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47 lines
1.4 KiB
47 lines
1.4 KiB
// This file is part of OpenCV project. |
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// It is subject to the license terms in the LICENSE file found in the top-level directory |
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// of this distribution and at http://opencv.org/license.html. |
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#include "test_precomp.hpp" |
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CV_TEST_MAIN("cv") |
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namespace opencv_test { namespace { |
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TEST(CV_Rapid, rapid) |
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{ |
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// a unit sized box |
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std::vector<Vec3f> vtx = { |
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{1, -1, -1}, {1, -1, 1}, {-1, -1, 1}, {-1, -1, -1}, {1, 1, -1}, {1, 1, 1}, {-1, 1, 1}, {-1, 1, -1}, |
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}; |
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std::vector<Vec3i> tris = { |
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{2, 4, 1}, {8, 6, 5}, {5, 2, 1}, {6, 3, 2}, {3, 8, 4}, {1, 8, 5}, |
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{2, 3, 4}, {8, 7, 6}, {5, 6, 2}, {6, 7, 3}, {3, 7, 8}, {1, 4, 8}, |
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}; |
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Mat(tris) -= Scalar(1, 1, 1); |
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// camera setup |
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Size sz(1280, 720); |
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Mat K = getDefaultNewCameraMatrix(Matx33f::diag(Vec3f(800, 800, 1)), sz, true); |
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Vec3f trans = {0, 0, 5}; |
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Vec3f rot = {0.7f, 0.6f, 0}; |
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// draw something |
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Mat pts2d; |
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projectPoints(vtx, rot, trans, K, noArray(), pts2d); |
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Mat_<uchar> img(sz, uchar(0)); |
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rapid::drawWireframe(img, pts2d, tris, Scalar(255), LINE_8); |
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// recover pose form different position |
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Vec3f t_init = Vec3f(0.1f, 0, 5); |
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auto tracker = rapid::Rapid::create(vtx, tris); |
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// do two iterations |
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TermCriteria term(TermCriteria::MAX_ITER, 2, 0); |
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tracker->compute(img, 100, 20, K, rot, t_init, term); |
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// assert that it improved from init |
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ASSERT_LT(cv::norm(trans - t_init), 0.075); |
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} |
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}} // namespace
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