Add test for calib3d function decomposeProjectionMatrix(...)

modules/calib3d/test/test_decompose_projection.cpp

@@ -0,0 +1,140 @@
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+
+#include "test_precomp.hpp"
+
+class CV_DecomposeProjectionMatrixTest : public cvtest::BaseTest
+{
+public:
+    CV_DecomposeProjectionMatrixTest();
+protected:
+    void run(int);
+};
+
+CV_DecomposeProjectionMatrixTest::CV_DecomposeProjectionMatrixTest()
+{
+    test_case_count = 30;
+}
+
+
+void CV_DecomposeProjectionMatrixTest::run(int start_from)
+{
+
+    ts->set_failed_test_info(cvtest::TS::OK);
+
+    cv::RNG& rng = ts->get_rng();
+    int progress = 0;
+
+
+    for (int iter = start_from; iter < test_case_count; ++iter)
+    {
+        ts->update_context(this, iter, true);
+        progress = update_progress(progress, iter, test_case_count, 0);
+
+        // Create the original (and random) camera matrix, rotation, and translation
+        cv::Vec2d f, c;
+        rng.fill(f, cv::RNG::UNIFORM, 300, 1000);
+        rng.fill(c, cv::RNG::UNIFORM, 150, 600);
+
+        double alpha = 0.01*rng.gaussian(1);
+
+        cv::Matx33d origK(f(0), alpha*f(0), c(0),
+                          0,          f(1), c(1),
+                          0,             0,   1);
+
+
+        cv::Vec3d rVec;
+        rng.fill(rVec, cv::RNG::UNIFORM, -CV_PI, CV_PI);
+
+        cv::Matx33d origR;
+        Rodrigues(rVec, origR);
+
+        cv::Vec3d origT;
+        rng.fill(origT, cv::RNG::NORMAL, 0, 1);
+
+
+        // Compose the projection matrix
+        cv::Matx34d P(3,4);
+        hconcat(origK*origR, origK*origT, P);
+
+
+        // Decompose
+        cv::Matx33d K, R;
+        cv::Vec4d homogCameraCenter;
+        decomposeProjectionMatrix(P, K, R, homogCameraCenter);
+
+
+        // Recover translation from the camera center
+        cv::Vec3d cameraCenter(homogCameraCenter(0), homogCameraCenter(1), homogCameraCenter(2));
+        cameraCenter /= homogCameraCenter(3);
+
+        cv::Vec3d t = -R*cameraCenter;
+
+
+        const double thresh = 1e-6;
+        if ( norm(origK, K, cv::NORM_INF) > thresh )
+        {
+            ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
+            break;
+        }
+
+        if ( norm(origR, R, cv::NORM_INF) > thresh )
+        {
+            ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
+            break;
+        }
+
+        if ( norm(origT, t, cv::NORM_INF) > thresh )
+        {
+            ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
+            break;
+        }
+
+    }
+
+}
+
+TEST(Calib3d_DecomposeProjectionMatrix, accuracy)
+{
+    CV_DecomposeProjectionMatrixTest test;
+    test.safe_run();
+}