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.
+#ifndef __OPENCV_TEST_PRECOMP_HPP__
+#define __OPENCV_TEST_PRECOMP_HPP__
+
+#include <opencv2/sfm.hpp>
+#include <opencv2/ts.hpp>
+#include <opencv2/core.hpp>
+
+#include "scene.h"
+
+#define OPEN_TESTFILE(FNAME,FS)  \
+      FS.open(FNAME, FileStorage::READ); \
+    if (!FS.isOpened())\
+    {\
+        std::cerr << "Cannot find file: " << FNAME << std::endl;\
+        return;\
+    }
+
+namespace opencv_test
+{
+  using namespace cv::sfm;
+
+  template<typename T>
+  inline void
+  EXPECT_MATRIX_NEAR(const T a, const T b, double tolerance)
+  {
+    bool dims_match = (a.rows == b.rows) && (a.cols == b.cols);
+    EXPECT_EQ((int)a.rows, (int)b.rows);
+    EXPECT_EQ((int)a.cols, (int)b.cols);
+
+    if (dims_match)
+    {
+      for (int r = 0; r < a.rows; ++r)
+      {
+        for (int c = 0; c < a.cols; ++c)
+        {
+          EXPECT_NEAR(a(r, c), b(r, c), tolerance) << "r=" << r << ", c=" << c << ".";
+        }
+      }
+    }
+  }
+
+  template<typename T>
+  inline void
+  EXPECT_VECTOR_NEAR(const T a, const T b, double tolerance)
+  {
+    bool dims_match = (a.rows == b.rows);
+    EXPECT_EQ((int)a.rows,(int)b.rows) << "Matrix rows don't match.";
+
+    if (dims_match)
+    {
+      for (int r = 0; r < a.rows; ++r)
+      {
+        EXPECT_NEAR(a(r), b(r), tolerance) << "r=" << r << ".";
+      }
+    }
+  }
+
+  template<class T>
+  inline double
+  cosinusBetweenMatrices(const T &a, const T &b)
+  {
+    double s = cv::sum( a.mul(b) )[0];
+    return ( s / cv::norm(a) / cv::norm(b) );
+  }
+
+  // Check that sin(angle(a, b)) < tolerance
+  template<typename T>
+  inline void
+  EXPECT_MATRIX_PROP(const T a, const T b, double tolerance)
+  {
+    bool dims_match = (a.rows == b.rows) && (a.cols == b.cols);
+    EXPECT_EQ((int)a.rows, (int)b.rows);
+    EXPECT_EQ((int)a.cols, (int)b.cols);
+
+    if (dims_match)
+    {
+      double c = cosinusBetweenMatrices(a, b);
+      if (c * c < 1)
+      {
+        double s = sqrt(1 - c * c);
+        EXPECT_NEAR(0, s, tolerance);
+      }
+    }
+  }
+
+
+
+
+  struct TwoViewDataSet
+  {
+    cv::Matx33d K1, K2; // Internal parameters
+    cv::Matx33d R1, R2; // Rotation
+    cv::Vec3d t1, t2; // Translation
+    cv::Matx34d P1, P2; // Projection matrix, P = K(R|t)
+    cv::Matx33d F; // Fundamental matrix
+    cv::Mat_<double> X; // 3D points
+    cv::Mat_<double> x1, x2; // Projected points
+  };
+
+  void
+  generateTwoViewRandomScene(TwoViewDataSet &data);
+
+  /** 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 = 1e-9 );
+
+  /**
+   * 2D tracked points
+   * -----------------
+   *
+   * The format is:
+   *
+   * row1 : x1 y1 x2 y2 ... x36 y36 for track 1
+   * row2 : x1 y1 x2 y2 ... x36 y36 for track 2
+   * etc
+   *
+   * i.e. a row gives the 2D measured position of a point as it is tracked
+   * through frames 1 to 36.  If there is no match found in a view then x
+   * and y are -1.
+   *
+   * Each row corresponds to a different point.
+   *
+   */
+  void
+  parser_2D_tracks(const std::string &_filename, std::vector<cv::Mat> &points2d );
+
+} // namespace
+
+#endif