opencv/modules/calib3d/test/test_undistort.cpp

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#include "test_precomp.hpp"

using namespace cv;
using namespace std;

class CV_DefaultNewCameraMatrixTest : public cvtest::ArrayTest
{
public:
	CV_DefaultNewCameraMatrixTest();
protected:
	int prepare_test_case (int test_case_idx);
	void prepare_to_validation( int test_case_idx );
	void get_test_array_types_and_sizes( int test_case_idx, vector<vector<Size> >& sizes, vector<vector<int> >& types );
	void run_func();

private:
	cv::Size img_size;
	cv::Mat camera_mat;
	cv::Mat new_camera_mat;

	int matrix_type;

	bool center_principal_point;

	static const int MAX_X = 2048;
	static const int MAX_Y = 2048;
	static const int MAX_VAL = 10000;
};

CV_DefaultNewCameraMatrixTest::CV_DefaultNewCameraMatrixTest()
{
	test_array[INPUT].push_back(NULL);
	test_array[OUTPUT].push_back(NULL);
	test_array[REF_OUTPUT].push_back(NULL);
}

void CV_DefaultNewCameraMatrixTest::get_test_array_types_and_sizes( int test_case_idx, vector<vector<Size> >& sizes, vector<vector<int> >& types )
{
	cvtest::ArrayTest::get_test_array_types_and_sizes(test_case_idx,sizes,types);
	RNG& rng = ts->get_rng();
	matrix_type = types[INPUT][0] = types[OUTPUT][0]= types[REF_OUTPUT][0] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
	sizes[INPUT][0] = sizes[OUTPUT][0] = sizes[REF_OUTPUT][0] = cvSize(3,3);
}

int CV_DefaultNewCameraMatrixTest::prepare_test_case(int test_case_idx)
{
	int code = cvtest::ArrayTest::prepare_test_case( test_case_idx );

	if (code <= 0)
		return code;

	RNG& rng = ts->get_rng();

	img_size.width = cvtest::randInt(rng) % MAX_X + 1;
	img_size.height = cvtest::randInt(rng) % MAX_Y + 1;

	center_principal_point = ((cvtest::randInt(rng) % 2)!=0);

	// Generating camera_mat matrix
	double sz = MAX(img_size.width, img_size.height);
	double aspect_ratio = cvtest::randReal(rng)*0.6 + 0.7;
	double a[9] = {0,0,0,0,0,0,0,0,1};
	Mat _a(3,3,CV_64F,a);
	a[2] = (img_size.width - 1)*0.5 + cvtest::randReal(rng)*10 - 5;
	a[5] = (img_size.height - 1)*0.5 + cvtest::randReal(rng)*10 - 5;
	a[0] = sz/(0.9 - cvtest::randReal(rng)*0.6);
	a[4] = aspect_ratio*a[0];

    Mat& _a0 = test_mat[INPUT][0];
    cvtest::convert(_a, _a0, _a0.type());
    camera_mat = _a0;

	return code;

}

void CV_DefaultNewCameraMatrixTest::run_func()
{
	new_camera_mat = cv::getDefaultNewCameraMatrix(camera_mat,img_size,center_principal_point);
}

void CV_DefaultNewCameraMatrixTest::prepare_to_validation( int /*test_case_idx*/ )
{
	const Mat& src = test_mat[INPUT][0];
	Mat& dst = test_mat[REF_OUTPUT][0];
	Mat& test_output = test_mat[OUTPUT][0];
	Mat& output = new_camera_mat;
    cvtest::convert( output, test_output, test_output.type() );
	if (!center_principal_point)
	{
        cvtest::copy(src, dst);
	}
	else
	{
		double a[9] = {0,0,0,0,0,0,0,0,1};
		Mat _a(3,3,CV_64F,a);
		if (matrix_type == CV_64F)
		{
			a[0] = src.at<double>(0,0);
			a[4] = src.at<double>(1,1);
		}
		else
		{
			a[0] = src.at<float>(0,0);
			a[4] = src.at<float>(1,1);
		}
		a[2] = (img_size.width - 1)*0.5;
		a[5] = (img_size.height - 1)*0.5;
        cvtest::convert( _a, dst, dst.type() );
	}
}

//---------

class CV_UndistortPointsTest : public cvtest::ArrayTest
{
public:
	CV_UndistortPointsTest();
protected:
	int prepare_test_case (int test_case_idx);
	void prepare_to_validation( int test_case_idx );
	void get_test_array_types_and_sizes( int test_case_idx, vector<vector<Size> >& sizes, vector<vector<int> >& types );
	double get_success_error_level( int test_case_idx, int i, int j );
	void run_func();
    void distortPoints(const CvMat* _src, CvMat* _dst, const CvMat* _cameraMatrix,
                       const CvMat* _distCoeffs, const CvMat* matR, const CvMat* matP);

private:
	bool useCPlus;
	bool useDstMat;
	static const int N_POINTS = 10;
	static const int MAX_X = 2048;
	static const int MAX_Y = 2048;

	bool zero_new_cam;
	bool zero_distortion;
	bool zero_R;

	cv::Size img_size;
	cv::Mat dst_points_mat;

	cv::Mat camera_mat;
	cv::Mat R;
	cv::Mat P;
	cv::Mat distortion_coeffs;
	cv::Mat src_points;
	std::vector<cv::Point2f> dst_points;
};

