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"
+
+namespace opencv_test { namespace {
+
+static void
+checkTriangulation(int nviews, int npoints, bool is_projective, float err_max2d, float err_max3d)
+{
+    std::vector<Mat_<double> > points2d;
+    std::vector<cv::Matx33d> Rs;
+    std::vector<cv::Vec3d> ts;
+    std::vector<cv::Matx34d> Ps;
+    Matx33d K;
+    Mat_<double> points3d;
+    generateScene(nviews, npoints, is_projective, K, Rs, ts, Ps, points3d, points2d);
+
+    // get 3d points
+    cv::Mat X, X_homogeneous;
+    std::vector<Mat_<double> > Ps_d(Ps.size());
+    for(size_t i=0; i<Ps.size(); ++i)
+        Ps_d[i] = cv::Mat_<double>(Ps[i]);
+    triangulatePoints(points2d, Ps_d, X);
+    euclideanToHomogeneous(X, X_homogeneous);
+
+    for (int i = 0; i < npoints; ++i)
+    {
+        for (int k = 0; k < nviews; ++k)
+        {
+            cv::Mat x_reprojected;
+            homogeneousToEuclidean( cv::Mat(Ps[k])*X_homogeneous.col(i), x_reprojected );
+
+            // Check reprojection error. Should be nearly zero.
+            double error = cvtest::norm(x_reprojected, points2d[k].col(i), NORM_L2);
+            EXPECT_LE(error*error, err_max2d);
+        }
+
+        // Check 3d error. Should be nearly zero.
+        double error = cvtest::norm(X.col(i), points3d.col(i), NORM_L2);
+        EXPECT_LE(error*error, err_max3d);
+    }
+}
+
+
+TEST(Sfm_triangulate, TriangulateDLT)
+{
+    int nviews = 2;
+    int npoints = 30;
+    bool is_projective = true;
+
+    checkTriangulation(nviews, npoints, is_projective, 1e-7, 1e-9);
+}
+
+TEST(Sfm_triangulate, NViewTriangulate_FiveViews)
+{
+    int nviews = 5;
+    int npoints = 6;
+    bool is_projective = true;
+
+    checkTriangulation(nviews, npoints, is_projective, 1e-7, 1e-9);
+}
+
+
+}} // namespace