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42
43#include "test_precomp.hpp"
44
45#include <string>
46#include <iostream>
47#include <fstream>
48#include <iterator>
49#include <limits>
50#include <numeric>
51
52using namespace cv;
53using namespace std;
54
55class CV_RigidTransform_Test : public cvtest::BaseTest
56{
57public:
58    CV_RigidTransform_Test();
59    ~CV_RigidTransform_Test();
60protected:
61    void run(int);
62
63    bool testNPoints(int);
64    bool testImage();
65};
66
67CV_RigidTransform_Test::CV_RigidTransform_Test()
68{
69}
70CV_RigidTransform_Test::~CV_RigidTransform_Test() {}
71
72struct WrapAff2D
73{
74    const double *F;
75    WrapAff2D(const Mat& aff) : F(aff.ptr<double>()) {}
76    Point2f operator()(const Point2f& p)
77    {
78        return Point2f( (float)(p.x * F[0] + p.y * F[1] + F[2]),
79                        (float)(p.x * F[3] + p.y * F[4] + F[5]) );
80    }
81};
82
83bool CV_RigidTransform_Test::testNPoints(int from)
84{
85    cv::RNG rng = ts->get_rng();
86
87    int progress = 0;
88    int k, ntests = 10000;
89
90    for( k = from; k < ntests; k++ )
91    {
92        ts->update_context( this, k, true );
93        progress = update_progress(progress, k, ntests, 0);
94
95        Mat aff(2, 3, CV_64F);
96        rng.fill(aff, RNG::UNIFORM, Scalar(-2), Scalar(2));
97
98        int n = (unsigned)rng % 100 + 10;
99
100        Mat fpts(1, n, CV_32FC2);
101        Mat tpts(1, n, CV_32FC2);
102
103        rng.fill(fpts, RNG::UNIFORM, Scalar(0,0), Scalar(10,10));
104        transform(fpts.ptr<Point2f>(), fpts.ptr<Point2f>() + n, tpts.ptr<Point2f>(), WrapAff2D(aff));
105
106        Mat noise(1, n, CV_32FC2);
107        rng.fill(noise, RNG::NORMAL, Scalar::all(0), Scalar::all(0.001*(n<=7 ? 0 : n <= 30 ? 1 : 10)));
108        tpts += noise;
109
110        Mat aff_est = estimateRigidTransform(fpts, tpts, true);
111
112        double thres = 0.1*cvtest::norm(aff, NORM_L2);
113        double d = cvtest::norm(aff_est, aff, NORM_L2);
114        if (d > thres)
115        {
116            double dB=0, nB=0;
117            if (n <= 4)
118            {
119                Mat A = fpts.reshape(1, 3);
120                Mat B = A - repeat(A.row(0), 3, 1), Bt = B.t();
121                B = Bt*B;
122                dB = cv::determinant(B);
123                nB = cvtest::norm(B, NORM_L2);
124                if( fabs(dB) < 0.01*nB )
125                    continue;
126            }
127            ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
128            ts->printf( cvtest::TS::LOG, "Threshold = %f, norm of difference = %f", thres, d );
129            return false;
130        }
131    }
132    return true;
133}
134
135bool CV_RigidTransform_Test::testImage()
136{
137    Mat img;
138    Mat testImg = imread( string(ts->get_data_path()) + "shared/graffiti.png", 1);
139    if (testImg.empty())
140    {
141       ts->printf( ts->LOG, "test image can not be read");
142       ts->set_failed_test_info(cvtest::TS::FAIL_INVALID_TEST_DATA);
143       return false;
144    }
145    pyrDown(testImg, img);
146
147    Mat aff = cv::getRotationMatrix2D(Point(img.cols/2, img.rows/2), 1, 0.99);
148    aff.ptr<double>()[2]+=3;
149    aff.ptr<double>()[5]+=3;
150
151    Mat rotated;
152    warpAffine(img, rotated, aff, img.size());
153
154    Mat aff_est = estimateRigidTransform(img, rotated, true);
155
156    const double thres = 0.033;
157    if (cvtest::norm(aff_est, aff, NORM_INF) > thres)
158    {
159        ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
160        ts->printf( cvtest::TS::LOG, "Threshold = %f, norm of difference = %f", thres,
161            cvtest::norm(aff_est, aff, NORM_INF) );
162        return false;
163    }
164
165    return true;
166}
167
168void CV_RigidTransform_Test::run( int start_from )
169{
170    cvtest::DefaultRngAuto dra;
171
172    if (!testNPoints(start_from))
173        return;
174
175    if (!testImage())
176        return;
177
178    ts->set_failed_test_info(cvtest::TS::OK);
179}
180
181TEST(Video_RigidFlow, accuracy) { CV_RigidTransform_Test test; test.safe_run(); }
182