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44 int cvTsRodrigues( const CvMat* src, CvMat* dst, CvMat* jacobian )
50 CvMat _Jf, _J = cvMat( 3, 9, CV_64F, J );
52 depth = CV_MAT_DEPTH(src->type);
56 assert( jacobian->rows == 9 && jacobian->cols == 3 ||
57 jacobian->rows == 3 && jacobian->cols == 9 );
60 if( src->cols == 1 || src->rows == 1 )
63 CvMat _r = cvMat( src->rows, src->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(src->type)), r);
65 assert( dst->rows == 3 && dst->cols == 3 );
67 cvConvert( src, &_r );
69 theta = sqrt(r[0]*r[0] + r[1]*r[1] + r[2]*r[2]);
70 if( theta < DBL_EPSILON )
76 memset( J, 0, sizeof(J) );
77 J[5] = J[15] = J[19] = 1;
78 J[7] = J[11] = J[21] = -1;
83 // omega = r/theta (~[w1, w2, w3])
84 double itheta = 1./theta;
85 double w1 = r[0]*itheta, w2 = r[1]*itheta, w3 = r[2]*itheta;
86 double alpha = cos(theta);
87 double beta = sin(theta);
88 double gamma = 1 - alpha;
102 CvMat _omegav = cvMat(3, 3, CV_64F, omegav);
103 CvMat _A = cvMat(3, 3, CV_64F, A);
104 CvMat _R = cvMat(3, 3, CV_64F, R);
106 cvSetIdentity( &_R, cvRealScalar(alpha) );
107 cvScaleAdd( &_omegav, cvRealScalar(beta), &_R, &_R );
108 cvScaleAdd( &_A, cvRealScalar(gamma), &_R, &_R );
109 cvConvert( &_R, dst );
121 // m2 = [omega, theta]
124 itheta, 0, 0, -w1*itheta,
125 0, itheta, 0, -w2*itheta,
126 0, 0, itheta, -w3*itheta,
132 CvMat _dm3din = cvMat( 4, 3, CV_64FC1, dm3din );
133 CvMat _dm2dm3 = cvMat( 4, 4, CV_64FC1, dm2dm3 );
134 CvMat _dm1dm2 = cvMat( 21, 4, CV_64FC1, dm1dm2 );
135 CvMat _dRdm1 = cvMat( 9, 21, CV_64FC1, dRdm1 );
137 CvMat _t0 = cvMat( 9, 4, CV_64FC1, t0 );
138 CvMat _t1 = cvMat( 9, 4, CV_64FC1, dRdm1 );
140 // m1 = [alpha, beta, gamma, omegav; A]
141 memset( dm1dm2, 0, sizeof(dm1dm2) );
146 // dm1dm2(4:12,1:3) = [0 0 0 0 0 1 0 -1 0;
147 // 0 0 -1 0 0 0 1 0 0;
148 // 0 1 0 -1 0 0 0 0 0]'
149 // -------------------
151 dm1dm2[12 + 6] = dm1dm2[12 + 20] = dm1dm2[12 + 25] = 1;
152 dm1dm2[12 + 9] = dm1dm2[12 + 14] = dm1dm2[12 + 28] = -1;
156 2*w1, w2, w3, w2, 0, 0, w3, 0, 0,
157 0, w1, 0, w1, 2*w2, w3, 0, w3, 0,
158 0, 0, w1, 0, 0, w2, w1, w2, 2*w3
161 CvMat _dm1dw = cvMat( 3, 9, CV_64FC1, dm1dw );
164 cvGetSubRect( &_dm1dm2, &_dm1dm2_part, cvRect(0,12,3,9) );
165 cvTranspose( &_dm1dw, &_dm1dm2_part );
167 memset( dRdm1, 0, sizeof(dRdm1) );
168 dRdm1[0*21] = dRdm1[4*21] = dRdm1[8*21] = 1;
170 cvGetCol( &_dRdm1, &_dRdm1_part, 1 );
171 cvTranspose( &_omegav, &_omegav );
172 cvReshape( &_omegav, &_omegav, 1, 1 );
173 cvTranspose( &_omegav, &_dRdm1_part );
175 cvGetCol( &_dRdm1, &_dRdm1_part, 2 );
176 cvReshape( &_A, &_A, 1, 1 );
177 cvTranspose( &_A, &_dRdm1_part );
179 cvGetSubRect( &_dRdm1, &_dRdm1_part, cvRect(3,0,9,9) );
180 cvSetIdentity( &_dRdm1_part, cvScalarAll(beta) );
182 cvGetSubRect( &_dRdm1, &_dRdm1_part, cvRect(12,0,9,9) );
183 cvSetIdentity( &_dRdm1_part, cvScalarAll(gamma) );
185 _J = cvMat( 9, 3, CV_64FC1, J );
187 cvMatMul( &_dRdm1, &_dm1dm2, &_t0 );
188 cvMatMul( &_t0, &_dm2dm3, &_t1 );
189 cvMatMul( &_t1, &_dm3din, &_J );
191 _t0 = cvMat( 3, 9, CV_64FC1, t0 );
192 cvTranspose( &_J, &_t0 );
194 for( i = 0; i < 3; i++ )
196 _t1 = cvMat( 3, 3, CV_64FC1, t0 + i*9 );
197 cvTranspose( &_t1, &_t1 );
200 cvTranspose( &_t0, &_J );
204 else if( src->cols == 3 && src->rows == 3 )
206 double R[9], A[9], I[9], r[3], W[3], U[9], V[9];
207 double tr, alpha, beta, theta;
208 CvMat _R = cvMat( 3, 3, CV_64F, R );
209 CvMat _A = cvMat( 3, 3, CV_64F, A );
210 CvMat _I = cvMat( 3, 3, CV_64F, I );
