vendor: OpenCV 5.0.0 snapshot at 755e50675d97db9b7d449d8bd6b09888646f6c6e

2026-08-22 00:11:13 +08:00
commit 12022378a3
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+// 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 {
+
+void generateTwoViewRandomScene( TwoViewDataSet &data )
+{
+    vector<Mat_<double> > points2d;
+    vector<cv::Matx33d> Rs;
+    vector<cv::Vec3d> ts;
+    vector<cv::Matx34d> Ps;
+    Matx33d K;
+    Mat_<double> points3d;
+
+    int nviews = 2;
+    int npoints = 30;
+    bool is_projective = true;
+
+    generateScene(nviews, npoints, is_projective, K, Rs, ts, Ps, points3d, points2d);
+
+    // Internal parameters (same K)
+    data.K1 = K;
+    data.K2 = K;
+
+    // Rotation
+    data.R1 = Rs[0];
+    data.R2 = Rs[1];
+
+    // Translation
+    data.t1 = ts[0];
+    data.t2 = ts[1];
+
+    // Projection matrix, P = K(R|t)
+    data.P1 = Ps[0];
+    data.P2 = Ps[1];
+
+    // Fundamental matrix
+    fundamentalFromProjections( data.P1, data.P2, data.F );
+
+    // 3D points
+    data.X = points3d;
+
+    // Projected points
+    data.x1 = points2d[0];
+    data.x2 = points2d[1];
+}
+
+/** Check the properties of a fundamental matrix:
+*
+*   1. The determinant is 0 (rank deficient)
+*   2. The condition x'T*F*x = 0 is satisfied to precision.
+*/
+void
+expectFundamentalProperties( const cv::Matx33d &F,
+                             const cv::Mat_<double> &ptsA,
+                             const cv::Mat_<double> &ptsB,
+                             double precision )
+{
+  EXPECT_NEAR( 0, determinant(F), precision );
+
+  int n = ptsA.cols;
+  EXPECT_EQ( n, ptsB.cols );
+
+  cv::Mat_<double> x1, x2;
+  euclideanToHomogeneous( ptsA, x1 );
+  euclideanToHomogeneous( ptsB, x2 );
+
+  for( int i = 0; i < n; ++i )
+  {
+    double residual = Vec3d(x2(0,i),x2(1,i),x2(2,i)).ddot( F * Vec3d(x1(0,i),x1(1,i),x1(2,i)) );
+    EXPECT_NEAR( 0.0, residual, precision );
+  }
+}
+
+
+void
+parser_2D_tracks(const string &_filename, std::vector<Mat> &points2d )
+{
+  std::ifstream myfile(_filename.c_str());
+
+  if (!myfile.is_open())
+      CV_Error(cv::Error::StsError, string("Unable to read file: ") + _filename + "\n");
+  else {
+
+    double x, y;
+    string line_str;
+    Mat nan_mat = Mat(2, 1 , CV_64F, -1);
+    int n_frames = 0, n_tracks = 0, track = 0;
+
+    while ( getline(myfile, line_str) )
+    {
+      std::istringstream line(line_str);
+
+      if ( track > n_tracks )
+      {
+        n_tracks = track;
+
+        for (int i = 0; i < n_frames; ++i)
+          cv::hconcat(points2d[i], nan_mat, points2d[i]);
+      }
+
+      for (int frame = 1; line >> x >> y; ++frame)
+      {
+        if ( frame > n_frames )
+        {
+          n_frames = frame;
+          points2d.push_back(nan_mat);
+        }
+
+        points2d[frame-1].at<double>(0,track) = x;
+        points2d[frame-1].at<double>(1,track) = y;
+      }
+
+      ++track;
+    }
+
+    myfile.close();
+  }
+
+}
+
+} // namespace