--- /dev/null
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+// By downloading, copying, installing or using the software you agree to this license.
+// If you do not agree to this license, do not download, install,
+// copy or use the software.
+//
+//
+// License Agreement
+// For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+// * Redistribution's of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+//
+// * Redistribution's 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.
+//
+// * The name of the copyright holders may not 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 Intel Corporation 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.
+//
+//M*/
+
+#include "test_precomp.hpp"
+
+class CV_DecomposeProjectionMatrixTest : public cvtest::BaseTest
+{
+public:
+ CV_DecomposeProjectionMatrixTest();
+protected:
+ void run(int);
+};
+
+CV_DecomposeProjectionMatrixTest::CV_DecomposeProjectionMatrixTest()
+{
+ test_case_count = 30;
+}
+
+
+void CV_DecomposeProjectionMatrixTest::run(int start_from)
+{
+
+ ts->set_failed_test_info(cvtest::TS::OK);
+
+ cv::RNG& rng = ts->get_rng();
+ int progress = 0;
+
+
+ for (int iter = start_from; iter < test_case_count; ++iter)
+ {
+ ts->update_context(this, iter, true);
+ progress = update_progress(progress, iter, test_case_count, 0);
+
+ // Create the original (and random) camera matrix, rotation, and translation
+ cv::Vec2d f, c;
+ rng.fill(f, cv::RNG::UNIFORM, 300, 1000);
+ rng.fill(c, cv::RNG::UNIFORM, 150, 600);
+
+ double alpha = 0.01*rng.gaussian(1);
+
+ cv::Matx33d origK(f(0), alpha*f(0), c(0),
+ 0, f(1), c(1),
+ 0, 0, 1);
+
+
+ cv::Vec3d rVec;
+ rng.fill(rVec, cv::RNG::UNIFORM, -CV_PI, CV_PI);
+
+ cv::Matx33d origR;
+ Rodrigues(rVec, origR);
+
+ cv::Vec3d origT;
+ rng.fill(origT, cv::RNG::NORMAL, 0, 1);
+
+
+ // Compose the projection matrix
+ cv::Matx34d P(3,4);
+ hconcat(origK*origR, origK*origT, P);
+
+
+ // Decompose
+ cv::Matx33d K, R;
+ cv::Vec4d homogCameraCenter;
+ decomposeProjectionMatrix(P, K, R, homogCameraCenter);
+
+
+ // Recover translation from the camera center
+ cv::Vec3d cameraCenter(homogCameraCenter(0), homogCameraCenter(1), homogCameraCenter(2));
+ cameraCenter /= homogCameraCenter(3);
+
+ cv::Vec3d t = -R*cameraCenter;
+
+
+ const double thresh = 1e-6;
+ if ( norm(origK, K, cv::NORM_INF) > thresh )
+ {
+ ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
+ break;
+ }
+
+ if ( norm(origR, R, cv::NORM_INF) > thresh )
+ {
+ ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
+ break;
+ }
+
+ if ( norm(origT, t, cv::NORM_INF) > thresh )
+ {
+ ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
+ break;
+ }
+
+ }
+
+}
+
+TEST(Calib3d_DecomposeProjectionMatrix, accuracy)
+{
+ CV_DecomposeProjectionMatrixTest test;
+ test.safe_run();
+}