211 CvMat _r = cvMat( dst->rows, dst->cols, CV_MAKETYPE(CV_64F, CV_MAT_CN(dst->type)), r );
212 CvMat _W = cvMat( 1, 3, CV_64F, W );
213 CvMat _U = cvMat( 3, 3, CV_64F, U );
214 CvMat _V = cvMat( 3, 3, CV_64F, V );
216 cvConvert( src, &_R );
217 cvSVD( &_R, &_W, &_U, &_V, CV_SVD_MODIFY_A + CV_SVD_U_T + CV_SVD_V_T );
218 cvGEMM( &_U, &_V, 1, 0, 0, &_R, CV_GEMM_A_T );
220 cvMulTransposed( &_R, &_A, 0 );
221 cvSetIdentity( &_I );
223 if( cvNorm( &_A, &_I, CV_C ) > 1e-3 ||
224 fabs( cvDet(&_R) - 1 ) > 1e-3 )
227 tr = (cvTrace(&_R).val[0] - 1.)*0.5;
228 tr = tr > 1. ? 1. : tr < -1. ? -1. : tr;
235 double dtheta_dtr = -1./sqrt(1 - tr*tr);
236 double vth = 1/(2*beta);
238 // om1 = [R(3,2) - R(2,3), R(1,3) - R(3,1), R(2,1) - R(1,2)]'
239 double om1[] = { R[7] - R[5], R[2] - R[6], R[3] - R[1] };
242 double d3 = vth*theta;
244 r[0] = om1[0]*d3; r[1] = om1[1]*d3; r[2] = om1[2]*d3;
245 cvConvert( &_r, dst );
249 // var1 = [vth;theta]
250 // var = [om1;var1] = [om1;vth;theta]
251 double dvth_dtheta = -vth*alpha/beta;
252 double d1 = 0.5*dvth_dtheta*dtheta_dtr;
253 double d2 = 0.5*dtheta_dtr;
254 // dvar1/dR = dvar1/dtheta*dtheta/dR = [dvth/dtheta; 1] * dtheta/dtr * dtr/dR
257 0, 0, 0, 0, 0, 1, 0, -1, 0,
258 0, 0, -1, 0, 0, 0, 1, 0, 0,
259 0, 1, 0, -1, 0, 0, 0, 0, 0,
260 d1, 0, 0, 0, d1, 0, 0, 0, d1,
261 d2, 0, 0, 0, d2, 0, 0, 0, d2
266 vth, 0, 0, om1[0], 0,
267 0, vth, 0, om1[1], 0,
268 0, 0, vth, om1[2], 0,
271 double domegadvar2[] =
273 theta, 0, 0, om1[0]*vth,
274 0, theta, 0, om1[1]*vth,
275 0, 0, theta, om1[2]*vth
278 CvMat _dvardR = cvMat( 5, 9, CV_64FC1, dvardR );
279 CvMat _dvar2dvar = cvMat( 4, 5, CV_64FC1, dvar2dvar );
280 CvMat _domegadvar2 = cvMat( 3, 4, CV_64FC1, domegadvar2 );
282 CvMat _t0 = cvMat( 3, 5, CV_64FC1, t0 );
284 cvMatMul( &_domegadvar2, &_dvar2dvar, &_t0 );
285 cvMatMul( &_t0, &_dvardR, &_J );
293 memset( J, 0, sizeof(J) );
294 J[5] = J[15] = J[19] = 0.5;
295 J[7] = J[11] = J[21] = -0.5;
300 r[0] = theta*sqrt((R[0] + 1)*0.5);
301 r[1] = theta*sqrt((R[4] + 1)*0.5)*(R[1] >= 0 ? 1 : -1);
302 r[2] = theta*sqrt((R[8] + 1)*0.5)*(R[2] >= 0 ? 1 : -1);
303 cvConvert( &_r, dst );
306 memset( J, 0, sizeof(J) );
311 for( i = 0; i < 3; i++ )
313 CvMat t = cvMat( 3, 3, CV_64F, J + i*9 );
314 cvTranspose( &t, &t );
326 if( depth == CV_32F )
328 if( jacobian->rows == _J.rows )
329 cvConvert( &_J, jacobian );
332 _Jf = cvMat( _J.rows, _J.cols, CV_32FC1, Jf );
333 cvConvert( &_J, &_Jf );
334 cvTranspose( &_Jf, jacobian );
337 else if( jacobian->rows == _J.rows )
338 cvCopy( &_J, jacobian );
340 cvTranspose( &_J, jacobian );
348 cvTsConvertHomogenious( const CvMat* src, CvMat* dst )
353 int i, count, sdims, ddims;
354 int sstep1, sstep2, dstep1, dstep2;
357 if( CV_MAT_DEPTH(src->type) != CV_64F )
359 src_buf = cvCreateMat( src->rows, src->cols, CV_MAKETYPE(CV_64F, CV_MAT_CN(src->type)) );
360 cvTsConvert( src, src_buf );
364 if( CV_MAT_DEPTH(dst->type) != CV_64F )
366 dst_buf = cvCreateMat( dst->rows, dst->cols, CV_MAKETYPE(CV_64F, CV_MAT_CN(dst->type)) );
370 if( src->rows > src->cols )
373 sdims = CV_MAT_CN(src->type)*src->cols;
374 sstep1 = src->step/sizeof(double);
380 sdims = CV_MAT_CN(src->type)*src->rows;
389 sstep2 = src->step/sizeof(double);
393 if( dst->rows > dst->cols )
395 assert( count == dst->rows );
396 ddims = CV_MAT_CN(dst->type)*dst->cols;
397 dstep1 = dst->step/sizeof(double);
402 assert( count == dst->cols );
403 ddims = CV_MAT_CN(dst->type)*dst->rows;
412 dstep2 = dst->step/sizeof(double);
421 int wstep = dstep2*(ddims - 1);