CV_UndistortPointsTest::CV_UndistortPointsTest()
{
	test_array[INPUT].push_back(NULL); // points matrix
	test_array[INPUT].push_back(NULL); // camera matrix
	test_array[INPUT].push_back(NULL); // distortion coeffs
	test_array[INPUT].push_back(NULL); // R matrix
	test_array[INPUT].push_back(NULL); // P matrix
	test_array[OUTPUT].push_back(NULL); // distorted dst points
	test_array[TEMP].push_back(NULL); // dst points
	test_array[REF_OUTPUT].push_back(NULL);
}

void CV_UndistortPointsTest::get_test_array_types_and_sizes( int test_case_idx, vector<vector<Size> >& sizes, vector<vector<int> >& types )
{
	cvtest::ArrayTest::get_test_array_types_and_sizes(test_case_idx,sizes,types);
	RNG& rng = ts->get_rng();
	useCPlus = ((cvtest::randInt(rng) % 2)!=0);
	//useCPlus = 0;
	if (useCPlus)
	{
		types[INPUT][0] = types[OUTPUT][0] = types[REF_OUTPUT][0] = types[TEMP][0]= CV_32FC2;
	}
	else
	{
		types[INPUT][0] = types[OUTPUT][0] = types[REF_OUTPUT][0] = types[TEMP][0]= cvtest::randInt(rng)%2 ? CV_64FC2 : CV_32FC2;
	}
	types[INPUT][1] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
	types[INPUT][2] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
	types[INPUT][3] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
	types[INPUT][4] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;

	sizes[INPUT][0] = sizes[OUTPUT][0] = sizes[REF_OUTPUT][0] = sizes[TEMP][0]= cvtest::randInt(rng)%2 ? cvSize(1,N_POINTS) : cvSize(N_POINTS,1); 
	sizes[INPUT][1] = sizes[INPUT][3] = cvSize(3,3);
	sizes[INPUT][4] = cvtest::randInt(rng)%2 ? cvSize(3,3) : cvSize(4,3);

	if (cvtest::randInt(rng)%2)
	{
		if (cvtest::randInt(rng)%2)
		{
			sizes[INPUT][2] = cvSize(1,4);
		}
		else
		{
			sizes[INPUT][2] = cvSize(1,5);
		}
	}
	else
	{
		if (cvtest::randInt(rng)%2) 
		{
			sizes[INPUT][2] = cvSize(4,1);
		}
		else
		{
			sizes[INPUT][2] = cvSize(5,1);
		}
	}
}

int CV_UndistortPointsTest::prepare_test_case(int test_case_idx)
{
	RNG& rng = ts->get_rng();
	int code = cvtest::ArrayTest::prepare_test_case( test_case_idx );

	if (code <= 0)
		return code;

	useDstMat = (cvtest::randInt(rng) % 2) == 0;

	img_size.width = cvtest::randInt(rng) % MAX_X + 1;
	img_size.height = cvtest::randInt(rng) % MAX_Y + 1;
	int dist_size = test_mat[INPUT][2].cols > test_mat[INPUT][2].rows ? test_mat[INPUT][2].cols : test_mat[INPUT][2].rows;
	double cam[9] = {0,0,0,0,0,0,0,0,1};
	vector<double> dist(dist_size);
	vector<double> proj(test_mat[INPUT][4].cols * test_mat[INPUT][4].rows);
	vector<Point2d> points(N_POINTS);

	Mat _camera(3,3,CV_64F,cam);
	Mat _distort(test_mat[INPUT][2].rows,test_mat[INPUT][2].cols,CV_64F,&dist[0]);
	Mat _proj(test_mat[INPUT][4].size(), CV_64F, &proj[0]);
	Mat _points(test_mat[INPUT][0].size(), CV_64FC2, &points[0]);

    _proj = Scalar::all(0);

	//Generating points
	for( int i = 0; i < N_POINTS; i++ )
	{
		points[i].x = cvtest::randReal(rng)*img_size.width;
		points[i].y = cvtest::randReal(rng)*img_size.height;
	}

	//Generating camera matrix
	double sz = MAX(img_size.width,img_size.height);
	double aspect_ratio = cvtest::randReal(rng)*0.6 + 0.7;
	cam[2] = (img_size.width - 1)*0.5 + cvtest::randReal(rng)*10 - 5;
	cam[5] = (img_size.height - 1)*0.5 + cvtest::randReal(rng)*10 - 5;
	cam[0] = sz/(0.9 - cvtest::randReal(rng)*0.6);
	cam[4] = aspect_ratio*cam[0];

