generic-library/opencv
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

use static assertation where suitable

Browse Source
This commit is contained in:
marina.kolpakova
2013-03-20 01:52:40 +04:00
parent 5c1c13e745
commit 4096b54560
7 changed files with 123 additions and 126 deletions
Download Patch File Download Diff File Expand all files Collapse all files

97
modules/calib3d/test/test_fundam.cpp
View File

@@ -1079,7 +1079,7 @@ protected:
void run_func();
void prepare_to_validation( int );
double sampson_error(const double* f, double x1, double y1, double x2, double y2);
double sampson_error(const double* f, double x1, double y1, double x2, double y2);
int method;
int img_size;
@@ -1145,9 +1145,8 @@ void CV_EssentialMatTest::get_test_array_types_and_sizes( int /*test_case_idx*/,
int pt_count = MAX(5, cvRound(exp(pt_count_exp)));
dims = cvtest::randInt(rng) % 2 + 2;
dims = 2;
dims = 2;
method = CV_LMEDS << (cvtest::randInt(rng) % 2);
types[INPUT][0] = CV_MAKETYPE(pt_depth, 1);
@@ -1192,11 +1191,11 @@ void CV_EssentialMatTest::get_test_array_types_and_sizes( int /*test_case_idx*/,
sizes[OUTPUT][0] = sizes[REF_OUTPUT][0] = cvSize(3,1);
types[OUTPUT][0] = types[REF_OUTPUT][0] = CV_64FC1;
sizes[OUTPUT][1] = sizes[REF_OUTPUT][1] = cvSize(pt_count,1);
types[OUTPUT][1] = types[REF_OUTPUT][1] = CV_8UC1;
types[OUTPUT][1] = types[REF_OUTPUT][1] = CV_8UC1;
sizes[OUTPUT][2] = sizes[REF_OUTPUT][2] = cvSize(1,1);
types[OUTPUT][2] = types[REF_OUTPUT][2] = CV_64FC1;
sizes[OUTPUT][3] = sizes[REF_OUTPUT][3] = cvSize(1,1);
types[OUTPUT][3] = types[REF_OUTPUT][3] = CV_8UC1;
types[OUTPUT][3] = types[REF_OUTPUT][3] = CV_8UC1;
}
@@ -1289,46 +1288,46 @@ int CV_EssentialMatTest::prepare_test_case( int test_case_idx )
void CV_EssentialMatTest::run_func()
{
Mat _input0(test_mat[INPUT][0]), _input1(test_mat[INPUT][1]);
Mat K(test_mat[INPUT][4]);
double focal(K.at<double>(0, 0));
cv::Point2d pp(K.at<double>(0, 2), K.at<double>(1, 2));
Mat K(test_mat[INPUT][4]);
double focal(K.at<double>(0, 0));
cv::Point2d pp(K.at<double>(0, 2), K.at<double>(1, 2));
RNG& rng = ts->get_rng();
Mat E, mask1(test_mat[TEMP][1]);
E = cv::findEssentialMat( _input0, _input1, focal, pp, method, 0.99, MAX(sigma*3, 0.0001), mask1 );
if (E.rows > 3)
E = cv::findEssentialMat( _input0, _input1, focal, pp, method, 0.99, MAX(sigma*3, 0.0001), mask1 );
if (E.rows > 3)
{
int count = E.rows / 3;
int row = (cvtest::randInt(rng) % count) * 3;
E = E.rowRange(row, row + 3) * 1.0;
int count = E.rows / 3;
int row = (cvtest::randInt(rng) % count) * 3;
E = E.rowRange(row, row + 3) * 1.0;
}
E.copyTo(test_mat[TEMP][0]);
E.copyTo(test_mat[TEMP][0]);
Mat R, t, mask2;
recoverPose( E, _input0, _input1, R, t, focal, pp, mask2 );
R.copyTo(test_mat[TEMP][2]);
t.copyTo(test_mat[TEMP][3]);
mask2.copyTo(test_mat[TEMP][4]);
Mat R, t, mask2;
recoverPose( E, _input0, _input1, R, t, focal, pp, mask2 );
R.copyTo(test_mat[TEMP][2]);
t.copyTo(test_mat[TEMP][3]);
mask2.copyTo(test_mat[TEMP][4]);
}
double CV_EssentialMatTest::sampson_error(const double * f, double x1, double y1, double x2, double y2)
{
double Fx1[3] = {
f[0] * x1 + f[1] * y1 + f[2],
f[3] * x1 + f[4] * y1 + f[5],
f[0] * x1 + f[1] * y1 + f[2],
f[3] * x1 + f[4] * y1 + f[5],
f[6] * x1 + f[7] * y1 + f[8]
};
};
double Ftx2[3] = {
f[0] * x2 + f[3] * y2 + f[6],
f[1] * x2 + f[4] * y2 + f[7],
f[0] * x2 + f[3] * y2 + f[6],
f[1] * x2 + f[4] * y2 + f[7],
f[2] * x2 + f[5] * y2 + f[8]
};
double x2tFx1 = Fx1[0] * x2 + Fx1[1] * y2 + Fx1[2];
