mirror of
https://github.com/opencv/opencv.git
synced 2024-11-25 19:50:38 +08:00
215 lines
7.1 KiB
C++
215 lines
7.1 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
|
//
|
|
// By downloading, copying, installing or using the software you agree to this license.
|
|
// If you do not agree to this license, do not download, install,
|
|
// copy or use the software.
|
|
//
|
|
//
|
|
// License Agreement
|
|
// For Open Source Computer Vision Library
|
|
//
|
|
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
|
|
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
|
|
// Third party copyrights are property of their respective owners.
|
|
//
|
|
// Redistribution and use in source and binary forms, with or without modification,
|
|
// are permitted provided that the following conditions are met:
|
|
//
|
|
// * Redistribution's of source code must retain the above copyright notice,
|
|
// this list of conditions and the following disclaimer.
|
|
//
|
|
// * Redistribution's in binary form must reproduce the above copyright notice,
|
|
// this list of conditions and the following disclaimer in the documentation
|
|
// and/or other materials provided with the distribution.
|
|
//
|
|
// * The name of the copyright holders may not be used to endorse or promote products
|
|
// derived from this software without specific prior written permission.
|
|
//
|
|
// This software is provided by the copyright holders and contributors "as is" and
|
|
// any express or implied warranties, including, but not limited to, the implied
|
|
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
|
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
|
// indirect, incidental, special, exemplary, or consequential damages
|
|
// (including, but not limited to, procurement of substitute goods or services;
|
|
// loss of use, data, or profits; or business interruption) however caused
|
|
// and on any theory of liability, whether in contract, strict liability,
|
|
// or tort (including negligence or otherwise) arising in any way out of
|
|
// the use of this software, even if advised of the possibility of such damage.
|
|
//
|
|
//M*/
|
|
|
|
#include "test_precomp.hpp"
|
|
|
|
using namespace cv;
|
|
using namespace std;
|
|
|
|
class Differential
|
|
{
|
|
public:
|
|
typedef Mat_<double> mat_t;
|
|
|
|
Differential(double eps_, const mat_t& rv1_, const mat_t& tv1_, const mat_t& rv2_, const mat_t& tv2_)
|
|
: rv1(rv1_), tv1(tv1_), rv2(rv2_), tv2(tv2_), eps(eps_), ev(3, 1) {}
|
|
|
|
void dRv1(mat_t& dr3_dr1, mat_t& dt3_dr1)
|
|
{
|
|
dr3_dr1.create(3, 3); dt3_dr1.create(3, 3);
|
|
|
|
for(int i = 0; i < 3; ++i)
|
|
{
|
|
ev.setTo(Scalar(0)); ev(i, 0) = eps;
|
|
|
|
composeRT( rv1 + ev, tv1, rv2, tv2, rv3_p, tv3_p);
|
|
composeRT( rv1 - ev, tv1, rv2, tv2, rv3_m, tv3_m);
|
|
|
|
dr3_dr1.col(i) = rv3_p - rv3_m;
|
|
dt3_dr1.col(i) = tv3_p - tv3_m;
|
|
}
|
|
dr3_dr1 /= 2 * eps; dt3_dr1 /= 2 * eps;
|
|
}
|
|
|
|
void dRv2(mat_t& dr3_dr2, mat_t& dt3_dr2)
|
|
{
|
|
dr3_dr2.create(3, 3); dt3_dr2.create(3, 3);
|
|
|
|
for(int i = 0; i < 3; ++i)
|
|
{
|
|
ev.setTo(Scalar(0)); ev(i, 0) = eps;
|
|
|
|
composeRT( rv1, tv1, rv2 + ev, tv2, rv3_p, tv3_p);
|
|
composeRT( rv1, tv1, rv2 - ev, tv2, rv3_m, tv3_m);
|
|
|
|
dr3_dr2.col(i) = rv3_p - rv3_m;
|
|
dt3_dr2.col(i) = tv3_p - tv3_m;
|
|
}
|
|
dr3_dr2 /= 2 * eps; dt3_dr2 /= 2 * eps;
|
|
}
|
|
|
|
void dTv1(mat_t& drt3_dt1, mat_t& dt3_dt1)
|
|
{
|
|
