120 lines
3.3 KiB
C++
120 lines
3.3 KiB
C++
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2009, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* 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
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#include "test_precomp.hpp"
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#include <opencv2/sfm/projection.hpp>
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namespace opencv_test { namespace {
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TEST(Sfm_projection, homogeneousToEuclidean)
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{
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Matx33f X(1, 2, 3,
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4, 5, 6,
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2, 1, 0);
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Matx23f XEuclidean;
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homogeneousToEuclidean(X,XEuclidean);
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EXPECT_EQ((int) X.rows-1,(int) XEuclidean.rows );
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for(int y=0;y<X.rows-1;++y)
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{
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for(int x=0;x<X.cols;++x)
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{
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if (X(X.rows-1,x)!=0)
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{
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EXPECT_LE( std::abs(X(y,x)/X(X.rows-1, x) - XEuclidean(y,x)), 1e-4 );
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}
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}
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}
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}
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TEST(Sfm_projection, euclideanToHomogeneous)
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{
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// Testing with floats
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Matx33f x(1, 2, 3,
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4, 5, 6,
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2, 1, 0);
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Matx43f XHomogeneous;
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euclideanToHomogeneous(x,XHomogeneous);
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EXPECT_EQ((int) x.rows+1,(int)XHomogeneous.rows );
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for(int i=0;i<x.cols;++i)
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EXPECT_EQ( 1,(int) XHomogeneous(x.rows,i) );
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// Testing with doubles
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Vec2d x2(4,3);
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Vec3d X2;
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euclideanToHomogeneous(x2,X2);
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EXPECT_EQ((int) x2.rows+1,(int)X2.rows );
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EXPECT_EQ( 4, X2(0) );
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EXPECT_EQ( 3, X2(1) );
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EXPECT_EQ( 1, X2(2) );
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}
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TEST(Sfm_projection, P_From_KRt)
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{
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Matx33d K, Kp;
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K << 10, 1, 30,
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0, 20, 40,
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0, 0, 1;
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Matx33d R, Rp;
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R << 1, 0, 0,
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0, 1, 0,
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0, 0, 1;
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Vec3d t, tp;
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t << 1, 2, 3;
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Matx34d P(3,4);
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projectionFromKRt(K, R, t, P);
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KRtFromProjection(P, Kp, Rp, tp);
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EXPECT_MATRIX_NEAR(K, Kp, 1e-8);
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EXPECT_MATRIX_NEAR(R, Rp, 1e-8);
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EXPECT_VECTOR_NEAR(t, tp, 1e-8);
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// TODO: Change the code to ensure det(R) == 1, which is not currently
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// the case. Also add a test for that here.
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}
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}} // namespace
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