vendor: OpenCV 5.0.0 snapshot at 755e50675d97db9b7d449d8bd6b09888646f6c6e

2026-08-22 00:11:13 +08:00
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+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2009, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions 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.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may 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
+ *  COPYRIGHT OWNER 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.
+ *
+ */
+
+#include <opencv2/geometry.hpp>
+#include <opencv2/core.hpp>
+
+#include "test_precomp.hpp"
+
+static cv::Matx33d randomK(bool is_projective)
+{
+  static cv::RNG rng;
+
+  cv::Matx33d K = cv::Matx33d::zeros();
+  K(0, 0) = rng.uniform(100, 1000);
+  K(1, 1) = rng.uniform(100, 1000);
+  if (is_projective)
+  {
+    K(0, 2) = rng.uniform(-100, 100);
+    K(1, 2) = rng.uniform(-100, 100);
+  }
+  K(2, 2) = 1.0;
+
+  return K;
+}
+
+void
+generateScene(size_t n_views, size_t n_points, bool is_projective, cv::Matx33d & K, std::vector<cv::Matx33d> & R,
+              std::vector<cv::Vec3d> & t, std::vector<cv::Matx34d> & P, cv::Mat_<double> & points3d,
+              std::vector<cv::Mat_<double> > & points2d)
+{
+  R.resize(n_views);
+  t.resize(n_views);
+
+  cv::RNG rng;
+
+  // Generate a bunch of random 3d points in a 0, 1 cube
+  points3d.create(3, n_points);
+  rng.fill(points3d, cv::RNG::UNIFORM, 0, 1);
+
+  // Generate random intrinsics
+  K = randomK(is_projective);
+
+  // Generate random camera poses
+  // TODO deal with smooth camera poses (e.g. from a video sequence)
+  for (size_t i = 0; i < n_views; ++i)
+  {
+    // Get a random rotation axis
+    cv::Vec3d vec;
+    rng.fill(vec, cv::RNG::UNIFORM, 0, 1);
+    // Give a random angle to the rotation vector
+    vec = vec / cv::norm(vec) * rng.uniform(0.0f, float(2 * CV_PI));
+    cv::Rodrigues(vec, R[i]);
+    // Create a random translation
+    t[i] = cv::Vec3d(rng.uniform(-0.5f, 0.5f), rng.uniform(-0.5f, 0.5f), rng.uniform(1.0f, 2.0f));
+    // Make sure the shape is in front of the camera
+    cv::Mat_<double> points3d_transformed = cv::Mat(R[i]) * points3d + cv::Mat(t[i]) * cv::Mat_<double> ::ones(1, n_points);
+    double min_dist, max_dist;
+    cv::minMaxIdx(points3d_transformed.row(2), &min_dist, &max_dist);
+    if (min_dist < 0)
+      t[i][2] = t[i][2] - min_dist + 1.0;
+  }
+
+  // Compute projection matrices
+  P.resize(n_views);
+  for (size_t i = 0; i < n_views; ++i)
+  {
+    cv::Matx33d K3 = K, R3 = R[i];
+    cv::Vec3d t3 = t[i];
+    cv::sfm::projectionFromKRt(K3, R3, t3, P[i]);
+  }
+
+  // Compute homogeneous 3d points
+  cv::Mat_<double> points3d_homogeneous(4, n_points);
+  points3d.copyTo(points3d_homogeneous.rowRange(0, 3));
+  points3d_homogeneous.row(3).setTo(1);
+  // Project those points for every view
+  points2d.resize(n_views);
+  for (size_t i = 0; i < n_views; ++i)
+  {
+    cv::Mat_<double> points2d_tmp = cv::Mat(P[i]) * points3d_homogeneous;
+    points2d[i].create(2, n_points);
+    for (unsigned char j = 0; j < 2; ++j)
+      cv::Mat(points2d_tmp.row(j) / points2d_tmp.row(2)).copyTo(points2d[i].row(j));
+  }
+
+// TODO: remove a certain number of points per view
+// TODO: add a certain number of outliers per view
+
+}