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// 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_RgbdDepthRegistrationTest: public cvtest::BaseTest
{
public:
CV_RgbdDepthRegistrationTest()
{
}
~CV_RgbdDepthRegistrationTest()
{
}
protected:
void
run(int)
{
// Test all three input types for no-op registrations (where a depth image is registered to itself)
int code = noOpRandomRegistrationTest<unsigned short>(100, 2500);
if( code != cvtest::TS::OK )
{
ts->set_failed_test_info(code);
return;
}
code = noOpRandomRegistrationTest<float>(0.1f, 2.5f);
if( code != cvtest::TS::OK )
{
ts->set_failed_test_info(code);
return;
}
code = noOpRandomRegistrationTest<double>(0.1, 2.5);
if( code != cvtest::TS::OK )
{
ts->set_failed_test_info(code);
return;
}
// Test sentinel value handling, occlusion, and dilation
{
// K from a VGA Kinect
Mat K = (Mat_<float>(3, 3) << 525., 0., 319.5, 0., 525., 239.5, 0., 0., 1.);
int width = 640, height = 480;
// All elements are zero except for first two along the diagonal
Mat_<unsigned short> vgaDepth(height, width, (unsigned short)0);
vgaDepth(0,0) = 1001;
vgaDepth(1,1) = 1000;
Mat_<unsigned short> registeredDepth;
registerDepth(K, K, Mat(), Matx44f::eye(), vgaDepth, Size(width, height), registeredDepth, true);
// We expect the closer depth of 1000 to occlude the more distant depth and occupy the
// upper four left pixels in the depth image because of dilation
Mat_<unsigned short> expectedResult(height, width, (unsigned short)0);
expectedResult(0,0) = 1000;
expectedResult(0,1) = 1000;
expectedResult(1,0) = 1000;
expectedResult(1,1) = 1000;
int cmpResult = cvtest::cmpEps2( ts, registeredDepth, expectedResult, 0, true, "Dilation and occlusion");
if( cmpResult != cvtest::TS::OK )
{
ts->set_failed_test_info(cmpResult);
return;
}
}
ts->set_failed_test_info(cvtest::TS::OK);
}
private:
template <class DepthDepth>
int noOpRandomRegistrationTest(DepthDepth minDepth, DepthDepth maxDepth)
{
// 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_<DepthDepth> randomVGADepth(480, 640);
rng.fill(randomVGADepth, RNG::UNIFORM, minDepth, maxDepth);
Mat registeredDepth;
registerDepth(K, K, Mat(), Matx44f::eye(), randomVGADepth, Size(640, 480), registeredDepth);
// See if registeredDepth == depth
return cvtest::cmpEps2( ts, registeredDepth, randomVGADepth, 1e-5, true, "No-op registration");
}
};
TEST(Rgbd_DepthRegistration, compute)
{
CV_RgbdDepthRegistrationTest test;
test.safe_run();
}
TEST(Rgbd_DepthRegistration, issue_2234)
{
Matx33f intrinsicsDepth(100, 0, 50, 0, 100, 50, 0, 0, 1);
Matx33f intrinsicsColor(100, 0, 200, 0, 100, 50, 0, 0, 1);
Mat_<float> depthMat(100, 100, (float)0.);
for(int i = 1; i <= 100; i++)
{
for(int j = 1; j <= 100; j++)
depthMat(i-1,j-1) = (float)j;
}
Mat registeredDepth;
registerDepth(intrinsicsDepth, intrinsicsColor, Mat(), Matx44f::eye(), depthMat, Size(400, 100), registeredDepth);
Rect roi( 150, 0, 100, 100 );
Mat subM(registeredDepth,roi);
EXPECT_EQ(0, cvtest::norm(subM, depthMat, NORM_INF));
}
}} // namespace
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