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215 lines
7.1 KiB
215 lines
7.1 KiB
/*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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using namespace cv; |
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using namespace std; |
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class Differential |
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{ |
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public: |
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typedef Mat_<double> mat_t; |
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Differential(double eps_, const mat_t& rv1_, const mat_t& tv1_, const mat_t& rv2_, const mat_t& tv2_) |
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: rv1(rv1_), tv1(tv1_), rv2(rv2_), tv2(tv2_), eps(eps_), ev(3, 1) {} |
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void dRv1(mat_t& dr3_dr1, mat_t& dt3_dr1) |
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{ |
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dr3_dr1.create(3, 3); dt3_dr1.create(3, 3); |
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for(int i = 0; i < 3; ++i) |
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{ |
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ev.setTo(Scalar(0)); ev(i, 0) = eps; |
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composeRT( rv1 + ev, tv1, rv2, tv2, rv3_p, tv3_p); |
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composeRT( rv1 - ev, tv1, rv2, tv2, rv3_m, tv3_m); |
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dr3_dr1.col(i) = rv3_p - rv3_m; |
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dt3_dr1.col(i) = tv3_p - tv3_m; |
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} |
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dr3_dr1 /= 2 * eps; dt3_dr1 /= 2 * eps; |
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} |
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void dRv2(mat_t& dr3_dr2, mat_t& dt3_dr2) |
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{ |
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dr3_dr2.create(3, 3); dt3_dr2.create(3, 3); |
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for(int i = 0; i < 3; ++i) |
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{ |
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ev.setTo(Scalar(0)); ev(i, 0) = eps; |
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composeRT( rv1, tv1, rv2 + ev, tv2, rv3_p, tv3_p); |
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composeRT( rv1, tv1, rv2 - ev, tv2, rv3_m, tv3_m); |
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dr3_dr2.col(i) = rv3_p - rv3_m; |
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dt3_dr2.col(i) = tv3_p - tv3_m; |
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} |
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dr3_dr2 /= 2 * eps; dt3_dr2 /= 2 * eps; |
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} |
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void dTv1(mat_t& drt3_dt1, mat_t& dt3_dt1) |
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{ |
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drt3_dt1.create(3, 3); dt3_dt1.create(3, 3); |
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for(int i = 0; i < 3; ++i) |
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{ |
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ev.setTo(Scalar(0)); ev(i, 0) = eps; |
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composeRT( rv1, tv1 + ev, rv2, tv2, rv3_p, tv3_p); |
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composeRT( rv1, tv1 - ev, rv2, tv2, rv3_m, tv3_m); |
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drt3_dt1.col(i) = rv3_p - rv3_m; |
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dt3_dt1.col(i) = tv3_p - tv3_m; |
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} |
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drt3_dt1 /= 2 * eps; dt3_dt1 /= 2 * eps; |
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} |
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void dTv2(mat_t& dr3_dt2, mat_t& dt3_dt2) |
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{ |
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dr3_dt2.create(3, 3); dt3_dt2.create(3, 3); |
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for(int i = 0; i < 3; ++i) |
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{ |
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ev.setTo(Scalar(0)); ev(i, 0) = eps; |
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composeRT( rv1, tv1, rv2, tv2 + ev, rv3_p, tv3_p); |
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composeRT( rv1, tv1, rv2, tv2 - ev, rv3_m, tv3_m); |
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dr3_dt2.col(i) = rv3_p - rv3_m; |
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dt3_dt2.col(i) = tv3_p - tv3_m; |
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} |
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dr3_dt2 /= 2 * eps; dt3_dt2 /= 2 * eps; |
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} |
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private: |
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const mat_t& rv1, tv1, rv2, tv2; |
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double eps; |
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Mat_<double> ev; |
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Differential& operator=(const Differential&); |
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Mat rv3_m, tv3_m, rv3_p, tv3_p; |
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}; |
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class CV_composeRT_Test : public cvtest::BaseTest |
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{ |
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public: |
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CV_composeRT_Test() {} |
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~CV_composeRT_Test() {} |
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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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Mat_<double> rvec1(3, 1), tvec1(3, 1), rvec2(3, 1), tvec2(3, 1); |
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randu(rvec1, Scalar(0), Scalar(6.29)); |
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randu(rvec2, Scalar(0), Scalar(6.29)); |
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randu(tvec1, Scalar(-2), Scalar(2)); |
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randu(tvec2, Scalar(-2), Scalar(2)); |
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Mat rvec3, tvec3; |
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composeRT(rvec1, tvec1, rvec2, tvec2, rvec3, tvec3); |
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Mat rvec3_exp, tvec3_exp; |
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Mat rmat1, rmat2; |
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Rodrigues(rvec1, rmat1); |
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Rodrigues(rvec2, rmat2); |
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Rodrigues(rmat2 * rmat1, rvec3_exp); |
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tvec3_exp = rmat2 * tvec1 + tvec2; |
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const double thres = 1e-5; |
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if (norm(rvec3_exp, rvec3) > thres || norm(tvec3_exp, tvec3) > thres) |
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ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY); |
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const double eps = 1e-3; |
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Differential diff(eps, rvec1, tvec1, rvec2, tvec2); |
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Mat dr3dr1, dr3dt1, dr3dr2, dr3dt2, dt3dr1, dt3dt1, dt3dr2, dt3dt2; |
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composeRT(rvec1, tvec1, rvec2, tvec2, rvec3, tvec3, |
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dr3dr1, dr3dt1, dr3dr2, dr3dt2, dt3dr1, dt3dt1, dt3dr2, dt3dt2); |
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Mat_<double> dr3_dr1, dt3_dr1; |
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diff.dRv1(dr3_dr1, dt3_dr1); |
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if (norm(dr3_dr1, dr3dr1) > thres || norm(dt3_dr1, dt3dr1) > thres) |
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{ |
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ts->printf( cvtest::TS::LOG, "Invalid derivates by r1\n" ); |
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ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY); |
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} |
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Mat_<double> dr3_dr2, dt3_dr2; |
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diff.dRv2(dr3_dr2, dt3_dr2); |
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if (norm(dr3_dr2, dr3dr2) > thres || norm(dt3_dr2, dt3dr2) > thres) |
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{ |
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ts->printf( cvtest::TS::LOG, "Invalid derivates by r2\n" ); |
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ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY); |
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} |
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Mat_<double> dr3_dt1, dt3_dt1; |
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diff.dTv1(dr3_dt1, dt3_dt1); |
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if (norm(dr3_dt1, dr3dt1) > thres || norm(dt3_dt1, dt3dt1) > thres) |
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{ |
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ts->printf( cvtest::TS::LOG, "Invalid derivates by t1\n" ); |
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ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY); |
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} |
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Mat_<double> dr3_dt2, dt3_dt2; |
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diff.dTv2(dr3_dt2, dt3_dt2); |
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if (norm(dr3_dt2, dr3dt2) > thres || norm(dt3_dt2, dt3dt2) > thres) |
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{ |
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ts->printf( cvtest::TS::LOG, "Invalid derivates by t2\n" ); |
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ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY); |
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} |
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} |
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}; |
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TEST(Calib3d_ComposeRT, accuracy) { CV_composeRT_Test test; test.safe_run(); } |
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