/// testing the following member methods
/// getDeltaX, getDeltaU, getZ, getDisparity
bool testGetDeltaXAndGetDeltaU() {
CvStereoCamModel camModel;
camModel.setCameraParams(FX, FY, TX, CLX, CRX, CY, DISPUNITSCALE);
for (int i=1; i<100/DISPUNITSCALE; i++) {
double disp = i;
double du = 25.;
double dx = camModel.getDeltaX(du, disp);
double dx0 = du * TX/(disp*DISPUNITSCALE - (CLX - CRX));
double diff = 0.;
if ( dx != dx0 ) {
printf("getDeltaX() test failed, du=%f, raw disp=%f, dx=%f\n",
du, disp, dx);
return false;
}
double z = camModel.getZ(disp);
double z0 = FX*TX/(DISPUNITSCALE*disp - (CLX - CRX));
diff = fabs(z-z0);
if (diff > .1e-10) {
printf("getZ() test failed, disp = %f, z=%e, z0=%e, diff=%e\n",
disp, z, z0, diff);
return false;
}
// and convert it back
double du0 = camModel.getDeltaU(dx, z);
diff = fabs(du-du0);
if ( diff > .1e-10) {
printf("getDeltaU() test failed, dx=%f, z=%f, du=%e, du0=%e, diff=%e\n",
dx, z, du, du0, diff);
return false;
}
}
return true;
}
/// Testing cartToDisp and dispToCart
bool testSparsePointConversion() {
CvStereoCamModel camModel;
camModel.setCameraParams(FX, FY, TX, CLX, CRX, CY, DISPUNITSCALE);
char filename[]= "test/pointsInCartesian.xml";
CvMat* points_cart = (CvMat*)cvLoad(filename);
if (points_cart == NULL ) {
printf("Cannot load data file: %s\n", filename);
return false;
}
CvMat* points_cart0 = (CvMat*)cvCreateMat(points_cart->rows, points_cart->cols,
CV_64FC1);
CvMat* points_disp = (CvMat*)cvCreateMat(points_cart->rows, points_cart->cols,
CV_64FC1);
CvMat* points_diff = (CvMat*)cvCreateMat(points_cart->rows, points_cart->cols,
CV_64FC1);
camModel.cartToDisp(points_cart, points_disp);
camModel.dispToCart(points_disp, points_cart0);
cvAbsDiff(points_cart, points_cart0, points_diff);
double min_val, max_val;
cvMinMaxLoc(points_diff, &min_val, &max_val);
if (max_val > .1e-10) {
printf("dispToCart() or cartToDisp() failed: max diff = %f\n", max_val);
return false;
}
cvReleaseMat(&points_cart);
cvReleaseMat(&points_disp);
cvReleaseMat(&points_diff);
return true;
}
/// testing the following member methods
/// getDeltaY, getDeltaV, getZ, getDisparity
bool testGetDeltaYAndGetDeltaV() {
bool status = true;
CvStereoCamModel camModel;
camModel.setCameraParams(FX, FY, TX, CLX, CRX, CY, DISPUNITSCALE);
for (int i=1; i<100/DISPUNITSCALE; i++) {
double disp = i;
double dv = 25.;
double dy = camModel.getDeltaY(dv, disp);
double dy0 = dv * TX * FX /(disp*DISPUNITSCALE - (CLX - CRX))/FY;
double diff = 0.;
diff = fabs(dy-dy0);
if ( diff > .1e-10 ) {
printf("getDeltaV() test failed, dv=%f, raw disp=%f, dy=%e, dy0=%e\n",
dv, disp, dy, dy0);
return false;
}
double z = camModel.getZ(disp);
double z0 = FX*TX/(DISPUNITSCALE*disp - (CLX - CRX));
diff = fabs(z-z0);
if (diff > .1e-10) {
printf("getZ() test failed, disp = %f, z=%e, z0=%e, diff=%e\n",
disp, z, z0, diff);
return false;
}
// and convert it back
double dv0 = camModel.getDeltaV(dy, z);
diff = fabs(dv-dv0);
if ( diff > .1e-10) {
printf("getDeltaU() test failed, dx=%f, z=%f, du=%e, du0=%e, diff=%e\n",
dy, z, dv, dv0, diff);
return false;
}
}
return true;
}
