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calib3d: move undistort files from imgproc

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This commit is contained in:
Alexander Alekhin
2018-10-02 21:51:29 +00:00
parent a9c8a526cf
commit 8f1f4273a2
15 changed files with 989 additions and 694 deletions
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modules/imgproc/test/test_imgwarp.cpp
-308
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@@ -812,312 +812,6 @@ void CV_RemapTest::prepare_to_validation( int /*test_case_idx*/ )
dst0.setTo(Scalar::all(0), mask);
}
////////////////////////////// undistort /////////////////////////////////
class CV_UndistortTest : public CV_ImgWarpBaseTest
{
public:
CV_UndistortTest();
protected:
void get_test_array_types_and_sizes( int test_case_idx, vector<vector<Size> >& sizes, vector<vector<int> >& types );
void run_func();
int prepare_test_case( int test_case_idx );
void prepare_to_validation( int /*test_case_idx*/ );
double get_success_error_level( int test_case_idx, int i, int j );
void fill_array( int test_case_idx, int i, int j, Mat& arr );
private:
bool useCPlus;
cv::Mat input0;
cv::Mat input1;
cv::Mat input2;
cv::Mat input_new_cam;
cv::Mat input_output;
bool zero_new_cam;
bool zero_distortion;
};
CV_UndistortTest::CV_UndistortTest() : CV_ImgWarpBaseTest( false )
{
//spatial_scale_zoom = spatial_scale_decimate;
test_array[INPUT].push_back(NULL);
test_array[INPUT].push_back(NULL);
test_array[INPUT].push_back(NULL);
spatial_scale_decimate = spatial_scale_zoom;
}
void CV_UndistortTest::get_test_array_types_and_sizes( int test_case_idx, vector<vector<Size> >& sizes, vector<vector<int> >& types )
{
RNG& rng = ts->get_rng();
CV_ImgWarpBaseTest::get_test_array_types_and_sizes( test_case_idx, sizes, types );
int type = types[INPUT][0];
type = CV_MAKETYPE( CV_8U, CV_MAT_CN(type) );
types[INPUT][0] = types[INPUT_OUTPUT][0] = types[REF_INPUT_OUTPUT][0] = type;
types[INPUT][1] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
types[INPUT][2] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
sizes[INPUT][1] = cvSize(3,3);
sizes[INPUT][2] = cvtest::randInt(rng)%2 ? cvSize(4,1) : cvSize(1,4);
types[INPUT][3] = types[INPUT][1];
sizes[INPUT][3] = sizes[INPUT][1];
interpolation = CV_INTER_LINEAR;
}
void CV_UndistortTest::fill_array( int test_case_idx, int i, int j, Mat& arr )
{
if( i != INPUT )
CV_ImgWarpBaseTest::fill_array( test_case_idx, i, j, arr );
}
void CV_UndistortTest::run_func()
{
if (!useCPlus)
{
CvMat a = cvMat(test_mat[INPUT][1]), k = cvMat(test_mat[INPUT][2]);
cvUndistort2( test_array[INPUT][0], test_array[INPUT_OUTPUT][0], &a, &k);
}
else
{
if (zero_distortion)
{
cv::undistort(input0,input_output,input1,cv::Mat());
}
else
{
cv::undistort(input0,input_output,input1,input2);
}
}
}
double CV_UndistortTest::get_success_error_level( int /*test_case_idx*/, int /*i*/, int /*j*/ )
{
int depth = test_mat[INPUT][0].depth();
return depth == CV_8U ? 16 : depth == CV_16U ? 1024 : 5e-2;
}
int CV_UndistortTest::prepare_test_case( int test_case_idx )
{
RNG& rng = ts->get_rng();
int code = CV_ImgWarpBaseTest::prepare_test_case( test_case_idx );
const Mat& src = test_mat[INPUT][0];
double k[4], a[9] = {0,0,0,0,0,0,0,0,1};
double new_cam[9] = {0,0,0,0,0,0,0,0,1};
