OpenCV_4.2.0/opencv_contrib-4.2.0/modules/rgbd/test/test_utils.cpp

72 lines
1.9 KiB
C++

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