423 for( i = 0; i < count; i++, s += sstep1, d += dstep1 )
426 double y = s[sstep2];
434 d[dstep2*2] = s[sstep2*2];
436 d[dstep2*3] = s[sstep2*3];
442 int wstep = sstep2*(sdims - 1);
444 for( i = 0; i < count; i++, s += sstep1, d += dstep1 )
448 double y = s[sstep2];
456 d[dstep2*2] = s[sstep2*2]*w;
461 cvTsConvert( dst, dst0 );
463 cvReleaseMat( &src_buf );
464 cvReleaseMat( &dst_buf );
469 cvTsProjectPoints( const CvMat* _3d, const CvMat* Rt, const CvMat* A,
470 CvMat* _2d, CvRNG* rng, double sigma )
473 CvMat P = cvMat( 3, 4, CV_64F, p );
475 int i, count = _3d->cols;
480 cvMatMul( A, Rt, &P );
488 noise = cvCreateMat( 1, _3d->cols, CV_64FC2 );
489 cvRandArr( rng, noise, CV_RAND_NORMAL, cvScalarAll(0), cvScalarAll(sigma) );
493 temp = cvCreateMat( 1, count, CV_64FC3 );
495 for( i = 0; i < count; i++ )
497 const double* M = _3d->data.db + i*3;
498 double* m = temp->data.db + i*3;
499 double X = M[0], Y = M[1], Z = M[2];
500 double u = p[0]*X + p[1]*Y + p[2]*Z + p[3];
501 double v = p[4]*X + p[5]*Y + p[6]*Z + p[7];
502 double s = p[8]*X + p[9]*Y + p[10]*Z + p[11];
506 u += noise->data.db[i*2]*s;
507 v += noise->data.db[i*2+1]*s;
515 cvTsConvertHomogenious( temp, _2d );
516 cvReleaseMat( &noise );
517 cvReleaseMat( &temp );
521 /********************************** Rodrigues transform ********************************/
523 class CV_RodriguesTest : public CvArrTest
529 int read_params( CvFileStorage* fs );
530 void fill_array( int test_case_idx, int i, int j, CvMat* arr );
531 int prepare_test_case( int test_case_idx );
532 void get_test_array_types_and_sizes( int test_case_idx, CvSize** sizes, int** types );
533 double get_success_error_level( int test_case_idx, int i, int j );
535 void prepare_to_validation( int );
541 CV_RodriguesTest::CV_RodriguesTest()
542 : CvArrTest( "_3d-rodrigues", "cvRodrigues2", "" )
544 test_array[INPUT].push(NULL); // rotation vector
545 test_array[OUTPUT].push(NULL); // rotation matrix
546 test_array[OUTPUT].push(NULL); // jacobian (J)
547 test_array[OUTPUT].push(NULL); // rotation vector (backward transform result)
548 test_array[OUTPUT].push(NULL); // inverse transform jacobian (J1)
549 test_array[OUTPUT].push(NULL); // J*J1 (or J1*J) == I(3x3)
550 test_array[REF_OUTPUT].push(NULL);
551 test_array[REF_OUTPUT].push(NULL);
552 test_array[REF_OUTPUT].push(NULL);
553 test_array[REF_OUTPUT].push(NULL);
554 test_array[REF_OUTPUT].push(NULL);
556 element_wise_relative_error = false;
557 calc_jacobians = false;
559 support_testing_modes = CvTS::CORRECTNESS_CHECK_MODE;
560 default_timing_param_names = 0;
564 int CV_RodriguesTest::read_params( CvFileStorage* fs )
566 int code = CvArrTest::read_params( fs );
571 void CV_RodriguesTest::get_test_array_types_and_sizes(
572 int /*test_case_idx*/, CvSize** sizes, int** types )
574 CvRNG* rng = ts->get_rng();
575 int depth = cvTsRandInt(rng) % 2 == 0 ? CV_32F : CV_64F;
578 code = cvTsRandInt(rng) % 3;
579 types[INPUT][0] = CV_MAKETYPE(depth, 1);
583 sizes[INPUT][0] = cvSize(1,1);
584 types[INPUT][0] = CV_MAKETYPE(depth, 3);
587 sizes[INPUT][0] = cvSize(3,1);
589 sizes[INPUT][0] = cvSize(1,3);
591 sizes[OUTPUT][0] = cvSize(3, 3);
592 types[OUTPUT][0] = CV_MAKETYPE(depth, 1);
594 types[OUTPUT][1] = CV_MAKETYPE(depth, 1);
596 if( cvTsRandInt(rng) % 2 )
597 sizes[OUTPUT][1] = cvSize(3,9);
599 sizes[OUTPUT][1] = cvSize(9,3);
601 types[OUTPUT][2] = types[INPUT][0];
602 sizes[OUTPUT][2] = sizes[INPUT][0];
604 types[OUTPUT][3] = types[OUTPUT][1];
