].x = 0; obj_points[4].y = 0; obj_points[4].z = 10; |
| obj_points[5].x = 10; obj_points[5].y = 0; obj_points[5].z = 10; |
| obj_points[6].x = 10; obj_points[6].y = 10; obj_points[6].z = 10; |
| obj_points[7].x = 0; obj_points[7].y = 10; obj_points[7].z = 10; |
| |
| /* Loop for test some random object positions */ |
| for( counter = start_from; counter < test_case_count; counter++ ) |
| { |
| ts->update_context( this, counter, true ); |
| progress = update_progress( progress, counter, test_case_count, 0 ); |
| |
| /* set all rotation matrix to zero */ |
| cvZero( true_rotationX ); |
| cvZero( true_rotationY ); |
| cvZero( true_rotationZ ); |
| |
| /* fill random rotation matrix */ |
| angleX = (float)(cvtest::randReal(rng)*2*CV_PI); |
| angleY = (float)(cvtest::randReal(rng)*2*CV_PI); |
| angleZ = (float)(cvtest::randReal(rng)*2*CV_PI); |
| |
| true_rotationX->data.fl[0 *3+ 0] = 1; |
| true_rotationX->data.fl[1 *3+ 1] = (float)cos(angleX); |
| true_rotationX->data.fl[2 *3+ 2] = true_rotationX->data.fl[1 *3+ 1]; |
| true_rotationX->data.fl[1 *3+ 2] = -(float)sin(angleX); |
| true_rotationX->data.fl[2 *3+ 1] = -true_rotationX->data.fl[1 *3+ 2]; |
| |
| true_rotationY->data.fl[1 *3+ 1] = 1; |
| true_rotationY->data.fl[0 *3+ 0] = (float)cos(angleY); |
| true_rotationY->data.fl[2 *3+ 2] = true_rotationY->data.fl[0 *3+ 0]; |
| true_rotationY->data.fl[0 *3+ 2] = -(float)sin(angleY); |
| true_rotationY->data.fl[2 *3+ 0] = -true_rotationY->data.fl[0 *3+ 2]; |
| |
| true_rotationZ->data.fl[2 *3+ 2] = 1; |
| true_rotationZ->data.fl[0 *3+ 0] = (float)cos(angleZ); |
| true_rotationZ->data.fl[1 *3+ 1] = true_rotationZ->data.fl[0 *3+ 0]; |
| true_rotationZ->data.fl[0 *3+ 1] = -(float)sin(angleZ); |
| true_rotationZ->data.fl[1 *3+ 0] = -true_rotationZ->data.fl[0 *3+ 1]; |
| |
| cvMatMul( true_rotationX, true_rotationY, tmp_matrix); |
| cvMatMul( tmp_matrix, true_rotationZ, true_rotation); |
| |
| /* fill translation vector */ |
| true_translation->data.fl[2] = (float)(cvtest::randReal(rng)*(2*flFocalLength-40) + 60); |
| true_translation->data.fl[0] = (float)((cvtest::randReal(rng)*2-1)*true_translation->data.fl[2]); |
| true_translation->data.fl[1] = (float)((cvtest::randReal(rng)*2-1)*true_translation->data.fl[2]); |
| |
| /* calculate perspective projection */ |
| for ( i = 0; i < 8; i++ ) |
| { |
| float vec[3]; |
| CvMat Vec = cvMat( 3, 1, CV_32F, vec ); |
| CvMat Obj_point = cvMat( 3, 1, CV_32F, &obj_points[i].x ); |
| |
| cvMatMul( true_rotation, &Obj_point, &Vec ); |
| |
| vec[0] += true_translation->data.fl[0]; |
| vec[1] += true_translation->data.fl[1]; |
| vec[2] += true_translation->data.fl[2]; |
| |
| img_points[i].x = flFocalLength * vec[0] / vec[2]; |
| img_points[i].y = flFocalLength * vec[1] / vec[2]; |
| } |
| |
| /*img_points[0].x = 0 ; img_points[0].y = 0; |
| img_points[1].x = 80; img_points[1].y = -93; |
| img_points[2].x = 245;img_points[2].y = -77; |
| img_points[3].x = 185;img_points[3].y = 32; |
| img_points[4].x = 32; img_points[4].y = 135; |
| img_points[5].x = 99; img_points[5].y = 35; |
| img_points[6].x = 247; img_points[6].y = 62; |
| img_points[7].x = 195; img_points[7].y = 179; |
| */ |
| |
| object = cvCreatePOSITObject( obj_points, 8 ); |
| cvPOSIT( object, img_points, flFocalLength, criteria, |
| rotation->data.fl, translation->data.fl ); |
| cvReleasePOSITObject( &object ); |
| |
| Mat _rotation = cvarrToMat(rotation), _true_rotation = cvarrToMat(true_rotation); |
| Mat _translation = cvarrToMat(translation), _true_translation = cvarrToMat(true_translation); |
| code = cvtest::cmpEps2( ts, _rotation, _true_rotation, flEpsilon, false, "rotation matrix" ); |
| if( code < 0 ) |
| break; |
| |
| code = cvtest::cmpEps2( ts, _translation, _true_translation, flEpsilon, false, "translation vector" ); |
| if( code < 0 ) |
| break; |
| } |
| |
| cvFree( &obj_points ); |
| cvFree( &img_points ); |
| |
| cvReleaseMat( &true_rotationX ); |
| cvReleaseMat( &true_rotationY ); |
| cvReleaseMat( &true_rotationZ ); |
| cvReleaseMat( &tmp_matrix ); |
| cvReleaseMat( &true_rotation ); |
| cvReleaseMat( &rotation ); |
| cvReleaseMat( &translation ); |
| cvReleaseMat( &true_translation ); |
| |
| if( code < 0 ) |
| ts->set_failed_test_info( code ); |
| } |
| |
| TEST(Calib3d_POSIT, accuracy) { CV_POSITTest test; test.safe_run(); } |
| |
| /* End of file. */ |
