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add estimateAffine3D overload that implements Umeyama's algorithm

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Andreas Franek
2021-03-07 20:59:54 +01:00
committed by Andreas Franek
parent 15e2f991dd
commit 4ed91ce7ed
4 changed files with 138 additions and 0 deletions
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modules/calib3d/test/test_affine3d_estimator.cpp
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@@ -201,4 +201,25 @@ TEST(Calib3d_EstimateAffine3D, regression_16007)
EXPECT_EQ(1, res);
}
TEST(Calib3d_EstimateAffine3D, umeyama_3_pt)
{
std::vector<cv::Vec3d> points = {{{0.80549149, 0.8225781, 0.79949521},
{0.28906756, 0.57158557, 0.9864789},
{0.58266182, 0.65474983, 0.25078834}}};
cv::Mat R = (cv::Mat_<double>(3,3) << 0.9689135, -0.0232753, 0.2463025,
0.0236362, 0.9997195, 0.0014915,
-0.2462682, 0.0043765, 0.9691918);
cv::Vec3d t(1., 2., 3.);
cv::Affine3d transform(R, t);
std::vector<cv::Vec3d> transformed_points(points.size());
std::transform(points.begin(), points.end(), transformed_points.begin(), [transform](const cv::Vec3d v){return transform * v;});
double scale;
cv::Mat trafo_est = estimateAffine3D(points, transformed_points, &scale);
Mat R_est(trafo_est(Rect(0, 0, 3, 3)));
EXPECT_LE(cvtest::norm(R_est, R, NORM_INF), 1e-6);
Vec3d t_est = trafo_est.col(3);
EXPECT_LE(cvtest::norm(t_est, t, NORM_INF), 1e-6);
EXPECT_NEAR(scale, 1.0, 1e-6);
}
}} // namespace