605 sizes[OUTPUT][3] = cvSize(sizes[OUTPUT][1].height, sizes[OUTPUT][1].width);
607 types[OUTPUT][4] = types[OUTPUT][1];
608 sizes[OUTPUT][4] = cvSize(3,3);
610 calc_jacobians = 1;//cvTsRandInt(rng) % 3 != 0;
611 if( !calc_jacobians )
612 sizes[OUTPUT][1] = sizes[OUTPUT][3] = sizes[OUTPUT][4] = cvSize(0,0);
614 for( i = 0; i < 5; i++ )
616 types[REF_OUTPUT][i] = types[OUTPUT][i];
617 sizes[REF_OUTPUT][i] = sizes[OUTPUT][i];
622 double CV_RodriguesTest::get_success_error_level( int /*test_case_idx*/, int /*i*/, int j )
624 return j == 4 ? 1e-2 : 1e-2;
628 void CV_RodriguesTest::fill_array( int test_case_idx, int i, int j, CvMat* arr )
630 if( i == INPUT && j == 0 )
632 double r[3], theta0, theta1, f;
633 CvMat _r = cvMat( arr->rows, arr->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(arr->type)), r );
634 CvRNG* rng = ts->get_rng();
636 r[0] = cvTsRandReal(rng)*CV_PI*2;
637 r[1] = cvTsRandReal(rng)*CV_PI*2;
638 r[2] = cvTsRandReal(rng)*CV_PI*2;
640 theta0 = sqrt(r[0]*r[0] + r[1]*r[1] + r[2]*r[2]);
641 theta1 = fmod(theta0, CV_PI*2);
644 theta1 = -(CV_PI*2 - theta1);
646 f = theta1/(theta0 ? theta0 : 1);
651 cvTsConvert( &_r, arr );
654 CvArrTest::fill_array( test_case_idx, i, j, arr );
658 int CV_RodriguesTest::prepare_test_case( int test_case_idx )
660 int code = CvArrTest::prepare_test_case( test_case_idx );
665 void CV_RodriguesTest::run_func()
667 CvMat *v2m_jac = 0, *m2v_jac = 0;
670 v2m_jac = &test_mat[OUTPUT][1];
671 m2v_jac = &test_mat[OUTPUT][3];
674 cvRodrigues2( &test_mat[INPUT][0], &test_mat[OUTPUT][0], v2m_jac );
675 cvRodrigues2( &test_mat[OUTPUT][0], &test_mat[OUTPUT][2], m2v_jac );
679 void CV_RodriguesTest::prepare_to_validation( int /*test_case_idx*/ )
681 const CvMat* vec = &test_mat[INPUT][0];
682 CvMat* m = &test_mat[REF_OUTPUT][0];
683 CvMat* vec2 = &test_mat[REF_OUTPUT][2];
684 CvMat* v2m_jac = 0, *m2v_jac = 0;
685 double theta0, theta1;
689 v2m_jac = &test_mat[REF_OUTPUT][1];
690 m2v_jac = &test_mat[REF_OUTPUT][3];
694 cvTsRodrigues( vec, m, v2m_jac );
695 cvTsRodrigues( m, vec2, m2v_jac );
696 cvTsCopy( vec, vec2 );
698 theta0 = cvNorm( vec2, 0, CV_L2 );
699 theta1 = fmod( theta0, CV_PI*2 );
702 theta1 = -(CV_PI*2 - theta1);
703 cvScale( vec2, vec2, theta1/(theta0 ? theta0 : 1) );
707 //cvInvert( v2m_jac, m2v_jac, CV_SVD );
708 if( cvNorm(&test_mat[OUTPUT][3],0,CV_C) < 1000 )
710 cvTsGEMM( &test_mat[OUTPUT][1], &test_mat[OUTPUT][3],
711 1, 0, 0, &test_mat[OUTPUT][4],
712 v2m_jac->rows == 3 ? 0 : CV_GEMM_A_T + CV_GEMM_B_T );
716 cvTsSetIdentity( &test_mat[OUTPUT][4], cvScalarAll(1.) );
717 cvTsCopy( &test_mat[REF_OUTPUT][2], &test_mat[OUTPUT][2] );
719 cvTsSetIdentity( &test_mat[REF_OUTPUT][4], cvScalarAll(1.) );
724 CV_RodriguesTest rodrigues_test;
727 /********************************** fundamental matrix *********************************/
729 class CV_FundamentalMatTest : public CvArrTest
732 CV_FundamentalMatTest();
735 int read_params( CvFileStorage* fs );
736 void fill_array( int test_case_idx, int i, int j, CvMat* arr );
737 int prepare_test_case( int test_case_idx );
738 void get_test_array_types_and_sizes( int test_case_idx, CvSize** sizes, int** types );
739 double get_success_error_level( int test_case_idx, int i, int j );
741 void prepare_to_validation( int );
753 CV_FundamentalMatTest::CV_FundamentalMatTest()
754 : CvArrTest( "_3d-fundam", "cvFindFundamentalMatrix", "" )
757 // 0, 1 - arrays of 2d points that are passed to %func%.
758 // Can have different data type, layout, be stored in homogenious coordinates or not.