	//Generating distortion coeffs
	dist[0] = cvtest::randReal(rng)*0.06 - 0.03;
	dist[1] = cvtest::randReal(rng)*0.06 - 0.03;
	if( dist[0]*dist[1] > 0 )
		dist[1] = -dist[1];
	if( cvtest::randInt(rng)%4 != 0 )
	{
		dist[2] = cvtest::randReal(rng)*0.004 - 0.002;
		dist[3] = cvtest::randReal(rng)*0.004 - 0.002;
		if (dist_size > 4)
			dist[4] = cvtest::randReal(rng)*0.004 - 0.002;
	}
	else
	{
		dist[2] = dist[3] = 0;
		if (dist_size > 4)
			dist[4] = 0;
	}

	//Generating P matrix (projection)
	if( test_mat[INPUT][4].cols != 4 )
	{
		proj[8] = 1;
		if (cvtest::randInt(rng)%2 == 0) // use identity new camera matrix
		{
			proj[0] = 1;
			proj[4] = 1;
		}
		else
		{
			proj[0] = cam[0] + (cvtest::randReal(rng) - (double)0.5)*0.2*cam[0]; //10%
			proj[4] = cam[4] + (cvtest::randReal(rng) - (double)0.5)*0.2*cam[4]; //10%
			proj[2] = cam[2] + (cvtest::randReal(rng) - (double)0.5)*0.3*img_size.width; //15%
			proj[5] = cam[5] + (cvtest::randReal(rng) - (double)0.5)*0.3*img_size.height; //15%
		}
	}
	else
	{
		proj[10] = 1;
		proj[0] = cam[0] + (cvtest::randReal(rng) - (double)0.5)*0.2*cam[0]; //10%
		proj[5] = cam[4] + (cvtest::randReal(rng) - (double)0.5)*0.2*cam[4]; //10%
		proj[2] = cam[2] + (cvtest::randReal(rng) - (double)0.5)*0.3*img_size.width; //15%
		proj[6] = cam[5] + (cvtest::randReal(rng) - (double)0.5)*0.3*img_size.height; //15%

		proj[3] = (img_size.height + img_size.width - 1)*0.5 + cvtest::randReal(rng)*10 - 5;
		proj[7] = (img_size.height + img_size.width - 1)*0.5 + cvtest::randReal(rng)*10 - 5;
		proj[11] = (img_size.height + img_size.width - 1)*0.5 + cvtest::randReal(rng)*10 - 5;
	}

	//Generating R matrix
	Mat _rot(3,3,CV_64F);
	Mat rotation(1,3,CV_64F);
	rotation.at<double>(0) = CV_PI*(cvtest::randReal(rng) - (double)0.5); // phi
	rotation.at<double>(1) = CV_PI*(cvtest::randReal(rng) - (double)0.5); // ksi
	rotation.at<double>(2) = CV_PI*(cvtest::randReal(rng) - (double)0.5); //khi
    cvtest::Rodrigues(rotation, _rot);

	//copying data
	//src_points = &_points;
    _points.convertTo(test_mat[INPUT][0], test_mat[INPUT][0].type());
	_camera.convertTo(test_mat[INPUT][1], test_mat[INPUT][1].type());
    _distort.convertTo(test_mat[INPUT][2], test_mat[INPUT][2].type());
    _rot.convertTo(test_mat[INPUT][3], test_mat[INPUT][3].type());
    _proj.convertTo(test_mat[INPUT][4], test_mat[INPUT][4].type());

	zero_distortion = (cvtest::randInt(rng)%2) == 0 ? false : true;
	zero_new_cam = (cvtest::randInt(rng)%2) == 0 ? false : true;
	zero_R = (cvtest::randInt(rng)%2) == 0 ? false : true;

	if (useCPlus)
	{
		_points.convertTo(src_points, CV_32F);

		camera_mat = test_mat[INPUT][1];
		distortion_coeffs = test_mat[INPUT][2];
		R = test_mat[INPUT][3];
		P = test_mat[INPUT][4];
	}

	return code;
}

void CV_UndistortPointsTest::prepare_to_validation(int /*test_case_idx*/)
{
	int dist_size = test_mat[INPUT][2].cols > test_mat[INPUT][2].rows ? test_mat[INPUT][2].cols : test_mat[INPUT][2].rows;
	double cam[9] = {0,0,0,0,0,0,0,0,1};
	double rot[9] = {1,0,0,0,1,0,0,0,1};
    
	double* dist = new double[dist_size ];
	double* proj = new double[test_mat[INPUT][4].cols * test_mat[INPUT][4].rows];
	double* points = new double[N_POINTS*2];
	double* r_points = new double[N_POINTS*2];
	//Run reference calculations
	CvMat ref_points= cvMat(test_mat[INPUT][0].rows,test_mat[INPUT][0].cols,CV_64FC2,r_points);
	CvMat _camera = cvMat(3,3,CV_64F,cam);
	CvMat _rot = cvMat(3,3,CV_64F,rot);
	CvMat _distort = cvMat(test_mat[INPUT][2].rows,test_mat[INPUT][2].cols,CV_64F,dist);
	CvMat _proj = cvMat(test_mat[INPUT][4].rows,test_mat[INPUT][4].cols,CV_64F,proj);
	CvMat _points= cvMat(test_mat[TEMP][0].rows,test_mat[TEMP][0].cols,CV_64FC2,points);
    