double sz = MAX(src.rows, src.cols);
Mat& _new_cam0 = test_mat[INPUT][3];
Mat _new_cam(test_mat[INPUT][3].rows,test_mat[INPUT][3].cols,CV_64F,new_cam);
Mat& _a0 = test_mat[INPUT][1];
Mat _a(3,3,CV_64F,a);
Mat& _k0 = test_mat[INPUT][2];
Mat _k(_k0.rows,_k0.cols, CV_MAKETYPE(CV_64F,_k0.channels()),k);
if( code <= 0 )
return code;
double aspect_ratio = cvtest::randReal(rng)*0.6 + 0.7;
a[2] = (src.cols - 1)*0.5 + cvtest::randReal(rng)*10 - 5;
a[5] = (src.rows - 1)*0.5 + cvtest::randReal(rng)*10 - 5;
a[0] = sz/(0.9 - cvtest::randReal(rng)*0.6);
a[4] = aspect_ratio*a[0];
k[0] = cvtest::randReal(rng)*0.06 - 0.03;
k[1] = cvtest::randReal(rng)*0.06 - 0.03;
if( k[0]*k[1] > 0 )
k[1] = -k[1];
if( cvtest::randInt(rng)%4 != 0 )
{
k[2] = cvtest::randReal(rng)*0.004 - 0.002;
k[3] = cvtest::randReal(rng)*0.004 - 0.002;
}
else
k[2] = k[3] = 0;
new_cam[0] = a[0] + (cvtest::randReal(rng) - (double)0.5)*0.2*a[0]; //10%
new_cam[4] = a[4] + (cvtest::randReal(rng) - (double)0.5)*0.2*a[4]; //10%
new_cam[2] = a[2] + (cvtest::randReal(rng) - (double)0.5)*0.3*test_mat[INPUT][0].rows; //15%
new_cam[5] = a[5] + (cvtest::randReal(rng) - (double)0.5)*0.3*test_mat[INPUT][0].cols; //15%
_a.convertTo(_a0, _a0.depth());
zero_distortion = (cvtest::randInt(rng)%2) == 0 ? false : true;
_k.convertTo(_k0, _k0.depth());
zero_new_cam = (cvtest::randInt(rng)%2) == 0 ? false : true;
_new_cam.convertTo(_new_cam0, _new_cam0.depth());
//Testing C++ code
useCPlus = ((cvtest::randInt(rng) % 2)!=0);
if (useCPlus)
{
input0 = test_mat[INPUT][0];
input1 = test_mat[INPUT][1];
input2 = test_mat[INPUT][2];
input_new_cam = test_mat[INPUT][3];
}
return code;
}
void CV_UndistortTest::prepare_to_validation( int /*test_case_idx*/ )
{
if (useCPlus)
{
Mat& output = test_mat[INPUT_OUTPUT][0];
input_output.convertTo(output, output.type());
}
Mat& src = test_mat[INPUT][0];
Mat& dst = test_mat[REF_INPUT_OUTPUT][0];
Mat& dst0 = test_mat[INPUT_OUTPUT][0];
Mat mapx, mapy;
cvtest::initUndistortMap( test_mat[INPUT][1], test_mat[INPUT][2], dst.size(), mapx, mapy );
Mat mask( dst.size(), CV_8U );
test_remap( src, dst, mapx, mapy, &mask, interpolation );
dst.setTo(Scalar::all(0), mask);
dst0.setTo(Scalar::all(0), mask);
}
class CV_UndistortMapTest : public cvtest::ArrayTest
{
public:
CV_UndistortMapTest();
protected:
void get_test_array_types_and_sizes( int test_case_idx, vector<vector<Size> >& sizes, vector<vector<int> >& types );
void run_func();
int prepare_test_case( int test_case_idx );
void prepare_to_validation( int /*test_case_idx*/ );
double get_success_error_level( int test_case_idx, int i, int j );
void fill_array( int test_case_idx, int i, int j, Mat& arr );
private:
bool dualChannel;
};
CV_UndistortMapTest::CV_UndistortMapTest()
{
test_array[INPUT].push_back(NULL);
test_array[INPUT].push_back(NULL);
test_array[OUTPUT].push_back(NULL);
test_array[OUTPUT].push_back(NULL);
test_array[REF_OUTPUT].push_back(NULL);
test_array[REF_OUTPUT].push_back(NULL);
element_wise_relative_error = false;
}
void CV_UndistortMapTest::get_test_array_types_and_sizes( int test_case_idx, vector<vector<Size> >& sizes, vector<vector<int> >& types )
{
RNG& rng = ts->get_rng();
cvtest::ArrayTest::get_test_array_types_and_sizes( test_case_idx, sizes, types );
int depth = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