759 // 2 - array of 3d points that are projected to both view planes
760 // 3 - [R|t] matrix for the second view plane (for the first one it is [I|0]
761 // 4, 5 - intrinsic matrices
762 test_array[INPUT].push(NULL);
763 test_array[INPUT].push(NULL);
764 test_array[INPUT].push(NULL);
765 test_array[INPUT].push(NULL);
766 test_array[INPUT].push(NULL);
767 test_array[INPUT].push(NULL);
768 test_array[TEMP].push(NULL);
769 test_array[TEMP].push(NULL);
770 test_array[OUTPUT].push(NULL);
771 test_array[OUTPUT].push(NULL);
772 test_array[REF_OUTPUT].push(NULL);
773 test_array[REF_OUTPUT].push(NULL);
775 element_wise_relative_error = false;
785 support_testing_modes = CvTS::CORRECTNESS_CHECK_MODE;
786 default_timing_param_names = 0;
790 int CV_FundamentalMatTest::read_params( CvFileStorage* fs )
792 int code = CvArrTest::read_params( fs );
797 void CV_FundamentalMatTest::get_test_array_types_and_sizes( int /*test_case_idx*/,
798 CvSize** sizes, int** types )
800 CvRNG* rng = ts->get_rng();
801 int pt_depth = cvTsRandInt(rng) % 2 == 0 ? CV_32F : CV_64F;
802 double pt_count_exp = cvTsRandReal(rng)*6 + 1;
803 int pt_count = cvRound(exp(pt_count_exp));
805 dims = cvTsRandInt(rng) % 2 + 2;
806 method = 1 << (cvTsRandInt(rng) % 4);
808 if( method == CV_FM_7POINT )
812 pt_count = MAX( pt_count, 8 + (method == CV_FM_8POINT) );
813 if( pt_count >= 8 && cvTsRandInt(rng) % 2 )
814 method |= CV_FM_8POINT;
817 types[INPUT][0] = CV_MAKETYPE(pt_depth, 1);
819 if( cvTsRandInt(rng) % 2 )
820 sizes[INPUT][0] = cvSize(pt_count, dims);
823 sizes[INPUT][0] = cvSize(dims, pt_count);
824 if( cvTsRandInt(rng) % 2 )
826 types[INPUT][0] = CV_MAKETYPE(pt_depth, dims);
827 if( cvTsRandInt(rng) % 2 )
828 sizes[INPUT][0] = cvSize(pt_count, 1);
830 sizes[INPUT][0] = cvSize(1, pt_count);
834 sizes[INPUT][1] = sizes[INPUT][0];
835 types[INPUT][1] = types[INPUT][0];
837 sizes[INPUT][2] = cvSize(pt_count, 1 );
838 types[INPUT][2] = CV_64FC3;
840 sizes[INPUT][3] = cvSize(4,3);
841 types[INPUT][3] = CV_64FC1;
843 sizes[INPUT][4] = sizes[INPUT][5] = cvSize(3,3);
844 types[INPUT][4] = types[INPUT][5] = CV_MAKETYPE(CV_64F, 1);
846 sizes[TEMP][0] = cvSize(3,3);
847 types[TEMP][0] = CV_64FC1;
848 sizes[TEMP][1] = cvSize(pt_count,1);
849 types[TEMP][1] = CV_8UC1;
851 sizes[OUTPUT][0] = sizes[REF_OUTPUT][0] = cvSize(3,1);
852 types[OUTPUT][0] = types[REF_OUTPUT][0] = CV_64FC1;
853 sizes[OUTPUT][1] = sizes[REF_OUTPUT][1] = cvSize(pt_count,1);
854 types[OUTPUT][1] = types[REF_OUTPUT][1] = CV_8UC1;
858 double CV_FundamentalMatTest::get_success_error_level( int /*test_case_idx*/, int /*i*/, int /*j*/ )
864 void CV_FundamentalMatTest::fill_array( int test_case_idx, int i, int j, CvMat* arr )
868 double* p = arr->data.db;
869 CvRNG* rng = ts->get_rng();
873 CvArrTest::fill_array( test_case_idx, i, j, arr );
881 return; // fill them later in prepare_test_case
883 for( i = 0; i < arr->cols*3; i += 3 )
885 p[i] = cvTsRandReal(rng)*cube_size;
886 p[i+1] = cvTsRandReal(rng)*cube_size;
887 p[i+2] = cvTsRandReal(rng)*cube_size + cube_size;
893 CvMat rot_vec = cvMat( 3, 1, CV_64F, r );
894 CvMat rot_mat = cvMat( 3, 3, CV_64F );
895 r[0] = cvTsRandReal(rng)*CV_PI*2;
896 r[1] = cvTsRandReal(rng)*CV_PI*2;
897 r[2] = cvTsRandReal(rng)*CV_PI*2;
899 cvSetData( &rot_mat, t, 4*sizeof(t[0]) );
900 cvTsRodrigues( &rot_vec, &rot_mat );
901 t[3] = cvTsRandReal(rng)*cube_size;
902 t[7] = cvTsRandReal(rng)*cube_size;
903 t[11] = cvTsRandReal(rng)*cube_size;
904 T = cvMat( 3, 4, CV_64F, t );
905 cvTsConvert( &T, arr );
910 memset( t, 0, sizeof(t) );
911 t[0] = t[4] = cvTsRandReal(rng)*(max_f - min_f) + min_f;
912 t[2] = (img_size*0.5 + cvTsRandReal(rng)*4. - 2.)*t[0];
