opencv/modules/calib3d/test/test_affine2d_estimator.cpp

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#include "test_precomp.hpp"

using namespace cv;
using namespace std;
using namespace testing;

#include <vector>
#include <numeric>

CV_ENUM(Method, RANSAC, LMEDS)
typedef TestWithParam<Method> EstimateAffine2D;

static float rngIn(float from, float to) { return from + (to-from) * (float)theRNG(); }

TEST_P(EstimateAffine2D, test3Points)
{
    // try more transformations
    for (size_t i = 0; i < 500; ++i)
    {
        Mat aff(2, 3, CV_64F);
        cv::randu(aff, 1., 3.);

        Mat fpts(1, 3, CV_32FC2);
        Mat tpts(1, 3, CV_32FC2);

        // setting points that are not in the same line
        fpts.at<Point2f>(0) = Point2f( rngIn(1,2), rngIn(5,6) );
        fpts.at<Point2f>(1) = Point2f( rngIn(3,4), rngIn(3,4) );
        fpts.at<Point2f>(2) = Point2f( rngIn(1,2), rngIn(3,4) );

        transform(fpts, tpts, aff);

        vector<uchar> inliers;
        Mat aff_est = estimateAffine2D(fpts, tpts, inliers, GetParam() /* method */);

        EXPECT_NEAR(0., cvtest::norm(aff_est, aff, NORM_INF), 1e-3);

        // all must be inliers
        EXPECT_EQ(countNonZero(inliers), 3);
    }
}

TEST_P(EstimateAffine2D, testNPoints)
{
    // try more transformations
    for (size_t i = 0; i < 500; ++i)
    {
        Mat aff(2, 3, CV_64F);
        cv::randu(aff, -2., 2.);
        const int method = GetParam();
        const int n = 100;
        int m;
        // LMEDS can't handle more than 50% outliers (by design)
        if (method == LMEDS)
            m = 3*n/5;
        else
            m = 2*n/5;
        const float shift_outl = 15.f;
        const float noise_level = 20.f;

        Mat fpts(1, n, CV_32FC2);
        Mat tpts(1, n, CV_32FC2);

        randu(fpts, 0., 100.);
        transform(fpts, tpts, aff);

        /* adding noise to some points */
        Mat outliers = tpts.colRange(m, n);
        outliers.reshape(1) += shift_outl;

        Mat noise (outliers.size(), outliers.type());
        randu(noise, 0., noise_level);
        outliers += noise;

        vector<uchar> inliers;
        Mat aff_est = estimateAffine2D(fpts, tpts, inliers, method);

        EXPECT_FALSE(aff_est.empty()) << "estimation failed, unable to estimate transform";

        EXPECT_NEAR(0., cvtest::norm(aff_est, aff, NORM_INF), 1e-4);

        bool inliers_good = count(inliers.begin(), inliers.end(), 1) == m &&
            m == accumulate(inliers.begin(), inliers.begin() + m, 0);

        EXPECT_TRUE(inliers_good);
    }
}

INSTANTIATE_TEST_CASE_P(Calib3d, EstimateAffine2D, Method::all());