added test for composeRT, updated reprojectImageTo3D (progress indication)

git-svn-id: https://code.ros.org/svn/opencv/trunk@2598 73c94f0f-984f-4a5f-82bc-2d8db8d8ee08

diff --git a/opencv/tests/cv/src/areprojectImageTo3D.cpp b/opencv/tests/cv/src/areprojectImageTo3D.cpp
index ff7be3621921b61a2b093988325870a6de50185d..8062906a20497b791553ecfc95a997b02e5a9a7d 100644 (file)
--- a/opencv/tests/cv/src/areprojectImageTo3D.cpp
+++ b/opencv/tests/cv/src/areprojectImageTo3D.cpp
@@ -60,25 +60,40 @@ public:
     }\r
     ~CV_ReprojectImageTo3DTest() {}\r
 protected: \r
+\r
     \r
     void run(int)\r
-    {\r
+    {        \r
         ts->set_failed_test_info(CvTS::OK);\r
+        int progress = 0;\r
 \r
+        progress = update_progress( progress, 1, 14, 0 );\r
         runCase<float, float>(-100.f, 100.f);\r
+        progress = update_progress( progress, 2, 14, 0 );\r
         runCase<int, float>(-100, 100);\r
+        progress = update_progress( progress, 3, 14, 0 );\r
         runCase<short, float>(-100, 100);\r
+        progress = update_progress( progress, 4, 14, 0 );\r
         runCase<unsigned char, float>(10, 100);\r
+        progress = update_progress( progress, 5, 14, 0 );\r
 \r
         runCase<float, int>(-100.f, 100.f);\r
+        progress = update_progress( progress, 6, 14, 0 );\r
         runCase<int, int>(-100, 100);\r
+        progress = update_progress( progress, 7, 14, 0 );\r
         runCase<short, int>(-100, 100);\r
+        progress = update_progress( progress, 8, 14, 0 );\r
         runCase<unsigned char, int>(10, 100);\r
+        progress = update_progress( progress, 10, 14, 0 );\r
 \r
         runCase<float, short>(-100.f, 100.f);\r
+        progress = update_progress( progress, 11, 14, 0 );\r
         runCase<int, short>(-100, 100);\r
+        progress = update_progress( progress, 12, 14, 0 );\r
         runCase<short, short>(-100, 100);\r
+        progress = update_progress( progress, 13, 14, 0 );\r
         runCase<unsigned char, short>(10, 100);        \r
+        progress = update_progress( progress, 14, 14, 0 );\r
     }\r
 \r
     template<class U, class V> double error(const Vec<U, 3>& v1, const Vec<V, 3>& v2) const\r

diff --git a/opencv/tests/cv/src/cvcomposeRT.cpp b/opencv/tests/cv/src/cvcomposeRT.cpp
new file mode 100644 (file)
index 0000000..45a9955
--- /dev/null
+++ b/opencv/tests/cv/src/cvcomposeRT.cpp
@@ -0,0 +1,220 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////\r
+//\r
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.\r
+//\r
+//  By downloading, copying, installing or using the software you agree to this license.\r
+//  If you do not agree to this license, do not download, install,\r
+//  copy or use the software.\r
+//\r
+//\r
+//                           License Agreement\r
+//                For Open Source Computer Vision Library\r
+//\r
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.\r
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.\r
+// Third party copyrights are property of their respective owners.\r
+//\r
+// Redistribution and use in source and binary forms, with or without modification,\r
+// are permitted provided that the following conditions are met:\r
+//\r
+//   * Redistribution's of source code must retain the above copyright notice,\r
+//     this list of conditions and the following disclaimer.\r
+//\r
+//   * Redistribution's in binary form must reproduce the above copyright notice,\r
+//     this list of conditions and the following disclaimer in the documentation\r
+//     and/or other materials provided with the distribution.\r
+//\r
+//   * The name of the copyright holders may not be used to endorse or promote products\r
