72 lines
1.9 KiB
C++
72 lines
1.9 KiB
C++
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// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html
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// This code is also subject to the license terms in the LICENSE_WillowGarage.md file found in this module's directory
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#include "test_precomp.hpp"
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namespace opencv_test { namespace {
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class CV_RgbdDepthTo3dTest: public cvtest::BaseTest
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{
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public:
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CV_RgbdDepthTo3dTest()
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{
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}
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~CV_RgbdDepthTo3dTest()
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{
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}
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protected:
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void
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run(int)
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{
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try
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{
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// K from a VGA Kinect
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Mat K = (Mat_<float>(3, 3) << 525., 0., 319.5, 0., 525., 239.5, 0., 0., 1.);
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// Create a random depth image
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RNG rng;
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Mat_<float> depth(480, 640);
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rng.fill(depth, RNG::UNIFORM, 0, 100);
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// Create some 3d points on the plane
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int rows = depth.rows, cols = depth.cols;
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Mat_<Vec3f> points3d;
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depthTo3d(depth, K, points3d);
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// Make sure the points belong to the plane
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Mat points = points3d.reshape(1, rows*cols);
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Mat image_points;
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Mat rvec;
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Rodrigues(Mat::eye(3,3,CV_32F),rvec);
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Mat tvec = (Mat_<float>(1,3) << 0, 0, 0);
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projectPoints(points, rvec, tvec, K, Mat(), image_points);
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image_points = image_points.reshape(2, rows);
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float avg_diff = 0;
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for (int y = 0; y < rows; ++y)
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for (int x = 0; x < cols; ++x)
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avg_diff += (float)cv::norm(image_points.at<Vec2f>(y,x) - Vec2f((float)x,(float)y));
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// Verify the function works
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ASSERT_LE(avg_diff/rows/cols, 1e-4) << "Average error for ground truth is: " << (avg_diff / rows / cols);
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} catch (...)
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{
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ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
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}
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ts->set_failed_test_info(cvtest::TS::OK);
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}
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};
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TEST(Rgbd_DepthTo3d, compute)
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{
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CV_RgbdDepthTo3dTest test;
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test.safe_run();
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}
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}} // namespace
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