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176 lines
6.9 KiB
C++
176 lines
6.9 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "test_precomp.hpp"
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#include <string>
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#include <limits>
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using namespace cv;
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using namespace std;
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template<class T> double thres() { return 1.0; }
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template<> double thres<float>() { return 1e-5; }
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class CV_ReprojectImageTo3DTest : public cvtest::BaseTest
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{
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public:
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CV_ReprojectImageTo3DTest() {}
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~CV_ReprojectImageTo3DTest() {}
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protected:
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void run(int)
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{
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ts->set_failed_test_info(cvtest::TS::OK);
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int progress = 0;
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int caseId = 0;
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progress = update_progress( progress, 1, 14, 0 );
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runCase<float, float>(++caseId, -100.f, 100.f);
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progress = update_progress( progress, 2, 14, 0 );
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runCase<int, float>(++caseId, -100, 100);
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progress = update_progress( progress, 3, 14, 0 );
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runCase<short, float>(++caseId, -100, 100);
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progress = update_progress( progress, 4, 14, 0 );
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runCase<unsigned char, float>(++caseId, 10, 100);
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progress = update_progress( progress, 5, 14, 0 );
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runCase<float, int>(++caseId, -100.f, 100.f);
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progress = update_progress( progress, 6, 14, 0 );
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runCase<int, int>(++caseId, -100, 100);
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progress = update_progress( progress, 7, 14, 0 );
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runCase<short, int>(++caseId, -100, 100);
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progress = update_progress( progress, 8, 14, 0 );
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runCase<unsigned char, int>(++caseId, 10, 100);
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progress = update_progress( progress, 10, 14, 0 );
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runCase<float, short>(++caseId, -100.f, 100.f);
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progress = update_progress( progress, 11, 14, 0 );
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runCase<int, short>(++caseId, -100, 100);
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progress = update_progress( progress, 12, 14, 0 );
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runCase<short, short>(++caseId, -100, 100);
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progress = update_progress( progress, 13, 14, 0 );
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runCase<unsigned char, short>(++caseId, 10, 100);
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progress = update_progress( progress, 14, 14, 0 );
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}
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template<class U, class V> double error(const Vec<U, 3>& v1, const Vec<V, 3>& v2) const
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{
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double tmp, sum = 0;
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double nsum = 0;
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for(int i = 0; i < 3; ++i)
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{
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tmp = v1[i];
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nsum += tmp * tmp;
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tmp = tmp - v2[i];
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sum += tmp * tmp;
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}
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return sqrt(sum)/(sqrt(nsum)+1.);
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}
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template<class InT, class OutT> void runCase(int caseId, InT min, InT max)
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{
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typedef Vec<OutT, 3> out3d_t;
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bool handleMissingValues = (unsigned)theRNG() % 2 == 0;
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Mat_<InT> disp(Size(320, 240));
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randu(disp, Scalar(min), Scalar(max));
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if (handleMissingValues)
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disp(disp.rows/2, disp.cols/2) = min - 1;
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Mat_<double> Q(4, 4);
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randu(Q, Scalar(-5), Scalar(5));
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Mat_<out3d_t> _3dImg(disp.size());
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CvMat cvdisp = disp; CvMat cv_3dImg = _3dImg; CvMat cvQ = Q;
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cvReprojectImageTo3D( &cvdisp, &cv_3dImg, &cvQ, handleMissingValues );
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if (numeric_limits<OutT>::max() == numeric_limits<float>::max())
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reprojectImageTo3D(disp, _3dImg, Q, handleMissingValues);
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for(int y = 0; y < disp.rows; ++y)
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for(int x = 0; x < disp.cols; ++x)
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{
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InT d = disp(y, x);
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double from[4] = { x, y, d, 1 };
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Mat_<double> res = Q * Mat_<double>(4, 1, from);
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res /= res(3, 0);
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out3d_t pixel_exp = *(Vec3d*)res.data;
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out3d_t pixel_out = _3dImg(y, x);
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const int largeZValue = 10000; /* see documentation */
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if (handleMissingValues && y == disp.rows/2 && x == disp.cols/2)
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{
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if (pixel_out[2] == largeZValue)
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continue;
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ts->printf(cvtest::TS::LOG, "Missing values are handled improperly\n");
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ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
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return;
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}
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else
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{
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double err = error(pixel_out, pixel_exp), t = thres<OutT>();
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if ( err > t )
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{
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ts->printf(cvtest::TS::LOG, "case %d. too big error at (%d, %d): %g vs expected %g: res = (%g, %g, %g, w=%g) vs pixel_out = (%g, %g, %g)\n",
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caseId, x, y, err, t, res(0,0), res(1,0), res(2,0), res(3,0),
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(double)pixel_out[0], (double)pixel_out[1], (double)pixel_out[2]);
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ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
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return;
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}
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}
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}
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}
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};
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TEST(Calib3d_ReprojectImageTo3D, accuracy) { CV_ReprojectImageTo3DTest test; test.safe_run(); }
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