};
double x2tFx1 = Fx1[0] * x2 + Fx1[1] * y2 + Fx1[2];
double error = x2tFx1 * x2tFx1 / (Fx1[0] * Fx1[0] + Fx1[1] * Fx1[1] + Ftx2[0] * Ftx2[0] + Ftx2[1] * Ftx2[1]);
error = sqrt(error);
return error;
double error = x2tFx1 * x2tFx1 / (Fx1[0] * Fx1[0] + Fx1[1] * Fx1[1] + Ftx2[0] * Ftx2[0] + Ftx2[1] * Ftx2[1]);
error = sqrt(error);
return error;
}
@@ -1338,7 +1337,7 @@ void CV_EssentialMatTest::prepare_to_validation( int test_case_idx )
const Mat& A = test_mat[INPUT][4];
double f0[9], f[9], e[9];
Mat F0(3, 3, CV_64FC1, f0), F(3, 3, CV_64F, f);
Mat E(3, 3, CV_64F, e);
Mat E(3, 3, CV_64F, e);
Mat invA, R=Rt0.colRange(0, 3), T1, T2;
@@ -1362,7 +1361,7 @@ void CV_EssentialMatTest::prepare_to_validation( int test_case_idx )
uchar* mtfm2 = test_mat[OUTPUT][1].data;
double* e_prop1 = (double*)test_mat[REF_OUTPUT][0].data;
double* e_prop2 = (double*)test_mat[OUTPUT][0].data;
Mat E_prop2 = Mat(3, 1, CV_64F, e_prop2);
Mat E_prop2 = Mat(3, 1, CV_64F, e_prop2);
int i, pt_count = test_mat[INPUT][2].cols;
Mat p1( 1, pt_count, CV_64FC2 );
@@ -1381,8 +1380,8 @@ void CV_EssentialMatTest::prepare_to_validation( int test_case_idx )
double y1 = p1.at<Point2d>(i).y;
double x2 = p2.at<Point2d>(i).x;
double y2 = p2.at<Point2d>(i).y;
// double t0 = sampson_error(f0, x1, y1, x2, y2);
// double t = sampson_error(f, x1, y1, x2, y2);
// double t0 = sampson_error(f0, x1, y1, x2, y2);
// double t = sampson_error(f, x1, y1, x2, y2);
double n1 = 1./sqrt(x1*x1 + y1*y1 + 1);
double n2 = 1./sqrt(x2*x2 + y2*y2 + 1);
double t0 = fabs(f0[0]*x2*x1 + f0[1]*x2*y1 + f0[2]*x2 +
@@ -1394,7 +1393,7 @@ void CV_EssentialMatTest::prepare_to_validation( int test_case_idx )
mtfm1[i] = 1;
mtfm2[i] = !status[i] || t0 > err_level || t < err_level;
}
e_prop1[0] = sqrt(0.5);
e_prop1[1] = sqrt(0.5);
e_prop1[2] = 0;
@@ -1402,26 +1401,26 @@ void CV_EssentialMatTest::prepare_to_validation( int test_case_idx )
e_prop2[0] = 0;
e_prop2[1] = 0;
e_prop2[2] = 0;
SVD::compute(E, E_prop2);
SVD::compute(E, E_prop2);
double* pose_prop1 = (double*)test_mat[REF_OUTPUT][2].data;
double* pose_prop2 = (double*)test_mat[OUTPUT][2].data;
double terr1 = norm(Rt0.col(3) / norm(Rt0.col(3)) + test_mat[TEMP][3]);
double terr2 = norm(Rt0.col(3) / norm(Rt0.col(3)) - test_mat[TEMP][3]);
Mat rvec;
Rodrigues(Rt0.colRange(0, 3), rvec);
pose_prop1[0] = 0;
// No check for CV_LMeDS on translation. Since it
// involves with some degraded problem, when data is exact inliers.
pose_prop2[0] = method == CV_LMEDS || pt_count == 5 ? 0 : MIN(terr1, terr2);
double* pose_prop1 = (double*)test_mat[REF_OUTPUT][2].data;
double* pose_prop2 = (double*)test_mat[OUTPUT][2].data;
double terr1 = norm(Rt0.col(3) / norm(Rt0.col(3)) + test_mat[TEMP][3]);
double terr2 = norm(Rt0.col(3) / norm(Rt0.col(3)) - test_mat[TEMP][3]);
Mat rvec;
Rodrigues(Rt0.colRange(0, 3), rvec);
pose_prop1[0] = 0;
// No check for CV_LMeDS on translation. Since it
// involves with some degraded problem, when data is exact inliers.
pose_prop2[0] = method == CV_LMEDS || pt_count == 5 ? 0 : MIN(terr1, terr2);
// int inliers_count = countNonZero(test_mat[TEMP][1]);
// int good_count = countNonZero(test_mat[TEMP][4]);
test_mat[OUTPUT][3] = true; //good_count >= inliers_count / 2;
test_mat[REF_OUTPUT][3] = true;
// int inliers_count = countNonZero(test_mat[TEMP][1]);
// int good_count = countNonZero(test_mat[TEMP][4]);
test_mat[OUTPUT][3] = true; //good_count >= inliers_count / 2;
test_mat[REF_OUTPUT][3] = true;
}