    Mat __camera = cvarrToMat(&_camera);
    Mat __distort = cvarrToMat(&_distort);
    Mat __rot = cvarrToMat(&_rot);
    Mat __proj = cvarrToMat(&_proj);
    Mat __points = cvarrToMat(&_points);
    Mat _ref_points = cvarrToMat(&ref_points);
    
    cvtest::convert(test_mat[INPUT][1], __camera, __camera.type());
	cvtest::convert(test_mat[INPUT][2], __distort, __distort.type());
	cvtest::convert(test_mat[INPUT][3], __rot, __rot.type());
	cvtest::convert(test_mat[INPUT][4], __proj, __proj.type());
    
	if (useCPlus)
	{
		if (useDstMat)
		{
			CvMat temp = dst_points_mat;
			for (int i=0;i<N_POINTS*2;i++)
			{
				points[i] = temp.data.fl[i];
			}		
		}
		else
		{
			for (int i=0;i<N_POINTS;i++)
			{
				points[2*i] = dst_points[i].x;
				points[2*i+1] = dst_points[i].y;
			}
		}
	}
	else
	{
        cvtest::convert(test_mat[TEMP][0],__points, __points.type());
	}

    CvMat* input2 = zero_distortion ? 0 : &_distort;
	CvMat* input3 = zero_R ? 0 : &_rot;
	CvMat* input4 = zero_new_cam ? 0 : &_proj;
	distortPoints(&_points,&ref_points,&_camera,input2,input3,input4);
    
	Mat& dst = test_mat[REF_OUTPUT][0];
    cvtest::convert(_ref_points, dst, dst.type());
    
    cvtest::copy(test_mat[INPUT][0], test_mat[OUTPUT][0]);
    
	delete[] dist;
	delete[] proj;
	delete[] points;
	delete[] r_points;
}

void CV_UndistortPointsTest::run_func()
{

	if (useCPlus)
	{
		cv::Mat input2,input3,input4;
		input2 = zero_distortion ? cv::Mat() : cv::Mat(test_mat[INPUT][2]);
		input3 = zero_R ? cv::Mat() : cv::Mat(test_mat[INPUT][3]);
		input4 = zero_new_cam ? cv::Mat() : cv::Mat(test_mat[INPUT][4]);

		if (useDstMat)
		{
			//cv::undistortPoints(src_points,dst_points_mat,camera_mat,distortion_coeffs,R,P);
			cv::undistortPoints(src_points,dst_points_mat,camera_mat,input2,input3,input4);
		}
		else
		{
			//cv::undistortPoints(src_points,dst_points,camera_mat,distortion_coeffs,R,P);
			cv::undistortPoints(src_points,dst_points,camera_mat,input2,input3,input4);
		}
	}
	else
	{
        CvMat _input0 = test_mat[INPUT][0], _input1 = test_mat[INPUT][1], _input2, _input3, _input4;
        CvMat _output = test_mat[TEMP][0];
        if(!zero_distortion)
            _input2 = test_mat[INPUT][2];
        if(!zero_R)
            _input3 = test_mat[INPUT][3];
        if(!zero_new_cam)
            _input4 = test_mat[INPUT][4];
		cvUndistortPoints(&_input0, &_output, &_input1,
                          zero_distortion ? 0 : &_input2,
                          zero_R ? 0 : &_input3,
                          zero_new_cam ? 0 : &_input4);
	}
}

void CV_UndistortPointsTest::distortPoints(const CvMat* _src, CvMat* _dst, const CvMat* _cameraMatrix,
                                            const CvMat* _distCoeffs,
                                            const CvMat* matR, const CvMat* matP)
{
	double a[9];
    
