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OpenCV Buildbot
2012-10-17 11:12:04 +04:00
committed by Andrey Kamaev
parent 0442bca235
commit 81f826db2b
1511 changed files with 258678 additions and 258624 deletions
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42
modules/calib3d/test/test_reproject_image_to_3d.cpp
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@@ -48,18 +48,18 @@ using namespace cv;
using namespace std;
template<class T> double thres() { return 1.0; }
template<> double thres<float>() { return 1e-5; }
template<> double thres<float>() { return 1e-5; }
class CV_ReprojectImageTo3DTest : public cvtest::BaseTest
{
public:
CV_ReprojectImageTo3DTest() {}
~CV_ReprojectImageTo3DTest() {}
protected:
protected:
void run(int)
{
{
ts->set_failed_test_info(cvtest::TS::OK);
int progress = 0;
int caseId = 0;
@@ -89,7 +89,7 @@ protected:
progress = update_progress( progress, 12, 14, 0 );
runCase<short, short>(++caseId, -100, 100);
progress = update_progress( progress, 13, 14, 0 );
runCase<unsigned char, short>(++caseId, 10, 100);
runCase<unsigned char, short>(++caseId, 10, 100);
progress = update_progress( progress, 14, 14, 0 );
}
@@ -100,42 +100,42 @@ protected:
for(int i = 0; i < 3; ++i)
{
tmp = v1[i];
nsum += tmp * tmp;
nsum += tmp * tmp;
tmp = tmp - v2[i];
sum += tmp * tmp;
}
}
return sqrt(sum)/(sqrt(nsum)+1.);
}
template<class InT, class OutT> void runCase(int caseId, InT min, InT max)
{
{
typedef Vec<OutT, 3> out3d_t;
bool handleMissingValues = (unsigned)theRNG() % 2 == 0;
bool handleMissingValues = (unsigned)theRNG() % 2 == 0;
Mat_<InT> disp(Size(320, 240));
randu(disp, Scalar(min), Scalar(max));
if (handleMissingValues)
disp(disp.rows/2, disp.cols/2) = min - 1;
Mat_<double> Q(4, 4);
randu(Q, Scalar(-5), Scalar(5));
Mat_<out3d_t> _3dImg(disp.size());
CvMat cvdisp = disp; CvMat cv_3dImg = _3dImg; CvMat cvQ = Q;
cvReprojectImageTo3D( &cvdisp, &cv_3dImg, &cvQ, handleMissingValues );
if (numeric_limits<OutT>::max() == numeric_limits<float>::max())
reprojectImageTo3D(disp, _3dImg, Q, handleMissingValues);
for(int y = 0; y < disp.rows; ++y)
for(int x = 0; x < disp.cols; ++x)
{
InT d = disp(y, x);
InT d = disp(y, x);
double from[4] = { x, y, d, 1 };
Mat_<double> res = Q * Mat_<double>(4, 1, from);
@@ -144,15 +144,15 @@ protected:
out3d_t pixel_exp = *(Vec3d*)res.data;
out3d_t pixel_out = _3dImg(y, x);
const int largeZValue = 10000; /* see documentation */
const int largeZValue = 10000; /* see documentation */
if (handleMissingValues && y == disp.rows/2 && x == disp.cols/2)
{
if (handleMissingValues && y == disp.rows/2 && x == disp.cols/2)
{
if (pixel_out[2] == largeZValue)
continue;
ts->printf(cvtest::TS::LOG, "Missing values are handled improperly\n");
ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
return;
}
else
@@ -167,9 +167,9 @@ protected:
return;
}
}
}
}
}
};
};
TEST(Calib3d_ReprojectImageTo3D, accuracy) { CV_ReprojectImageTo3DTest test; test.safe_run(); }