vendor: OpenCV 5.0.0 snapshot at 755e50675d97db9b7d449d8bd6b09888646f6c6e

modules/rapid/test/test_main.cpp

@@ -0,0 +1,47 @@
+// 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"
+
+CV_TEST_MAIN("cv")
+
+namespace opencv_test { namespace {
+
+TEST(CV_Rapid, rapid)
+{
+    // a unit sized box
+    std::vector<Vec3f> vtx = {
+        {1, -1, -1}, {1, -1, 1}, {-1, -1, 1}, {-1, -1, -1}, {1, 1, -1}, {1, 1, 1}, {-1, 1, 1}, {-1, 1, -1},
+    };
+    std::vector<Vec3i> tris = {
+        {2, 4, 1}, {8, 6, 5}, {5, 2, 1}, {6, 3, 2}, {3, 8, 4}, {1, 8, 5},
+        {2, 3, 4}, {8, 7, 6}, {5, 6, 2}, {6, 7, 3}, {3, 7, 8}, {1, 4, 8},
+    };
+    Mat(tris) -= Scalar(1, 1, 1);
+
+    // camera setup
+    Size sz(1280, 720);
+
+    Mat K = getDefaultNewCameraMatrix(Matx33f::diag(Vec3f(800, 800, 1)), sz, true);
+    Vec3f trans = {0, 0, 5};
+    Vec3f rot = {0.7f, 0.6f, 0};
+
+    // draw something
+    Mat pts2d;
+    projectPoints(vtx, rot, trans, K, noArray(), pts2d);
+
+    Mat_<uchar> img(sz, uchar(0));
+    rapid::drawWireframe(img, pts2d, tris, Scalar(255), LINE_8);
+
+    // recover pose form different position
+    Vec3f t_init = Vec3f(0.1f, 0, 5);
+    auto tracker = rapid::Rapid::create(vtx, tris);
+    // do two iterations
+    TermCriteria term(TermCriteria::MAX_ITER, 2, 0);
+    tracker->compute(img, 100, 20, K, rot, t_init, term);
+
+    // assert that it improved from init
+    ASSERT_LT(cv::norm(trans - t_init), 0.075);
+}
+
+}} // namespace

modules/rapid/test/test_precomp.hpp

@@ -0,0 +1,12 @@
+// 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.
+#ifndef __OPENCV_TEST_PRECOMP_HPP__
+#define __OPENCV_TEST_PRECOMP_HPP__
+
+#include "opencv2/ts.hpp"
+#include "opencv2/imgproc.hpp"
+#include "opencv2/geometry.hpp"
+#include "opencv2/rapid.hpp"
+
+#endif