	CvMat* __P;
	if ((!matP)||(matP->cols == 3))
		__P = cvCreateMat(3,3,CV_64F);
	else
		__P = cvCreateMat(3,4,CV_64F);
	if (matP)
	{
		cvTsConvert(matP,__P);
	}
	else
	{
		cvZero(__P);
		__P->data.db[0] = 1;
		__P->data.db[4] = 1;
		__P->data.db[8] = 1;
	}
	CvMat* __R = cvCreateMat(3,3,CV_64F);;
	if (matR)
	{
		cvCopy(matR,__R);
	}
	else
	{
		cvZero(__R);
		__R->data.db[0] = 1;
		__R->data.db[4] = 1;
		__R->data.db[8] = 1;
	}
	for (int i=0;i<N_POINTS;i++)
	{
		int movement = __P->cols > 3 ? 1 : 0;
		double x = (_src->data.db[2*i]-__P->data.db[2])/__P->data.db[0];
		double y = (_src->data.db[2*i+1]-__P->data.db[5+movement])/__P->data.db[4+movement];
		CvMat inverse = cvMat(3,3,CV_64F,a);
		cvInvert(__R,&inverse);
		double w1 = x*inverse.data.db[6]+y*inverse.data.db[7]+inverse.data.db[8];
		double _x = (x*inverse.data.db[0]+y*inverse.data.db[1]+inverse.data.db[2])/w1;
		double _y = (x*inverse.data.db[3]+y*inverse.data.db[4]+inverse.data.db[5])/w1;
        
		//Distortions
        
		double __x = _x;
		double __y = _y;
		if (_distCoeffs)
		{
			double r2 = _x*_x+_y*_y;
            
			__x = _x*(1+_distCoeffs->data.db[0]*r2+_distCoeffs->data.db[1]*r2*r2)+
            2*_distCoeffs->data.db[2]*_x*_y+_distCoeffs->data.db[3]*(r2+2*_x*_x);
			__y = _y*(1+_distCoeffs->data.db[0]*r2+_distCoeffs->data.db[1]*r2*r2)+
            2*_distCoeffs->data.db[3]*_x*_y+_distCoeffs->data.db[2]*(r2+2*_y*_y);
			if ((_distCoeffs->cols > 4) || (_distCoeffs->rows > 4))
			{
				__x+=_x*_distCoeffs->data.db[4]*r2*r2*r2;
				__y+=_y*_distCoeffs->data.db[4]*r2*r2*r2;
			}
		}
        
        
		_dst->data.db[2*i] = __x*_cameraMatrix->data.db[0]+_cameraMatrix->data.db[2];
		_dst->data.db[2*i+1] = __y*_cameraMatrix->data.db[4]+_cameraMatrix->data.db[5];
        
	}
    
	cvReleaseMat(&__R);
	cvReleaseMat(&__P);
    
}


double CV_UndistortPointsTest::get_success_error_level( int /*test_case_idx*/, int /*i*/, int /*j*/ )
{
	return 5e-2;
}

//------------------------------------------------------

class CV_InitUndistortRectifyMapTest : public cvtest::ArrayTest
{
public:
	CV_InitUndistortRectifyMapTest();
protected:
	int prepare_test_case (int test_case_idx);
	void prepare_to_validation( int test_case_idx );
	void get_test_array_types_and_sizes( int test_case_idx, vector<vector<Size> >& sizes, vector<vector<int> >& types );
	double get_success_error_level( int test_case_idx, int i, int j );
	void run_func();

private:
	bool useCPlus;
	static const int N_POINTS = 100;
	static const int MAX_X = 2048;
	static const int MAX_Y = 2048;
	bool zero_new_cam;
	bool zero_distortion;
	bool zero_R;


	cv::Size img_size;

	cv::Mat camera_mat;
	cv::Mat R;
	cv::Mat new_camera_mat;
	cv::Mat distortion_coeffs;
	cv::Mat mapx;
	cv::Mat mapy;
	CvMat* _mapx;
	CvMat* _mapy;
	int mat_type;
};

CV_InitUndistortRectifyMapTest::CV_InitUndistortRectifyMapTest()
{
	test_array[INPUT].push_back(NULL); // test points matrix
	test_array[INPUT].push_back(NULL); // camera matrix
	test_array[INPUT].push_back(NULL); // distortion coeffs
	test_array[INPUT].push_back(NULL); // R matrix
	test_array[INPUT].push_back(NULL); // new camera matrix
	test_array[OUTPUT].push_back(NULL); // distorted dst points
	test_array[REF_OUTPUT].push_back(NULL);
}

void CV_InitUndistortRectifyMapTest::get_test_array_types_and_sizes( int test_case_idx, vector<vector<Size> >& sizes, vector<vector<int> >& types )
{
	cvtest::ArrayTest::get_test_array_types_and_sizes(test_case_idx,sizes,types);
	RNG& rng = ts->get_rng();
	useCPlus = ((cvtest::randInt(rng) % 2)!=0);
	//useCPlus = 0;
	types[INPUT][0] = types[OUTPUT][0] = types[REF_OUTPUT][0] = CV_64FC2;

	types[INPUT][1] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
	types[INPUT][2] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
	types[INPUT][3] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
	types[INPUT][4] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;