913 t[5] = (img_size*0.5 + cvTsRandReal(rng)*4. - 2.)*t[4];
915 T = cvMat( 3, 3, CV_64F, t );
916 cvTsConvert( &T, arr );
922 int CV_FundamentalMatTest::prepare_test_case( int test_case_idx )
924 int code = CvArrTest::prepare_test_case( test_case_idx );
927 const CvMat* _3d = &test_mat[INPUT][2];
928 CvRNG* rng = ts->get_rng();
929 double Idata[] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0 };
930 CvMat I = cvMat( 3, 4, CV_64F, Idata );
933 for( k = 0; k < 2; k++ )
935 const CvMat* Rt = k == 0 ? &I : &test_mat[INPUT][3];
936 const CvMat* A = &test_mat[INPUT][k == 0 ? 4 : 5];
937 CvMat* _2d = &test_mat[INPUT][k];
939 cvTsProjectPoints( _3d, Rt, A, _2d, rng, sigma );
947 void CV_FundamentalMatTest::run_func()
949 f_result = cvFindFundamentalMat( &test_mat[INPUT][0], &test_mat[INPUT][1],
950 &test_mat[TEMP][0], method, MAX(sigma*3, 0.01), 0, &test_mat[TEMP][1] );
954 void CV_FundamentalMatTest::prepare_to_validation( int test_case_idx )
956 const CvMat* Rt = &test_mat[INPUT][3];
957 const CvMat* A1 = &test_mat[INPUT][4];
958 const CvMat* A2 = &test_mat[INPUT][5];
960 CvMat F0 = cvMat( 3, 3, CV_64FC1, f0 );
962 double _invA1[9], _invA2[9], temp[9];
963 CvMat invA1 = cvMat( 3, 3, CV_64F, _invA1 );
964 CvMat invA2 = cvMat( 3, 3, CV_64F, _invA2 );
965 CvMat R = cvMat( 3, 3, CV_64F );
966 CvMat T = cvMat( 3, 3, CV_64F, temp );
968 cvSetData( &R, Rt->data.db, Rt->step ); // R = Rt(:,1:3)
970 // F = (A2^-T)*[t]_x*R*(A1^-1)
971 cvInvert( A1, &invA1, CV_SVD );
972 cvInvert( A2, &invA2, CV_SVD );
975 double tx = ((double*)(Rt->data.ptr))[3];
976 double ty = ((double*)(Rt->data.ptr + Rt->step))[3];
977 double tz = ((double*)(Rt->data.ptr + Rt->step*2))[3];
979 double _t_x[] = { 0, -tz, ty, tz, 0, -tx, -ty, tx, 0 };
980 CvMat t_x = cvMat( 3, 3, CV_64F, _t_x );
982 cvGEMM( &invA2, &t_x, 1, 0, 0, &T, CV_GEMM_A_T );
983 cvMatMul( &R, &invA1, &invA2 );
984 cvMatMul( &T, &invA2, &F0 );
985 cvScale( &F0, &F0, f0[8] );
989 CvMat F = cvMat(3, 3, CV_64F, f);
990 uchar* status = test_mat[TEMP][1].data.ptr;
991 double err_level = get_success_error_level( test_case_idx, OUTPUT, 1 );
992 uchar* mtfm1 = test_mat[REF_OUTPUT][1].data.ptr;
993 uchar* mtfm2 = test_mat[OUTPUT][1].data.ptr;
994 double* f_prop1 = test_mat[REF_OUTPUT][0].data.db;
995 double* f_prop2 = test_mat[OUTPUT][0].data.db;
997 int i, pt_count = test_mat[INPUT][2].cols;
998 CvMat* p1 = cvCreateMat( 1, pt_count, CV_64FC2 );
999 CvMat* p2 = cvCreateMat( 1, pt_count, CV_64FC2 );
1001 cvTsConvertHomogenious( &test_mat[INPUT][0], p1 );
1002 cvTsConvertHomogenious( &test_mat[INPUT][1], p2 );
1004 cvTsConvert( &test_mat[TEMP][0], &F );
1006 if( method <= CV_FM_8POINT )
1007 memset( status, 1, pt_count );
1009 for( i = 0; i < pt_count; i++ )
1011 double x1 = p1->data.db[i*2];
1012 double y1 = p1->data.db[i*2+1];
1013 double x2 = p2->data.db[i*2];
1014 double y2 = p2->data.db[i*2+1];
1015 double t0 = fabs(f0[0]*x2*x1 + f0[1]*x2*y1 + f0[2]*x2 +
1016 f0[3]*y2*x1 + f0[4]*y2*y1 + f0[5]*y2 +
1017 f0[6]*x1 + f0[7]*y1 + f0[8]);
1018 double t = fabs(f[0]*x2*x1 + f[1]*x2*y1 + f[2]*x2 +
1019 f[3]*y2*x1 + f[4]*y2*y1 + f[5]*y2 +
1020 f[6]*x1 + f[7]*y1 + f[8]);
1022 mtfm2[i] = !status[i] || t0 > err_level || t < err_level;
1029 f_prop2[0] = f_result != 0;
1031 f_prop2[2] = cvDet( &F );
1033 cvReleaseMat( &p1 );
1034 cvReleaseMat( &p2 );
1038 CV_FundamentalMatTest fmatrix_test;
1041 /********************************** convert homogenious *********************************/
1043 class CV_ConvertHomogeniousTest : public CvArrTest
1046 CV_ConvertHomogeniousTest();
1049 int read_params( CvFileStorage* fs );
1050 void get_test_array_types_and_sizes( int test_case_idx, CvSize** sizes, int** types );
