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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// This is a test file for the function decomposeHomography contributed to OpenCV
// by Samson Yilma.
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2014, Samson Yilma¸ (samson_yilma@yahoo.com), all rights reserved.
//
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "test_precomp.hpp"
#include "opencv2/calib3d.hpp"
#include <vector>
using namespace cv;
using namespace std;
class CV_HomographyDecompTest: public cvtest::BaseTest {
public:
CV_HomographyDecompTest()
{
buildTestDataSet();
}
protected:
void run(int)
{
vector<Mat> rotations;
vector<Mat> translations;
vector<Mat> normals;
decomposeHomographyMat(_H, _K, rotations, translations, normals);
//there should be at least 1 solution
ASSERT_GT(static_cast<int>(rotations.size()), 0);
ASSERT_GT(static_cast<int>(translations.size()), 0);
ASSERT_GT(static_cast<int>(normals.size()), 0);
ASSERT_EQ(rotations.size(), normals.size());
ASSERT_EQ(translations.size(), normals.size());
ASSERT_TRUE(containsValidMotion(rotations, translations, normals));
decomposeHomographyMat(_H, _K, rotations, noArray(), noArray());
ASSERT_GT(static_cast<int>(rotations.size()), 0);
}
private:
void buildTestDataSet()
{
_K = Matx33d(640, 0.0, 320,
0, 640, 240,
0, 0, 1);
_H = Matx33d(2.649157564634028, 4.583875997496426, 70.694447785121326,
-1.072756858861583, 3.533262150437228, 1513.656999614321649,
0.001303887589576, 0.003042206876298, 1.000000000000000
);
//expected solution for the given homography and intrinsic matrices
_R = Matx33d(0.43307983549125, 0.545749113549648, -0.717356090899523,
-0.85630229674426, 0.497582023798831, -0.138414255706431,
0.281404038139784, 0.67421809131173, 0.682818960388909);
_t = Vec3d(1.826751712278038, 1.264718492450820, 0.195080809998819);
_n = Vec3d(0.244875830334816, 0.480857890778889, 0.841909446789566);
}
bool containsValidMotion(std::vector<Mat>& rotations,
std::vector<Mat>& translations,
std::vector<Mat>& normals
)
{
double max_error = 1.0e-3;
vector<Mat>::iterator riter = rotations.begin();
vector<Mat>::iterator titer = translations.begin();
vector<Mat>::iterator niter = normals.begin();
for (;
riter != rotations.end() && titer != translations.end() && niter != normals.end();
++riter, ++titer, ++niter) {
double rdist = norm(*riter, _R, NORM_INF);
double tdist = norm(*titer, _t, NORM_INF);
double ndist = norm(*niter, _n, NORM_INF);
if ( rdist < max_error
&& tdist < max_error
&& ndist < max_error )
return true;
}
return false;
}
Matx33d _R, _K, _H;
Vec3d _t, _n;
};
TEST(Calib3d_DecomposeHomography, regression) { CV_HomographyDecompTest test; test.safe_run(); }