+//     derived from this software without specific prior written permission.\r
+//\r
+// This software is provided by the copyright holders and contributors "as is" and\r
+// any express or implied warranties, including, but not limited to, the implied\r
+// warranties of merchantability and fitness for a particular purpose are disclaimed.\r
+// In no event shall the Intel Corporation or contributors be liable for any direct,\r
+// indirect, incidental, special, exemplary, or consequential damages\r
+// (including, but not limited to, procurement of substitute goods or services;\r
+// loss of use, data, or profits; or business interruption) however caused\r
+// and on any theory of liability, whether in contract, strict liability,\r
+// or tort (including negligence or otherwise) arising in any way out of\r
+// the use of this software, even if advised of the possibility of such damage.\r
+//\r
+//M*/\r
+\r
+#include "cvtest.h"\r
+\r
+using namespace cv;\r
+using namespace std;\r
+\r
+\r
+class Differential\r
+{\r
+public:                \r
+    typedef Mat_<double> mat_t;    \r
+\r
+    Differential(double eps_, const mat_t& rv1_, const mat_t& tv1_, const mat_t& rv2_, const mat_t& tv2_) \r
+        : rv1(rv1_), tv1(tv1_), rv2(rv2_), tv2(tv2_), eps(eps_), ev(3, 1) {}\r
+\r
+    void dRv1(mat_t& dr3_dr1, mat_t& dt3_dr1)\r
+    {                \r
+        dr3_dr1.create(3, 3);     dt3_dr1.create(3, 3);\r
+                    \r
+        for(size_t i = 0; i < 3; ++i) \r
+        {\r
+            ev.setTo(Scalar(0));    ev(i, 0) = eps;                        \r
+                        \r
+            composeRT( rv1 + ev, tv1, rv2, tv2, rv3_p, tv3_p);            \r
+            composeRT( rv1 - ev, tv1, rv2, tv2, rv3_m, tv3_m);\r
+\r
+            dr3_dr1.col(i) = rv3_p - rv3_m;            \r
+            dt3_dr1.col(i) = tv3_p - tv3_m;                         \r
+        }\r
+        dr3_dr1 /= 2 * eps;       dt3_dr1 /= 2 * eps;\r
+    }\r
+\r
+    void dRv2(mat_t& dr3_dr2, mat_t& dt3_dr2)\r
+    {                \r
+        dr3_dr2.create(3, 3);     dt3_dr2.create(3, 3);\r
+                    \r
+        for(size_t i = 0; i < 3; ++i) \r
+        {\r
+            ev.setTo(Scalar(0));    ev(i, 0) = eps;                        \r
+                        \r
+            composeRT( rv1, tv1, rv2 + ev, tv2, rv3_p, tv3_p);            \r
+            composeRT( rv1, tv1, rv2 - ev, tv2, rv3_m, tv3_m);\r
+\r
+            dr3_dr2.col(i) = rv3_p - rv3_m;            \r
+            dt3_dr2.col(i) = tv3_p - tv3_m;                         \r
+        }\r
+        dr3_dr2 /= 2 * eps;       dt3_dr2 /= 2 * eps;\r
+    }\r
+\r
+    void dTv1(mat_t& drt3_dt1, mat_t& dt3_dt1)\r
+    {                \r
+        drt3_dt1.create(3, 3);     dt3_dt1.create(3, 3);\r
+                    \r
+        for(size_t i = 0; i < 3; ++i) \r
+        {\r
+            ev.setTo(Scalar(0));    ev(i, 0) = eps;                        \r
+                        \r
+            composeRT( rv1, tv1 + ev, rv2, tv2, rv3_p, tv3_p);            \r
+            composeRT( rv1, tv1 - ev, rv2, tv2, rv3_m, tv3_m);\r
+\r
+            drt3_dt1.col(i) = rv3_p - rv3_m;            \r
+            dt3_dt1.col(i) = tv3_p - tv3_m;                         \r
+        }\r
+        drt3_dt1 /= 2 * eps;       dt3_dt1 /= 2 * eps;\r
+    }\r
+\r
+    void dTv2(mat_t& dr3_dt2, mat_t& dt3_dt2)\r
+    {                \r
+        dr3_dt2.create(3, 3);     dt3_dt2.create(3, 3);\r
+                    \r
+        for(size_t i = 0; i < 3; ++i) \r
+        {\r
+            ev.setTo(Scalar(0));    ev(i, 0) = eps;                        \r
