remove unused tutorials

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt

@@ -17,11 +17,7 @@ set(sample_pnplib
 )
 
 add_executable( ${target}pnp_registration ${sample_dir}main_registration.cpp ${sample_pnplib} )
-add_executable( ${target}pnp_verification ${sample_dir}main_verification.cpp ${sample_pnplib} )
 add_executable( ${target}pnp_detection ${sample_dir}main_detection.cpp ${sample_pnplib} )
-add_executable( ${target}pnp_test ${sample_dir}test_pnp.cpp )
 
 ocv_target_link_libraries( ${target}pnp_registration ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS} )
-ocv_target_link_libraries( ${target}pnp_verification ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS} )
 ocv_target_link_libraries( ${target}pnp_detection ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS} )
-ocv_target_link_libraries(${target}pnp_test ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS} )

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/test_pnp.cpp

-#include <opencv2/core/core.hpp>
-#include <opencv2/calib3d/calib3d.hpp>
-#include <opencv2/contrib/contrib.hpp>
-
-#include <iostream>
-#include <fstream>
-
-using namespace std;
-using namespace cv;
-
-void generate3DPointCloud(vector<Point3f>& points, Point3f pmin = Point3f(-1,
-        -1, 5), Point3f pmax = Point3f(1, 1, 10))
-    {
-        const Point3f delta = pmax - pmin;
-        for (size_t i = 0; i < points.size(); i++)
-        {
-            Point3f p(float(rand()) / RAND_MAX, float(rand()) / RAND_MAX,
-                float(rand()) / RAND_MAX);
-            p.x *= delta.x;
-            p.y *= delta.y;
-            p.z *= delta.z;
-            p = p + pmin;
-            points[i] = p;
-        }
-    }
-
-void generateCameraMatrix(Mat& cameraMatrix, RNG& rng)
-{
-    const double fcMinVal = 1e-3;
-    const double fcMaxVal = 100;
-    cameraMatrix.create(3, 3, CV_64FC1);
-    cameraMatrix.setTo(Scalar(0));
-    cameraMatrix.at<double>(0,0) = rng.uniform(fcMinVal, fcMaxVal);
-    cameraMatrix.at<double>(1,1) = rng.uniform(fcMinVal, fcMaxVal);
-    cameraMatrix.at<double>(0,2) = rng.uniform(fcMinVal, fcMaxVal);
-    cameraMatrix.at<double>(1,2) = rng.uniform(fcMinVal, fcMaxVal);
-    cameraMatrix.at<double>(2,2) = 1;
-}
-
-void generateDistCoeffs(Mat& distCoeffs, RNG& rng)
-{
-    distCoeffs = Mat::zeros(4, 1, CV_64FC1);
-    for (int i = 0; i < 3; i++)
-        distCoeffs.at<double>(i,0) = rng.uniform(0.0, 1.0e-6);
-}
-
-void generatePose(Mat& rvec, Mat& tvec, RNG& rng)
-{
-    const double minVal = 1.0e-3;
-    const double maxVal = 1.0;
-    rvec.create(3, 1, CV_64FC1);
-    tvec.create(3, 1, CV_64FC1);
-    for (int i = 0; i < 3; i++)
-    {
-        rvec.at<double>(i,0) = rng.uniform(minVal, maxVal);
-        tvec.at<double>(i,0) = rng.uniform(minVal, maxVal/10);
-    }
-}
-
-void data2file(const string& path, const vector<vector<double> >& data)
-{
-  std::fstream fs;
-  fs.open(path.c_str(), std::fstream::in | std::fstream::out | std::fstream::app);
-
-  for (int method = 0; method < data.size(); ++method)
-  {
-    for (int i = 0; i < data[method].size(); ++i)
-    {
-      fs << data[method][i] << " ";
-    }
-    fs << endl;
-  }
-
-  fs.close();
-}
-
-
-int main(int argc, char *argv[])
-{
-
-  RNG rng;
- // TickMeter tm;
-  vector<vector<double> > error_trans(4), error_rot(4), comp_time(4);
-
-  int maxpoints = 2000;
-  for (int npoints = 10; npoints < maxpoints+10; ++npoints)
-  {
-    // generate 3D point cloud
-    vector<Point3f> points;
-    points.resize(npoints);
-    generate3DPointCloud(points);
-
-    // generate cameramatrix
-    Mat rvec, tvec;
-    Mat trueRvec, trueTvec;
-    Mat intrinsics, distCoeffs;
-    generateCameraMatrix(intrinsics, rng);
-
-    // generate distorsion coefficients
-    generateDistCoeffs(distCoeffs, rng);
-
-    // generate groud truth pose
-    generatePose(trueRvec, trueTvec, rng);
-
-    for (int method = 0; method < 4; ++method)
-    {
-      std::vector<Point3f> opoints;
-      if (method == 2)
-      {
-        opoints = std::vector<Point3f>(points.begin(), points.begin()+4);
-      }
-      else
-        opoints = points;
-
-      vector<Point2f> projectedPoints;
-      projectedPoints.resize(opoints.size());
-      projectPoints(Mat(opoints), trueRvec, trueTvec, intrinsics, distCoeffs, projectedPoints);
-
-      //tm.reset(); tm.start();
-
-      solvePnP(opoints, projectedPoints, intrinsics, distCoeffs, rvec, tvec, false, method);
-
-     // tm.stop();
-
-    //  double compTime = tm.getTimeMilli();
-      double rvecDiff = norm(rvec-trueRvec), tvecDiff = norm(tvec-trueTvec);
-
-      error_rot[method].push_back(rvecDiff);
-      error_trans[method].push_back(tvecDiff);
-      //comp_time[method].push_back(compTime);
-
-    }
-
-    //system("clear");
-    cout << "Completed " << npoints+1 << "/" << maxpoints << endl;
-
-  }
-
-  data2file("translation_error.txt", error_trans);
-  data2file("rotation_error.txt", error_rot);
-  data2file("computation_time.txt", comp_time);
-
-}