	sizes[INPUT][0] = sizes[OUTPUT][0] = sizes[REF_OUTPUT][0] = cvSize(N_POINTS,1); 
	sizes[INPUT][1] = sizes[INPUT][3] = cvSize(3,3);
	sizes[INPUT][4] = cvSize(3,3);

	if (cvtest::randInt(rng)%2)
	{
		if (cvtest::randInt(rng)%2)
		{
			sizes[INPUT][2] = cvSize(1,4);
		}
		else
		{
			sizes[INPUT][2] = cvSize(1,5);
		}
	}
	else
	{
		if (cvtest::randInt(rng)%2) 
		{
			sizes[INPUT][2] = cvSize(4,1);
		}
		else
		{
			sizes[INPUT][2] = cvSize(5,1);
		}
	}
}


int CV_InitUndistortRectifyMapTest::prepare_test_case(int test_case_idx)
{
	RNG& rng = ts->get_rng();
	int code = cvtest::ArrayTest::prepare_test_case( test_case_idx );

	if (code <= 0)
		return code;

	img_size.width = cvtest::randInt(rng) % MAX_X + 1;
	img_size.height = cvtest::randInt(rng) % MAX_Y + 1;

	if (useCPlus)
	{
		mat_type = (cvtest::randInt(rng) % 2) == 0 ? CV_32FC1 : CV_16SC2;
		if ((cvtest::randInt(rng) % 4) == 0)
			mat_type = -1;
		if ((cvtest::randInt(rng) % 4) == 0)
			mat_type = CV_32FC2;
		_mapx = 0;
		_mapy = 0;
	}
	else
	{
		int typex = (cvtest::randInt(rng) % 2) == 0 ? CV_32FC1 : CV_16SC2;
		//typex = CV_32FC1; ///!!!!!!!!!!!!!!!!
		int typey = (typex == CV_32FC1) ? CV_32FC1 : CV_16UC1;

		_mapx = cvCreateMat(img_size.height,img_size.width,typex);
		_mapy = cvCreateMat(img_size.height,img_size.width,typey);


	}

	int dist_size = test_mat[INPUT][2].cols > test_mat[INPUT][2].rows ? test_mat[INPUT][2].cols : test_mat[INPUT][2].rows;
	double cam[9] = {0,0,0,0,0,0,0,0,1};
	vector<double> dist(dist_size);
	vector<double> new_cam(test_mat[INPUT][4].cols * test_mat[INPUT][4].rows);
	vector<Point2d> points(N_POINTS);

	Mat _camera(3,3,CV_64F,cam);
	Mat _distort(test_mat[INPUT][2].size(),CV_64F,&dist[0]);
	Mat _new_cam(test_mat[INPUT][4].size(),CV_64F,&new_cam[0]);
	Mat _points(test_mat[INPUT][0].size(),CV_64FC2, &points[0]);

	//Generating points
	for (int i=0;i<N_POINTS;i++)
	{
		points[i].x = cvtest::randReal(rng)*img_size.width;
		points[i].y = cvtest::randReal(rng)*img_size.height;
	}

	//Generating camera matrix
	double sz = MAX(img_size.width,img_size.height);
	double aspect_ratio = cvtest::randReal(rng)*0.6 + 0.7;
	cam[2] = (img_size.width - 1)*0.5 + cvtest::randReal(rng)*10 - 5;
	cam[5] = (img_size.height - 1)*0.5 + cvtest::randReal(rng)*10 - 5;
	cam[0] = sz/(0.9 - cvtest::randReal(rng)*0.6);
	cam[4] = aspect_ratio*cam[0];

	//Generating distortion coeffs
	dist[0] = cvtest::randReal(rng)*0.06 - 0.03;
	dist[1] = cvtest::randReal(rng)*0.06 - 0.03;
	if( dist[0]*dist[1] > 0 )
		dist[1] = -dist[1];
	if( cvtest::randInt(rng)%4 != 0 )
	{
		dist[2] = cvtest::randReal(rng)*0.004 - 0.002;
		dist[3] = cvtest::randReal(rng)*0.004 - 0.002;
		if (dist_size > 4)
			dist[4] = cvtest::randReal(rng)*0.004 - 0.002;
	}
	else
	{
		dist[2] = dist[3] = 0;
		if (dist_size > 4)
			dist[4] = 0;
	}

	//Generating new camera matrix
    _new_cam = Scalar::all(0);
	new_cam[8] = 1;

	//new_cam[0] = cam[0];
	//new_cam[4] = cam[4];
	//new_cam[2] = cam[2];
	//new_cam[5] = cam[5];

	new_cam[0] = cam[0] + (cvtest::randReal(rng) - (double)0.5)*0.2*cam[0]; //10%
	new_cam[4] = cam[4] + (cvtest::randReal(rng) - (double)0.5)*0.2*cam[4]; //10%
	new_cam[2] = cam[2] + (cvtest::randReal(rng) - (double)0.5)*0.3*img_size.width; //15%
	new_cam[5] = cam[5] + (cvtest::randReal(rng) - (double)0.5)*0.3*img_size.height; //15%