Size sz = sizes[OUTPUT][0];
types[INPUT][0] = types[INPUT][1] = depth;
dualChannel = cvtest::randInt(rng)%2 == 0;
types[OUTPUT][0] = types[OUTPUT][1] =
types[REF_OUTPUT][0] = types[REF_OUTPUT][1] = dualChannel ? CV_32FC2 : CV_32F;
sizes[INPUT][0] = cvSize(3,3);
sizes[INPUT][1] = cvtest::randInt(rng)%2 ? cvSize(4,1) : cvSize(1,4);
sz.width = MAX(sz.width,16);
sz.height = MAX(sz.height,16);
sizes[OUTPUT][0] = sizes[OUTPUT][1] =
sizes[REF_OUTPUT][0] = sizes[REF_OUTPUT][1] = sz;
}
void CV_UndistortMapTest::fill_array( int test_case_idx, int i, int j, Mat& arr )
{
if( i != INPUT )
cvtest::ArrayTest::fill_array( test_case_idx, i, j, arr );
}
void CV_UndistortMapTest::run_func()
{
CvMat a = cvMat(test_mat[INPUT][0]), k = cvMat(test_mat[INPUT][1]);
if (!dualChannel )
cvInitUndistortMap( &a, &k, test_array[OUTPUT][0], test_array[OUTPUT][1] );
else
cvInitUndistortMap( &a, &k, test_array[OUTPUT][0], 0 );
}
double CV_UndistortMapTest::get_success_error_level( int /*test_case_idx*/, int /*i*/, int /*j*/ )
{
return 1e-3;
}
int CV_UndistortMapTest::prepare_test_case( int test_case_idx )
{
RNG& rng = ts->get_rng();
int code = cvtest::ArrayTest::prepare_test_case( test_case_idx );
const Mat& mapx = test_mat[OUTPUT][0];
double k[4], a[9] = {0,0,0,0,0,0,0,0,1};
double sz = MAX(mapx.rows, mapx.cols);
Mat& _a0 = test_mat[INPUT][0], &_k0 = test_mat[INPUT][1];
Mat _a(3,3,CV_64F,a);
Mat _k(_k0.rows,_k0.cols, CV_MAKETYPE(CV_64F,_k0.channels()),k);
if( code <= 0 )
return code;
double aspect_ratio = cvtest::randReal(rng)*0.6 + 0.7;
a[2] = (mapx.cols - 1)*0.5 + cvtest::randReal(rng)*10 - 5;
a[5] = (mapx.rows - 1)*0.5 + cvtest::randReal(rng)*10 - 5;
a[0] = sz/(0.9 - cvtest::randReal(rng)*0.6);
a[4] = aspect_ratio*a[0];
k[0] = cvtest::randReal(rng)*0.06 - 0.03;
k[1] = cvtest::randReal(rng)*0.06 - 0.03;
if( k[0]*k[1] > 0 )
k[1] = -k[1];
k[2] = cvtest::randReal(rng)*0.004 - 0.002;
k[3] = cvtest::randReal(rng)*0.004 - 0.002;
_a.convertTo(_a0, _a0.depth());
_k.convertTo(_k0, _k0.depth());
if (dualChannel)
{
test_mat[REF_OUTPUT][1] = Scalar::all(0);
test_mat[OUTPUT][1] = Scalar::all(0);
}
return code;
}
void CV_UndistortMapTest::prepare_to_validation( int )
{
Mat mapx, mapy;
cvtest::initUndistortMap( test_mat[INPUT][0], test_mat[INPUT][1], test_mat[REF_OUTPUT][0].size(), mapx, mapy );
if( !dualChannel )
{
mapx.copyTo(test_mat[REF_OUTPUT][0]);
mapy.copyTo(test_mat[REF_OUTPUT][1]);
}
else
{
Mat p[2] = {mapx, mapy};
cv::merge(p, 2, test_mat[REF_OUTPUT][0]);
}
}
////////////////////////////// GetRectSubPix /////////////////////////////////
static void
@@ -1616,8 +1310,6 @@ TEST(Imgproc_ResizeExact, accuracy) { CV_ResizeExactTest test; test.safe_run();
TEST(Imgproc_WarpAffine, accuracy) { CV_WarpAffineTest test; test.safe_run(); }
TEST(Imgproc_WarpPerspective, accuracy) { CV_WarpPerspectiveTest test; test.safe_run(); }
TEST(Imgproc_Remap, accuracy) { CV_RemapTest test; test.safe_run(); }
TEST(Imgproc_Undistort, accuracy) { CV_UndistortTest test; test.safe_run(); }
TEST(Imgproc_InitUndistortMap, accuracy) { CV_UndistortMapTest test; test.safe_run(); }
TEST(Imgproc_GetRectSubPix, accuracy) { CV_GetRectSubPixTest test; test.safe_run(); }
TEST(Imgproc_GetQuadSubPix, accuracy) { CV_GetQuadSubPixTest test; test.safe_run(); }