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42
43 #include "test_precomp.hpp"
44 #include "opencv2/calib3d/calib3d_c.h"
45 #include <string>
46 #include <limits>
47
48 using namespace cv;
49 using namespace std;
50
thres()51 template<class T> double thres() { return 1.0; }
thres()52 template<> double thres<float>() { return 1e-5; }
53
54 class CV_ReprojectImageTo3DTest : public cvtest::BaseTest
55 {
56 public:
CV_ReprojectImageTo3DTest()57 CV_ReprojectImageTo3DTest() {}
~CV_ReprojectImageTo3DTest()58 ~CV_ReprojectImageTo3DTest() {}
59 protected:
60
61
run(int)62 void run(int)
63 {
64 ts->set_failed_test_info(cvtest::TS::OK);
65 int progress = 0;
66 int caseId = 0;
67
68 progress = update_progress( progress, 1, 14, 0 );
69 runCase<float, float>(++caseId, -100.f, 100.f);
70 progress = update_progress( progress, 2, 14, 0 );
71 runCase<int, float>(++caseId, -100, 100);
72 progress = update_progress( progress, 3, 14, 0 );
73 runCase<short, float>(++caseId, -100, 100);
74 progress = update_progress( progress, 4, 14, 0 );
75 runCase<unsigned char, float>(++caseId, 10, 100);
76 progress = update_progress( progress, 5, 14, 0 );
77
78 runCase<float, int>(++caseId, -100.f, 100.f);
79 progress = update_progress( progress, 6, 14, 0 );
80 runCase<int, int>(++caseId, -100, 100);
81 progress = update_progress( progress, 7, 14, 0 );
82 runCase<short, int>(++caseId, -100, 100);
83 progress = update_progress( progress, 8, 14, 0 );
84 runCase<unsigned char, int>(++caseId, 10, 100);
85 progress = update_progress( progress, 10, 14, 0 );
86
87 runCase<float, short>(++caseId, -100.f, 100.f);
88 progress = update_progress( progress, 11, 14, 0 );
89 runCase<int, short>(++caseId, -100, 100);
90 progress = update_progress( progress, 12, 14, 0 );
91 runCase<short, short>(++caseId, -100, 100);
92 progress = update_progress( progress, 13, 14, 0 );
93 runCase<unsigned char, short>(++caseId, 10, 100);
94 progress = update_progress( progress, 14, 14, 0 );
95 }
96
error(const Vec<U,3> & v1,const Vec<V,3> & v2) const97 template<class U, class V> double error(const Vec<U, 3>& v1, const Vec<V, 3>& v2) const
98 {
99 double tmp, sum = 0;
100 double nsum = 0;
101 for(int i = 0; i < 3; ++i)
102 {
103 tmp = v1[i];
104 nsum += tmp * tmp;
105
106 tmp = tmp - v2[i];
107 sum += tmp * tmp;
108
109 }
110 return sqrt(sum)/(sqrt(nsum)+1.);
111 }
112
runCase(int caseId,InT min,InT max)113 template<class InT, class OutT> void runCase(int caseId, InT min, InT max)
114 {
115 typedef Vec<OutT, 3> out3d_t;
116
117 bool handleMissingValues = (unsigned)theRNG() % 2 == 0;
118
119 Mat_<InT> disp(Size(320, 240));
120 randu(disp, Scalar(min), Scalar(max));
121
122 if (handleMissingValues)
123 disp(disp.rows/2, disp.cols/2) = min - 1;
124
125 Mat_<double> Q(4, 4);
126 randu(Q, Scalar(-5), Scalar(5));
127
128 Mat_<out3d_t> _3dImg(disp.size());
129
130 CvMat cvdisp = disp; CvMat cv_3dImg = _3dImg; CvMat cvQ = Q;
131 cvReprojectImageTo3D( &cvdisp, &cv_3dImg, &cvQ, handleMissingValues );
132
133 if (numeric_limits<OutT>::max() == numeric_limits<float>::max())
134 reprojectImageTo3D(disp, _3dImg, Q, handleMissingValues);
135
136 for(int y = 0; y < disp.rows; ++y)
137 for(int x = 0; x < disp.cols; ++x)
138 {
139 InT d = disp(y, x);
140
141 double from[4] = {
142 static_cast<double>(x),
143 static_cast<double>(y),
144 static_cast<double>(d),
145 1.0,
146 };
147 Mat_<double> res = Q * Mat_<double>(4, 1, from);
148 res /= res(3, 0);
149
150 out3d_t pixel_exp = *res.ptr<Vec3d>();
151 out3d_t pixel_out = _3dImg(y, x);
152
153 const int largeZValue = 10000; /* see documentation */
154
155 if (handleMissingValues && y == disp.rows/2 && x == disp.cols/2)
156 {
157 if (pixel_out[2] == largeZValue)
158 continue;
159
160 ts->printf(cvtest::TS::LOG, "Missing values are handled improperly\n");
161 ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
162 return;
163 }
164 else
165 {
166 double err = error(pixel_out, pixel_exp), t = thres<OutT>();
167 if ( err > t )
168 {
169 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",
170 caseId, x, y, err, t, res(0,0), res(1,0), res(2,0), res(3,0),
171 (double)pixel_out[0], (double)pixel_out[1], (double)pixel_out[2]);
172 ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
173 return;
174 }
175 }
176 }
177 }
178 };
179
TEST(Calib3d_ReprojectImageTo3D,accuracy)180 TEST(Calib3d_ReprojectImageTo3D, accuracy) { CV_ReprojectImageTo3DTest test; test.safe_run(); }
181