	//Generating R matrix
	Mat _rot(3,3,CV_64F);
	Mat rotation(1,3,CV_64F);
	rotation.at<double>(0) = CV_PI/8*(cvtest::randReal(rng) - (double)0.5); // phi
	rotation.at<double>(1) = CV_PI/8*(cvtest::randReal(rng) - (double)0.5); // ksi
	rotation.at<double>(2) = CV_PI/3*(cvtest::randReal(rng) - (double)0.5); //khi
    cvtest::Rodrigues(rotation, _rot);

	//cvSetIdentity(_rot);
	//copying data
    cvtest::convert( _points, test_mat[INPUT][0], test_mat[INPUT][0].type());
    cvtest::convert( _camera, test_mat[INPUT][1], test_mat[INPUT][1].type());
    cvtest::convert( _distort, test_mat[INPUT][2], test_mat[INPUT][2].type());
    cvtest::convert( _rot, test_mat[INPUT][3], test_mat[INPUT][3].type());
    cvtest::convert( _new_cam, test_mat[INPUT][4], test_mat[INPUT][4].type());

	zero_distortion = (cvtest::randInt(rng)%2) == 0 ? false : true;
	zero_new_cam = (cvtest::randInt(rng)%2) == 0 ? false : true;
	zero_R = (cvtest::randInt(rng)%2) == 0 ? false : true;

	if (useCPlus)
	{
		camera_mat = test_mat[INPUT][1];
		distortion_coeffs = test_mat[INPUT][2];
		R = test_mat[INPUT][3];
		new_camera_mat = test_mat[INPUT][4];
	}

	return code;
}

void CV_InitUndistortRectifyMapTest::prepare_to_validation(int/* test_case_idx*/)
{
#if 0
	int dist_size = test_mat[INPUT][2].cols > test_mat[INPUT][2].rows ? test_mat[INPUT][2].cols : test_mat[INPUT][2].rows;
	double cam[9] = {0,0,0,0,0,0,0,0,1};
	double rot[9] = {1,0,0,0,1,0,0,0,1};
	vector<double> dist(dist_size);
	vector<double> new_cam(test_mat[INPUT][4].cols * test_mat[INPUT][4].rows);
	vector<Point2d> points(N_POINTS);
	vector<Point2d> r_points(N_POINTS);
	//Run reference calculations
	Mat ref_points(test_mat[INPUT][0].size(),CV_64FC2,&r_points[0]);
	Mat _camera(3,3,CV_64F,cam);
	Mat _rot(3,3,CV_64F,rot);
	Mat _distort(test_mat[INPUT][2].size(),CV_64F,&dist[0]);
	Mat _new_cam(test_mat[INPUT][4].size(),CV_64F,&new_cam[0]);
	Mat _points(test_mat[INPUT][0].size(),CV_64FC2,&points[0]);

    cvtest::convert(test_mat[INPUT][1],_camera,_camera.type());
	cvtest::convert(test_mat[INPUT][2],_distort,_distort.type());
	cvtest::convert(test_mat[INPUT][3],_rot,_rot.type());
	cvtest::convert(test_mat[INPUT][4],_new_cam,_new_cam.type());

	//Applying precalculated undistort rectify map
	if (!useCPlus)
	{
		mapx = cv::Mat(_mapx);
		mapy = cv::Mat(_mapy);
	}
	cv::Mat map1,map2;
	cv::convertMaps(mapx,mapy,map1,map2,CV_32FC1);
	CvMat _map1 = map1;
	CvMat _map2 = map2;
    const Point2d* sptr = (const Point2d*)test_mat[INPUT][0].data;
	for( int i = 0;i < N_POINTS; i++ )
	{
		int u = saturate_cast<int>(sptr[i].x);
		int v = saturate_cast<int>(sptr[i].y);
		points[i].x = _map1.data.fl[v*_map1.cols + u];
		points[i].y = _map2.data.fl[v*_map2.cols + u];
	}

	//---

    cv::undistortPoints(_points, ref_points, _camera,
                        zero_distortion ? Mat() : _distort,
                        zero_R ? Mat::eye(3,3,CV_64F) : _rot,
                        zero_new_cam ? _camera : _new_cam);
	//cvTsDistortPoints(&_points,&ref_points,&_camera,&_distort,&_rot,&_new_cam);
    cvtest::convert(ref_points, test_mat[REF_OUTPUT][0], test_mat[REF_OUTPUT][0].type());
    cvtest::copy(test_mat[INPUT][0],test_mat[OUTPUT][0]);

