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 "test_precomp.hpp"
+#include <opencv2/sfm/projection.hpp>
+
+namespace opencv_test { namespace {
+
+TEST(Sfm_projection, homogeneousToEuclidean)
+{
+    Matx33f X(1, 2, 3,
+              4, 5, 6,
+              2, 1, 0);
+
+    Matx23f XEuclidean;
+    homogeneousToEuclidean(X,XEuclidean);
+
+    EXPECT_EQ((int) X.rows-1,(int) XEuclidean.rows );
+
+    for(int y=0;y<X.rows-1;++y)
+    {
+        for(int x=0;x<X.cols;++x)
+        {
+            if (X(X.rows-1,x)!=0)
+            {
+                EXPECT_LE( std::abs(X(y,x)/X(X.rows-1, x) - XEuclidean(y,x)), 1e-4 );
+            }
+        }
+    }
+}
+
+TEST(Sfm_projection, euclideanToHomogeneous)
+{
+    // Testing with floats
+    Matx33f x(1, 2, 3,
+              4, 5, 6,
+              2, 1, 0);
+
+    Matx43f XHomogeneous;
+    euclideanToHomogeneous(x,XHomogeneous);
+
+    EXPECT_EQ((int) x.rows+1,(int)XHomogeneous.rows );
+    for(int i=0;i<x.cols;++i)
+        EXPECT_EQ( 1,(int) XHomogeneous(x.rows,i) );
+
+
+    // Testing with doubles
+    Vec2d x2(4,3);
+    Vec3d X2;
+
+    euclideanToHomogeneous(x2,X2);
+
+    EXPECT_EQ((int) x2.rows+1,(int)X2.rows );
+    EXPECT_EQ( 4, X2(0) );
+    EXPECT_EQ( 3, X2(1) );
+    EXPECT_EQ( 1, X2(2) );
+}
+
+TEST(Sfm_projection, P_From_KRt)
+{
+  Matx33d K, Kp;
+  K << 10,  1, 30,
+        0, 20, 40,
+        0,  0,  1;
+
+  Matx33d R, Rp;
+  R << 1, 0, 0,
+       0, 1, 0,
+       0, 0, 1;
+
+  Vec3d t, tp;
+  t << 1, 2, 3;
+
+  Matx34d P(3,4);
+  projectionFromKRt(K, R, t, P);
+  KRtFromProjection(P, Kp, Rp, tp);
+
+  EXPECT_MATRIX_NEAR(K, Kp, 1e-8);
+  EXPECT_MATRIX_NEAR(R, Rp, 1e-8);
+  EXPECT_VECTOR_NEAR(t, tp, 1e-8);
+
+  // TODO: Change the code to ensure det(R) == 1, which is not currently
+  // the case. Also add a test for that here.
+}
+
+
+}} // namespace