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11 // For Open Source Computer Vision Library
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41 //M*/
42
43 #include "test_precomp.hpp"
44 #include "opencv2/core/affine.hpp"
45 #include "opencv2/calib3d.hpp"
46 #include <iostream>
47
TEST(Calib3d_Affine3f,accuracy)48 TEST(Calib3d_Affine3f, accuracy)
49 {
50 cv::Vec3d rvec(0.2, 0.5, 0.3);
51 cv::Affine3d affine(rvec);
52
53 cv::Mat expected;
54 cv::Rodrigues(rvec, expected);
55
56
57 ASSERT_EQ(0, cvtest::norm(cv::Mat(affine.matrix, false).colRange(0, 3).rowRange(0, 3) != expected, cv::NORM_L2));
58 ASSERT_EQ(0, cvtest::norm(cv::Mat(affine.linear()) != expected, cv::NORM_L2));
59
60
61 cv::Matx33d R = cv::Matx33d::eye();
62
63 double angle = 50;
64 R.val[0] = R.val[4] = std::cos(CV_PI*angle/180.0);
65 R.val[3] = std::sin(CV_PI*angle/180.0);
66 R.val[1] = -R.val[3];
67
68
69 cv::Affine3d affine1(cv::Mat(cv::Vec3d(0.2, 0.5, 0.3)).reshape(1, 1), cv::Vec3d(4, 5, 6));
70 cv::Affine3d affine2(R, cv::Vec3d(1, 1, 0.4));
71
72 cv::Affine3d result = affine1.inv() * affine2;
73
74 expected = cv::Mat(affine1.matrix.inv(cv::DECOMP_SVD)) * cv::Mat(affine2.matrix, false);
75
76
77 cv::Mat diff;
78 cv::absdiff(expected, result.matrix, diff);
79
80 ASSERT_LT(cvtest::norm(diff, cv::NORM_INF), 1e-15);
81 }
82
TEST(Calib3d_Affine3f,accuracy_rvec)83 TEST(Calib3d_Affine3f, accuracy_rvec)
84 {
85 cv::RNG rng;
86 typedef float T;
87
88 cv::Affine3<T>::Vec3 w;
89 cv::Affine3<T>::Mat3 u, vt, R;
90
91 for(int i = 0; i < 100; ++i)
92 {
93 rng.fill(R, cv::RNG::UNIFORM, -10, 10, true);
94 cv::SVD::compute(R, w, u, vt, cv::SVD::FULL_UV + cv::SVD::MODIFY_A);
95 R = u * vt;
96
97 //double s = (double)cv::getTickCount();
98 cv::Affine3<T>::Vec3 va = cv::Affine3<T>(R).rvec();
99 //std::cout << "M:" <<(cv::getTickCount() - s)*1000/cv::getTickFrequency() << std::endl;
100
101 cv::Affine3<T>::Vec3 vo;
102 //s = (double)cv::getTickCount();
103 cv::Rodrigues(R, vo);
104 //std::cout << "O:" <<(cv::getTickCount() - s)*1000/cv::getTickFrequency() << std::endl;
105
106 ASSERT_LT(cvtest::norm(va, vo, cv::NORM_L2), 1e-9);
107 }
108 }
109