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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.
#include "test_precomp.hpp"
CV_TEST_MAIN("cv")
namespace opencv_test { namespace {
TEST(CV_Rapid, rapid)
{
// a unit sized box
std::vector<Vec3f> vtx = {
{1, -1, -1}, {1, -1, 1}, {-1, -1, 1}, {-1, -1, -1}, {1, 1, -1}, {1, 1, 1}, {-1, 1, 1}, {-1, 1, -1},
};
std::vector<Vec3i> tris = {
{2, 4, 1}, {8, 6, 5}, {5, 2, 1}, {6, 3, 2}, {3, 8, 4}, {1, 8, 5},
{2, 3, 4}, {8, 7, 6}, {5, 6, 2}, {6, 7, 3}, {3, 7, 8}, {1, 4, 8},
};
Mat(tris) -= Scalar(1, 1, 1);
// camera setup
Size sz(1280, 720);
Mat K = getDefaultNewCameraMatrix(Matx33f::diag(Vec3f(800, 800, 1)), sz, true);
Vec3f trans = {0, 0, 5};
Vec3f rot = {0.7f, 0.6f, 0};
// draw something
Mat pts2d;
projectPoints(vtx, rot, trans, K, noArray(), pts2d);
Mat_<uchar> img(sz, uchar(0));
rapid::drawWireframe(img, pts2d, tris, Scalar(255), LINE_8);
// recover pose form different position
Vec3f t_init = Vec3f(0.1f, 0, 5);
auto tracker = rapid::Rapid::create(vtx, tris);
// do two iterations
TermCriteria term(TermCriteria::MAX_ITER, 2, 0);
tracker->compute(img, 100, 20, K, rot, t_init, term);
// assert that it improved from init
ASSERT_LT(cv::norm(trans - t_init), 0.075);
}
}} // namespace
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