+                        \r
+            composeRT( rv1, tv1, rv2, tv2 + ev, rv3_p, tv3_p);            \r
+            composeRT( rv1, tv1, rv2, tv2 - ev, rv3_m, tv3_m);\r
+\r
+            dr3_dt2.col(i) = rv3_p - rv3_m;            \r
+            dt3_dt2.col(i) = tv3_p - tv3_m;                         \r
+        }\r
+        dr3_dt2 /= 2 * eps;       dt3_dt2 /= 2 * eps;\r
+    }\r
+     \r
+private:\r
+    const mat_t& rv1, tv1, rv2, tv2;\r
+    \r
+    Differential& operator=(const Differential&);\r
+    Mat rv3_m, tv3_m, rv3_p, tv3_p;    \r
+    Mat_<double> ev;\r
+    double eps;\r
+};\r
+\r
+class CV_composeRT_Test : public CvTest\r
+{\r
+public:\r
+    CV_composeRT_Test()\r
+        : CvTest( "composeRT", "cvComposeRT")\r
+    {\r
+        support_testing_modes = CvTS::CORRECTNESS_CHECK_MODE;        \r
+    }\r
+    ~CV_composeRT_Test() {}\r
+protected: \r
+    \r
+    void run(int)\r
+    {\r
+        CvTS& ts = *this->ts;\r
+        ts.set_failed_test_info(CvTS::OK);\r
+        \r
+        Mat_<double> rvec1(3, 1), tvec1(3, 1), rvec2(3, 1), tvec2(3, 1); \r
+\r
+        randu(rvec1, Scalar(0), Scalar(6.29));\r
+        randu(rvec2, Scalar(0), Scalar(6.29));\r
+\r
+        randu(tvec1, Scalar(-2), Scalar(2));\r
+        randu(tvec2, Scalar(-2), Scalar(2));\r
+        \r
+        Mat rvec3, tvec3;\r
+        composeRT(rvec1, tvec1, rvec2, tvec2, rvec3, tvec3);\r
+        \r
+        Mat rvec3_exp, tvec3_exp;\r
+\r
+        Mat rmat1, rmat2;\r
+        Rodrigues(rvec1, rmat1);\r
+        Rodrigues(rvec2, rmat2);\r
+        Rodrigues(rmat2 * rmat1, rvec3_exp);\r
+\r
+        tvec3_exp = rmat2 * tvec1 + tvec2;\r
+\r
+        const double thres = 1e-5;\r
+        if (norm(rvec3_exp, rvec3) > thres ||  norm(tvec3_exp, tvec3) > thres)\r
+            ts.set_failed_test_info(CvTS::FAIL_BAD_ACCURACY);\r
+\r
+        const double eps = 1e-3;\r
+        Differential diff(eps, rvec1, tvec1, rvec2, tvec2);\r
+     \r
+        Mat dr3dr1, dr3dt1, dr3dr2, dr3dt2, dt3dr1, dt3dt1, dt3dr2, dt3dt2;\r
+\r
+        composeRT(rvec1, tvec1, rvec2, tvec2, rvec3, tvec3, \r
+            dr3dr1, dr3dt1, dr3dr2, dr3dt2, dt3dr1, dt3dt1, dt3dr2, dt3dt2);\r
+        \r
+        Mat_<double> dr3_dr1, dt3_dr1;\r
+           diff.dRv1(dr3_dr1, dt3_dr1);\r
+\r
+        if (norm(dr3_dr1, dr3dr1) > thres || norm(dt3_dr1, dt3dr1) > thres)\r
+        {            \r
+            ts.printf( CvTS::LOG, "Invalid derivates by r1\n" );\r
+            ts.set_failed_test_info(CvTS::FAIL_BAD_ACCURACY);\r
+        }\r
+\r
+        Mat_<double> dr3_dr2, dt3_dr2;\r
+           diff.dRv2(dr3_dr2, dt3_dr2);\r
+\r
+        if (norm(dr3_dr2, dr3dr2) > thres || norm(dt3_dr2, dt3dr2) > thres)\r
+        {            \r
+            ts.printf( CvTS::LOG, "Invalid derivates by r2\n" );\r
+            ts.set_failed_test_info(CvTS::FAIL_BAD_ACCURACY);\r
+        }\r
+\r
+        Mat_<double> dr3_dt1, dt3_dt1;\r
+           diff.dTv1(dr3_dt1, dt3_dt1);\r
+\r
+        if (norm(dr3_dt1, dr3dt1) > thres || norm(dt3_dt1, dt3dt1) > thres)\r
+        {            \r
+            ts.printf( CvTS::LOG, "Invalid derivates by t1\n" );\r
+            ts.set_failed_test_info(CvTS::FAIL_BAD_ACCURACY);\r
+        }\r
+        \r
+        Mat_<double> dr3_dt2, dt3_dt2;\r
+           diff.dTv2(dr3_dt2, dt3_dt2);\r
+\r
+        if (norm(dr3_dt2, dr3dt2) > thres || norm(dt3_dt2, dt3dt2) > thres)\r
+        {            \r
+            ts.printf( CvTS::LOG, "Invalid derivates by t2\n" );\r
+            ts.set_failed_test_info(CvTS::FAIL_BAD_ACCURACY);\r
+        }\r
+    }       \r
+};   \r
+    \r
+CV_composeRT_Test composeRT_test;\r