Open Source Computer Vision Library https://opencv.org/
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#include "test_precomp.hpp"
using namespace cv;
using namespace std;
class CV_solvePnPRansac_Test : public cvtest::BaseTest
{
public:
CV_solvePnPRansac_Test() {}
~CV_solvePnPRansac_Test() {}
protected:
void generate3DPointCloud(vector<Point3f>& points, Point3f pmin = Point3f(-1,
-1, 5), Point3f pmax = Point3f(1, 1, 10))
{
const Point3f delta = pmax - pmin;
for (size_t i = 0; i < points.size(); i++)
{
Point3f p(float(rand()) / RAND_MAX, float(rand()) / RAND_MAX,
float(rand()) / RAND_MAX);
p.x *= delta.x;
p.y *= delta.y;
p.z *= delta.z;
p = p + pmin;
points[i] = p;
}
}
void run(int)
{
cvtest::TS& ts = *this->ts;
ts.set_failed_test_info(cvtest::TS::OK);
Mat intrinsics = Mat::eye(3, 3, CV_32FC1);
intrinsics.at<float> (0, 0) = 400.0;
intrinsics.at<float> (1, 1) = 400.0;
intrinsics.at<float> (0, 2) = 640 / 2;
intrinsics.at<float> (1, 2) = 480 / 2;
Mat dist_coeffs = Mat::zeros(5, 1, CV_32FC1);
Mat rvec1 = Mat::zeros(3, 1, CV_64FC1);
Mat tvec1 = Mat::zeros(3, 1, CV_64FC1);
rvec1.at<double> (0, 0) = 1.0f;
tvec1.at<double> (0, 0) = 1.0f;
tvec1.at<double> (1, 0) = 1.0f;
vector<Point3f> points;
points.resize(500);
generate3DPointCloud(points);
vector<Point2f> points1;
points1.resize(points.size());
projectPoints(Mat(points), rvec1, tvec1, intrinsics, dist_coeffs, points1);
for (size_t i = 0; i < points1.size(); i++)
{
if (i % 20 == 0)
{
points1[i] = points1[rand() % points.size()];
}
}
double eps = 1.0e-7;
int successfulTestsCount = 0;
int totalTestsCount = 10;
for (int testIndex = 0; testIndex < totalTestsCount; testIndex++)
{
try
{
Mat rvec, tvec;
vector<int> inliers;
solvePnPRansac(points, points1, intrinsics, dist_coeffs, rvec, tvec,
false, 1000, 2.0, -1, inliers);
bool isTestSuccess = inliers.size() == 475;
isTestSuccess = isTestSuccess
&& (abs(rvec.at<double> (0, 0) - 1) < eps);
isTestSuccess = isTestSuccess && (abs(rvec.at<double> (1, 0)) < eps);
isTestSuccess = isTestSuccess && (abs(rvec.at<double> (2, 0)) < eps);
isTestSuccess = isTestSuccess
&& (abs(tvec.at<double> (0, 0) - 1) < eps);
isTestSuccess = isTestSuccess
&& (abs(tvec.at<double> (1, 0) - 1) < eps);
isTestSuccess = isTestSuccess && (abs(tvec.at<double> (2, 0)) < eps);
if (isTestSuccess)
successfulTestsCount++;
}
catch(...)
{
ts.printf(cvtest::TS::LOG, "Exception in solvePnPRansac\n");
ts.set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
}
}
if (successfulTestsCount < 0.8*totalTestsCount)
{
ts.printf( cvtest::TS::LOG, "Invalid accuracy, failed %d tests from %d\n",
totalTestsCount - successfulTestsCount, totalTestsCount);
ts.set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
}
}
};
TEST(Calib3d_SolvePnPRansac, accuracy) { CV_solvePnPRansac_Test test; test.safe_run(); }