init - 初始化项目

modules/calib3d/test/test_translation3d_estimator.cpp

@@ -0,0 +1,100 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+
+
+#include "test_precomp.hpp"
+
+namespace opencv_test { namespace {
+
+TEST(Calib3d_EstimateTranslation3D, test4Points)
+{
+    Matx13d trans;
+    cv::randu(trans, Scalar(1), Scalar(3));
+
+    // setting points that are no in the same line
+
+    Mat fpts(1, 4, CV_32FC3);
+    Mat tpts(1, 4, CV_32FC3);
+
+    RNG& rng = theRNG();
+    fpts.at<Point3f>(0) = Point3f(rng.uniform(1.0f, 2.0f), rng.uniform(1.0f, 2.0f), rng.uniform(5.0f, 6.0f));
+    fpts.at<Point3f>(1) = Point3f(rng.uniform(3.0f, 4.0f), rng.uniform(3.0f, 4.0f), rng.uniform(5.0f, 6.0f));
+    fpts.at<Point3f>(2) = Point3f(rng.uniform(1.0f, 2.0f), rng.uniform(3.0f, 4.0f), rng.uniform(5.0f, 6.0f));
+    fpts.at<Point3f>(3) = Point3f(rng.uniform(3.0f, 4.0f), rng.uniform(1.0f, 2.0f), rng.uniform(5.0f, 6.0f));
+
+    std::transform(fpts.ptr<Point3f>(), fpts.ptr<Point3f>() + 4, tpts.ptr<Point3f>(),
+        [&] (const Point3f& p) -> Point3f
+        {
+            return Point3f((float)(p.x + trans(0, 0)),
+                           (float)(p.y + trans(0, 1)),
+                           (float)(p.z + trans(0, 2)));
+        }
+    );
+
+    Matx13d trans_est;
+    vector<uchar> outliers;
+    int res = estimateTranslation3D(fpts, tpts, trans_est, outliers);
+    EXPECT_GT(res, 0);
+
+    const double thres = 1e-3;
+
+    EXPECT_LE(cvtest::norm(trans_est, trans, NORM_INF), thres)
+        << "aff est: " << trans_est << endl
+        << "aff ref: " << trans;
+}
+
+TEST(Calib3d_EstimateTranslation3D, testNPoints)
+{
+    Matx13d trans;
+    cv::randu(trans, Scalar(-2), Scalar(2));
+
+    // setting points that are no in the same line
+
+    const int n = 100;
+    const int m = 3*n/5;
+    const Point3f shift_outl = Point3f(15, 15, 15);
+    const float noise_level = 20.f;
+
+    Mat fpts(1, n, CV_32FC3);
+    Mat tpts(1, n, CV_32FC3);
+
+    randu(fpts, Scalar::all(0), Scalar::all(100));
+    std::transform(fpts.ptr<Point3f>(), fpts.ptr<Point3f>() + n, tpts.ptr<Point3f>(),
+        [&] (const Point3f& p) -> Point3f
+        {
+            return Point3f((float)(p.x + trans(0, 0)),
+                           (float)(p.y + trans(0, 1)),
+                           (float)(p.z + trans(0, 2)));
+        }
+    );
+
+    /* adding noise*/
+    std::transform(tpts.ptr<Point3f>() + m, tpts.ptr<Point3f>() + n, tpts.ptr<Point3f>() + m,
+        [&] (const Point3f& pt) -> Point3f
+        {
+            Point3f p = pt + shift_outl;
+            RNG& rng = theRNG();
+            return Point3f(p.x + noise_level * (float)rng,
+                           p.y + noise_level * (float)rng,
+                           p.z + noise_level * (float)rng);
+        }
+    );
+
+    Matx13d trans_est;
+    vector<uchar> outl;
+    int res = estimateTranslation3D(fpts, tpts, trans_est, outl);
+    EXPECT_GT(res, 0);
+
+    const double thres = 1e-4;
+    EXPECT_LE(cvtest::norm(trans_est, trans, NORM_INF), thres)
+        << "aff est: " << trans_est << endl
+        << "aff ref: " << trans;
+
+    bool outl_good = count(outl.begin(), outl.end(), 1) == m &&
+        m == accumulate(outl.begin(), outl.begin() + m, 0);
+
+    EXPECT_TRUE(outl_good);
+}
+
+}} // namespace