drt3_dt1.create(3, 3); dt3_dt1.create(3, 3);
|
|
|
|
for(int i = 0; i < 3; ++i)
|
|
{
|
|
ev.setTo(Scalar(0)); ev(i, 0) = eps;
|
|
|
|
composeRT( rv1, tv1 + ev, rv2, tv2, rv3_p, tv3_p);
|
|
composeRT( rv1, tv1 - ev, rv2, tv2, rv3_m, tv3_m);
|
|
|
|
drt3_dt1.col(i) = rv3_p - rv3_m;
|
|
dt3_dt1.col(i) = tv3_p - tv3_m;
|
|
}
|
|
drt3_dt1 /= 2 * eps; dt3_dt1 /= 2 * eps;
|
|
}
|
|
|
|
void dTv2(mat_t& dr3_dt2, mat_t& dt3_dt2)
|
|
{
|
|
dr3_dt2.create(3, 3); dt3_dt2.create(3, 3);
|
|
|
|
for(int i = 0; i < 3; ++i)
|
|
{
|
|
ev.setTo(Scalar(0)); ev(i, 0) = eps;
|
|
|
|
composeRT( rv1, tv1, rv2, tv2 + ev, rv3_p, tv3_p);
|
|
composeRT( rv1, tv1, rv2, tv2 - ev, rv3_m, tv3_m);
|
|
|
|
dr3_dt2.col(i) = rv3_p - rv3_m;
|
|
dt3_dt2.col(i) = tv3_p - tv3_m;
|
|
}
|
|
dr3_dt2 /= 2 * eps; dt3_dt2 /= 2 * eps;
|
|
}
|
|
|
|
private:
|
|
const mat_t& rv1, tv1, rv2, tv2;
|
|
double eps;
|
|
Mat_<double> ev;
|
|
|
|
Differential& operator=(const Differential&);
|
|
Mat rv3_m, tv3_m, rv3_p, tv3_p;
|
|
};
|
|
|
|
class CV_composeRT_Test : public cvtest::BaseTest
|
|
{
|
|
public:
|
|
CV_composeRT_Test() {}
|
|
~CV_composeRT_Test() {}
|
|
protected:
|
|
|
|
void run(int)
|
|
{
|
|
ts->set_failed_test_info(cvtest::TS::OK);
|
|
|
|
Mat_<double> rvec1(3, 1), tvec1(3, 1), rvec2(3, 1), tvec2(3, 1);
|
|
|
|
randu(rvec1, Scalar(0), Scalar(6.29));
|
|
randu(rvec2, Scalar(0), Scalar(6.29));
|
|
|
|
randu(tvec1, Scalar(-2), Scalar(2));
|
|
randu(tvec2, Scalar(-2), Scalar(2));
|
|
|
|
Mat rvec3, tvec3;
|
|
composeRT(rvec1, tvec1, rvec2, tvec2, rvec3, tvec3);
|
|
|
|
Mat rvec3_exp, tvec3_exp;
|
|
|
|
Mat rmat1, rmat2;
|
|
Rodrigues(rvec1, rmat1);
|
|
Rodrigues(rvec2, rmat2);
|
|
Rodrigues(rmat2 * rmat1, rvec3_exp);
|
|
|
|
tvec3_exp = rmat2 * tvec1 + tvec2;
|
|
|
|
const double thres = 1e-5;
|
|
if (norm(rvec3_exp, rvec3) > thres || norm(tvec3_exp, tvec3) > thres)
|
|
ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
|
|
|
|
const double eps = 1e-3;
|
|
Differential diff(eps, rvec1, tvec1, rvec2, tvec2);
|
|
|
|
Mat dr3dr1, dr3dt1, dr3dr2, dr3dt2, dt3dr1, dt3dt1, dt3dr2, dt3dt2;
|
|
|
|
composeRT(rvec1, tvec1, rvec2, tvec2, rvec3, tvec3,
|
|
dr3dr1, dr3dt1, dr3dr2, dr3dt2, dt3dr1, dt3dt1, dt3dr2, dt3dt2);
|
|
|
|
Mat_<double> dr3_dr1, dt3_dr1;
|
|
diff.dRv1(dr3_dr1, dt3_dr1);
|
|
|
|
if (norm(dr3_dr1, dr3dr1) > thres || norm(dt3_dr1, dt3dr1) > thres)
|
|
{
|
|
ts->printf( cvtest::TS::LOG, "Invalid derivates by r1\n" );
|
|
ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
|
|
}
|
|
|
|
Mat_<double> dr3_dr2, dt3_dr2;
|
|
diff.dRv2(dr3_dr2, dt3_dr2);
|
|
|
|
if (norm(dr3_dr2, dr3dr2) > thres || norm(dt3_dr2, dt3dr2) > thres)
|
|
{
|
|
ts->printf( cvtest::TS::LOG, "Invalid derivates by r2\n" );
|
|
ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
|
|
}
|
|
|
|
Mat_<double> dr3_dt1, dt3_dt1;
|
|
diff.dTv1(dr3_dt1, dt3_dt1);
|
|
|
|
if (norm(dr3_dt1, dr3dt1) > thres || norm(dt3_dt1, dt3dt1) > thres)
|
|
{
|
|
ts->printf( cvtest::TS::LOG, "Invalid derivates by t1\n" );
|
|
ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
|
|
}
|
|
|
|
Mat_<double> dr3_dt2, dt3_dt2;
|
|
diff.dTv2(dr3_dt2, dt3_dt2);
|
|
|
|
if (norm(dr3_dt2, dr3dt2) > thres || norm(dt3_dt2, dt3dt2) > thres)
|
|
{
|
|
ts->printf( cvtest::TS::LOG, "Invalid derivates by t2\n" );
|
|
ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
|
|
}
|
|
}
|
|
};
|
|
|
|
TEST(Calib3d_ComposeRT, accuracy) { CV_composeRT_Test test; test.safe_run(); }
|