1051 void fill_array( int test_case_idx, int i, int j, CvMat* arr );
1052 double get_success_error_level( int test_case_idx, int i, int j );
1054 void prepare_to_validation( int );
1061 CV_ConvertHomogeniousTest::CV_ConvertHomogeniousTest()
1062 : CvArrTest( "_3d-cvt-homogen", "cvConvertPointsHomogeniuos", "" )
1064 test_array[INPUT].push(NULL);
1065 test_array[OUTPUT].push(NULL);
1066 test_array[REF_OUTPUT].push(NULL);
1067 element_wise_relative_error = false;
1069 pt_count = dims1 = dims2 = 0;
1071 support_testing_modes = CvTS::CORRECTNESS_CHECK_MODE;
1072 default_timing_param_names = 0;
1076 int CV_ConvertHomogeniousTest::read_params( CvFileStorage* fs )
1078 int code = CvArrTest::read_params( fs );
1083 void CV_ConvertHomogeniousTest::get_test_array_types_and_sizes( int /*test_case_idx*/,
1084 CvSize** sizes, int** types )
1086 CvRNG* rng = ts->get_rng();
1087 int pt_depth1 = cvTsRandInt(rng) % 2 == 0 ? CV_32F : CV_64F;
1088 int pt_depth2 = cvTsRandInt(rng) % 2 == 0 ? CV_32F : CV_64F;
1089 double pt_count_exp = cvTsRandReal(rng)*6 + 1;
1092 pt_count = cvRound(exp(pt_count_exp));
1093 pt_count = MAX( pt_count, 5 );
1095 dims1 = 2 + (cvTsRandInt(rng) % 3);
1096 dims2 = 2 + (cvTsRandInt(rng) % 3);
1098 if( dims1 == dims2 + 2 )
1100 else if( dims1 == dims2 - 2 )
1103 if( cvTsRandInt(rng) % 2 )
1104 CV_SWAP( dims1, dims2, t );
1106 types[INPUT][0] = CV_MAKETYPE(pt_depth1, 1);
1108 if( cvTsRandInt(rng) % 2 )
1109 sizes[INPUT][0] = cvSize(pt_count, dims1);
1112 sizes[INPUT][0] = cvSize(dims1, pt_count);
1113 if( cvTsRandInt(rng) % 2 )
1115 types[INPUT][0] = CV_MAKETYPE(pt_depth1, dims1);
1116 if( cvTsRandInt(rng) % 2 )
1117 sizes[INPUT][0] = cvSize(pt_count, 1);
1119 sizes[INPUT][0] = cvSize(1, pt_count);
1123 types[OUTPUT][0] = CV_MAKETYPE(pt_depth2, 1);
1125 if( cvTsRandInt(rng) % 2 )
1126 sizes[OUTPUT][0] = cvSize(pt_count, dims2);
1129 sizes[OUTPUT][0] = cvSize(dims2, pt_count);
1130 if( cvTsRandInt(rng) % 2 )
1132 types[OUTPUT][0] = CV_MAKETYPE(pt_depth2, dims2);
1133 if( cvTsRandInt(rng) % 2 )
1134 sizes[OUTPUT][0] = cvSize(pt_count, 1);
1136 sizes[OUTPUT][0] = cvSize(1, pt_count);
1140 types[REF_OUTPUT][0] = types[OUTPUT][0];
1141 sizes[REF_OUTPUT][0] = sizes[OUTPUT][0];
1145 double CV_ConvertHomogeniousTest::get_success_error_level( int /*test_case_idx*/, int /*i*/, int /*j*/ )
1151 void CV_ConvertHomogeniousTest::fill_array( int /*test_case_idx*/, int /*i*/, int /*j*/, CvMat* arr )
1153 CvMat* temp = cvCreateMat( 1, pt_count, CV_MAKETYPE(CV_64FC1,dims1) );
1154 CvRNG* rng = ts->get_rng();
1155 CvScalar low = cvScalarAll(0), high = cvScalarAll(10);
1158 low.val[dims1-1] = 1.;
1160 cvRandArr( rng, temp, CV_RAND_UNI, low, high );
1161 cvTsConvertHomogenious( temp, arr );
1162 cvReleaseMat( &temp );
1166 void CV_ConvertHomogeniousTest::run_func()
1168 cvConvertPointsHomogenious( &test_mat[INPUT][0], &test_mat[OUTPUT][0] );
1172 void CV_ConvertHomogeniousTest::prepare_to_validation( int /*test_case_idx*/ )
1174 cvTsConvertHomogenious( &test_mat[INPUT][0], &test_mat[REF_OUTPUT][0] );
1178 CV_ConvertHomogeniousTest cvt_homogen_test;
1181 /************************** compute corresponding epipolar lines ************************/
1183 class CV_ComputeEpilinesTest : public CvArrTest
1186 CV_ComputeEpilinesTest();
1189 int read_params( CvFileStorage* fs );
1190 void get_test_array_types_and_sizes( int test_case_idx, CvSize** sizes, int** types );
1191 void fill_array( int test_case_idx, int i, int j, CvMat* arr );
1192 double get_success_error_level( int test_case_idx, int i, int j );
1194 void prepare_to_validation( int );
1202 CV_ComputeEpilinesTest::CV_ComputeEpilinesTest()
1203 : CvArrTest( "_3d-epilines", "cvComputeCorrespondingEpilines", "" )