    cvReleaseMat(&_mapx);
    cvReleaseMat(&_mapy);
#else
    int dist_size = test_mat[INPUT][2].cols > test_mat[INPUT][2].rows ? test_mat[INPUT][2].cols : test_mat[INPUT][2].rows;
	double cam[9] = {0,0,0,0,0,0,0,0,1};
	double rot[9] = {1,0,0,0,1,0,0,0,1};
	double* dist = new double[dist_size ];
	double* new_cam = new double[test_mat[INPUT][4].cols * test_mat[INPUT][4].rows];
	double* points = new double[N_POINTS*2];
	double* r_points = new double[N_POINTS*2];
	//Run reference calculations
	CvMat ref_points= cvMat(test_mat[INPUT][0].rows,test_mat[INPUT][0].cols,CV_64FC2,r_points);
	CvMat _camera = cvMat(3,3,CV_64F,cam);
	CvMat _rot = cvMat(3,3,CV_64F,rot);
	CvMat _distort = cvMat(test_mat[INPUT][2].rows,test_mat[INPUT][2].cols,CV_64F,dist);
	CvMat _new_cam = cvMat(test_mat[INPUT][4].rows,test_mat[INPUT][4].cols,CV_64F,new_cam);
	CvMat _points= cvMat(test_mat[INPUT][0].rows,test_mat[INPUT][0].cols,CV_64FC2,points);
    
    CvMat _input1 = test_mat[INPUT][1];
    CvMat _input2 = test_mat[INPUT][2];
    CvMat _input3 = test_mat[INPUT][3];
    CvMat _input4 = test_mat[INPUT][4];
    
	cvTsConvert(&_input1,&_camera);
	cvTsConvert(&_input2,&_distort);
	cvTsConvert(&_input3,&_rot);
	cvTsConvert(&_input4,&_new_cam);
    
	//Applying precalculated undistort rectify map
	if (!useCPlus)
	{
		mapx = cv::Mat(_mapx);
		mapy = cv::Mat(_mapy);
	}
	cv::Mat map1,map2;
	cv::convertMaps(mapx,mapy,map1,map2,CV_32FC1);
	CvMat _map1 = map1;
	CvMat _map2 = map2;
	for (int i=0;i<N_POINTS;i++)
	{
		double u = test_mat[INPUT][0].ptr<double>()[2*i];
		double v = test_mat[INPUT][0].ptr<double>()[2*i+1];
		_points.data.db[2*i] = (double)_map1.data.fl[(int)v*_map1.cols+(int)u];
		_points.data.db[2*i+1] = (double)_map2.data.fl[(int)v*_map2.cols+(int)u];
	}
    
	//---
    
	cvUndistortPoints(&_points,&ref_points,&_camera,
                      zero_distortion ? 0 : &_distort, zero_R ? 0 : &_rot, zero_new_cam ? &_camera : &_new_cam);
	//cvTsDistortPoints(&_points,&ref_points,&_camera,&_distort,&_rot,&_new_cam);
	CvMat dst = test_mat[REF_OUTPUT][0];
	cvTsConvert(&ref_points,&dst);
    
    cvtest::copy(test_mat[INPUT][0],test_mat[OUTPUT][0]);
    
	delete[] dist;
	delete[] new_cam;
	delete[] points;
	delete[] r_points;
    cvReleaseMat(&_mapx);
    cvReleaseMat(&_mapy);
#endif
}

void CV_InitUndistortRectifyMapTest::run_func()
{
	if (useCPlus)
	{
		cv::Mat input2,input3,input4;
		input2 = zero_distortion ? cv::Mat() : test_mat[INPUT][2];
		input3 = zero_R ? cv::Mat() : test_mat[INPUT][3];
		input4 = zero_new_cam ? cv::Mat() : test_mat[INPUT][4];
		cv::initUndistortRectifyMap(camera_mat,input2,input3,input4,img_size,mat_type,mapx,mapy);
	}
	else
	{
		CvMat input1 = test_mat[INPUT][1], input2, input3, input4;
        if( !zero_distortion )
            input2 = test_mat[INPUT][2];
        if( !zero_R )
            input3 = test_mat[INPUT][3];
        if( !zero_new_cam )
            input4 = test_mat[INPUT][4];
		cvInitUndistortRectifyMap(&input1,
                                  zero_distortion ? 0 : &input2,
                                  zero_R ? 0 : &input3,
                                  zero_new_cam ? 0 : &input4,
                                  _mapx,_mapy);
	}
}

double CV_InitUndistortRectifyMapTest::get_success_error_level( int /*test_case_idx*/, int /*i*/, int /*j*/ )
{
	return 8;
}

//////////////////////////////////////////////////////////////////////////////////////////////////////

TEST(Calib3d_DefaultNewCameraMatrix, accuracy) { CV_DefaultNewCameraMatrixTest test; test.safe_run(); }
TEST(Calib3d_UndistortPoints, accuracy) { CV_UndistortPointsTest test; test.safe_run(); }
TEST(Calib3d_InitUndistortRectifyMap, accuracy) { CV_InitUndistortRectifyMapTest test; test.safe_run(); }