1205 test_array[INPUT].push(NULL);
1206 test_array[INPUT].push(NULL);
1207 test_array[OUTPUT].push(NULL);
1208 test_array[REF_OUTPUT].push(NULL);
1209 element_wise_relative_error = false;
1211 pt_count = dims = which_image = 0;
1213 support_testing_modes = CvTS::CORRECTNESS_CHECK_MODE;
1214 default_timing_param_names = 0;
1218 int CV_ComputeEpilinesTest::read_params( CvFileStorage* fs )
1220 int code = CvArrTest::read_params( fs );
1225 void CV_ComputeEpilinesTest::get_test_array_types_and_sizes( int /*test_case_idx*/,
1226 CvSize** sizes, int** types )
1228 CvRNG* rng = ts->get_rng();
1229 int fm_depth = cvTsRandInt(rng) % 2 == 0 ? CV_32F : CV_64F;
1230 int pt_depth = cvTsRandInt(rng) % 2 == 0 ? CV_32F : CV_64F;
1231 int ln_depth = cvTsRandInt(rng) % 2 == 0 ? CV_32F : CV_64F;
1232 double pt_count_exp = cvTsRandReal(rng)*6 + 1;
1234 which_image = 1 + (cvTsRandInt(rng) % 2);
1236 pt_count = cvRound(exp(pt_count_exp));
1237 pt_count = MAX( pt_count, 5 );
1239 dims = 2 + (cvTsRandInt(rng) % 2);
1241 types[INPUT][0] = CV_MAKETYPE(pt_depth, 1);
1243 if( cvTsRandInt(rng) % 2 )
1244 sizes[INPUT][0] = cvSize(pt_count, dims);
1247 sizes[INPUT][0] = cvSize(dims, pt_count);
1248 if( cvTsRandInt(rng) % 2 )
1250 types[INPUT][0] = CV_MAKETYPE(pt_depth, dims);
1251 if( cvTsRandInt(rng) % 2 )
1252 sizes[INPUT][0] = cvSize(pt_count, 1);
1254 sizes[INPUT][0] = cvSize(1, pt_count);
1258 types[INPUT][1] = CV_MAKETYPE(fm_depth, 1);
1259 sizes[INPUT][1] = cvSize(3, 3);
1261 types[OUTPUT][0] = CV_MAKETYPE(ln_depth, 1);
1263 if( cvTsRandInt(rng) % 2 )
1264 sizes[OUTPUT][0] = cvSize(pt_count, 3);
1267 sizes[OUTPUT][0] = cvSize(3, pt_count);
1268 if( cvTsRandInt(rng) % 2 )
1270 types[OUTPUT][0] = CV_MAKETYPE(ln_depth, 3);
1271 if( cvTsRandInt(rng) % 2 )
1272 sizes[OUTPUT][0] = cvSize(pt_count, 1);
1274 sizes[OUTPUT][0] = cvSize(1, pt_count);
1278 types[REF_OUTPUT][0] = types[OUTPUT][0];
1279 sizes[REF_OUTPUT][0] = sizes[OUTPUT][0];
1283 double CV_ComputeEpilinesTest::get_success_error_level( int /*test_case_idx*/, int /*i*/, int /*j*/ )
1289 void CV_ComputeEpilinesTest::fill_array( int test_case_idx, int i, int j, CvMat* arr )
1291 CvRNG* rng = ts->get_rng();
1293 if( i == INPUT && j == 0 )
1295 CvMat* temp = cvCreateMat( 1, pt_count, CV_MAKETYPE(CV_64FC1,dims) );
1296 cvRandArr( rng, temp, CV_RAND_UNI, cvScalar(0,0,1), cvScalarAll(10) );
1297 cvTsConvertHomogenious( temp, arr );
1298 cvReleaseMat( &temp );
1300 else if( i == INPUT && j == 1 )
1301 cvRandArr( rng, arr, CV_RAND_UNI, cvScalarAll(0), cvScalarAll(10) );
1303 CvArrTest::fill_array( test_case_idx, i, j, arr );
1307 void CV_ComputeEpilinesTest::run_func()
1309 cvComputeCorrespondEpilines( &test_mat[INPUT][0], which_image,
1310 &test_mat[INPUT][1], &test_mat[OUTPUT][0] );
1314 void CV_ComputeEpilinesTest::prepare_to_validation( int /*test_case_idx*/ )
1316 CvMat* pt = cvCreateMat( 1, pt_count, CV_MAKETYPE(CV_64F, 3) );
1317 CvMat* lines = cvCreateMat( 1, pt_count, CV_MAKETYPE(CV_64F, 3) );
1319 CvMat F = cvMat( 3, 3, CV_64F, f );
1322 cvTsConvertHomogenious( &test_mat[INPUT][0], pt );
1323 cvTsConvert( &test_mat[INPUT][1], &F );
1324 if( which_image == 2 )
1325 cvTranspose( &F, &F );
1327 for( i = 0; i < pt_count; i++ )
1329 double* p = pt->data.db + i*3;
1330 double* l = lines->data.db + i*3;
1331 double t0 = f[0]*p[0] + f[1]*p[1] + f[2]*p[2];
1332 double t1 = f[3]*p[0] + f[4]*p[1] + f[5]*p[2];
1333 double t2 = f[6]*p[0] + f[7]*p[1] + f[8]*p[2];
1334 double d = sqrt(t0*t0 + t1*t1);
1336 l[0] = t0*d; l[1] = t1*d; l[2] = t2*d;
1339 cvTsConvertHomogenious( lines, &test_mat[REF_OUTPUT][0] );
1340 cvReleaseMat( &pt );
1341 cvReleaseMat( &lines );
1345 CV_ComputeEpilinesTest epilines_test;