Chiebot-Mirror
/
opencv
mirror of https://github.com/opencv/opencv.git
8
0
Fork 0
Code Issues Projects Releases Wiki Activity

Added test for jacobians

Browse Source
pull/2726/head
Ilya Krylov 11 years ago
parent 9c7e0bfd33
commit 35e1b322cb
1 changed files with 70 additions and 21 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 91
      modules/calib3d/test/test_fisheye.cpp

91
modules/calib3d/test/test_fisheye.cpp
Unescape View File

@ -1,18 +1,13 @@
#include "test_precomp.hpp"
#include <iostream>
#include <fstream>
#include <string>
#include <climits>
#include <algorithm>
#include<fstream>
#include <opencv2/ts/gpu_test.hpp>
#include <opencv2/ts/ts_perf.hpp>
#include <opencv2/ts/ts.hpp>
#define DEF_PARAM_TEST(name, ...) typedef ::perf::TestBaseWithParam< std::tr1::tuple< __VA_ARGS__ > > name
#define PARAM_TEST_CASE(name, ...) struct name : testing::TestWithParam< std::tr1::tuple< __VA_ARGS__ > >
/// Change this parameter via CMake: cmake -DDATASETS_REPOSITORY_FOLDER=<path>
//const static std::string datasets_repository_path = "DATASETS_REPOSITORY_FOLDER";
const static std::string datasets_repository_path = "/home/krylov/data";
namespace FishEye
{
@ -111,7 +106,7 @@ void readExtrinsics(const std::string& file, cv::OutputArray _R, cv::OutputArray
if(_P1.needed()) P1.copyTo(_P1); if(_P2.needed()) P2.copyTo(_P2); if(_Q.needed()) Q.copyTo(_Q);
}
cv::Mat mergeRectification(const cv::Mat& l, const cv::Mat& r, double scale)
cv::Mat mergeRectification(const cv::Mat& l, const cv::Mat& r)
{
CV_Assert(l.type() == r.type() && l.size() == r.size());
cv::Mat merged(l.rows, l.cols * 2, l.type());
@ -128,12 +123,6 @@ cv::Mat mergeRectification(const cv::Mat& l, const cv::Mat& r, double scale)
}
/// Change this parameter via CMake: cmake -DDATASETS_REPOSITORY_FOLDER=<path>
//const static std::string datasets_repository_path = "DATASETS_REPOSITORY_FOLDER";
const static std::string datasets_repository_path = "/home/krylov/data";
TEST(FisheyeTest, projectPoints)
{
double cols = FishEye::imageSize.width,
@ -213,7 +202,7 @@ TEST(FisheyeTest, undistortImage)
TEST(FisheyeTest, jacobians)
{
int n = 10;
cv::Mat X(1, n, CV_32FC4);
cv::Mat X(1, n, CV_64FC3);
cv::Mat om(3, 1, CV_64F), T(3, 1, CV_64F);
cv::Mat f(2, 1, CV_64F), c(2, 1, CV_64F);
cv::Mat k(4, 1, CV_64F);
@ -221,7 +210,7 @@ TEST(FisheyeTest, jacobians)
cv::RNG& r = cv::theRNG();
r.fill(X, cv::RNG::NORMAL, 0, 1);
r.fill(X, cv::RNG::NORMAL, 2, 1);
X = cv::abs(X) * 10;
r.fill(om, cv::RNG::NORMAL, 0, 1);
@ -241,8 +230,68 @@ TEST(FisheyeTest, jacobians)
alpha = 0.01*r.gaussian(1);
CV_Assert(!"/////////");
cv::Mat x1, x2, xpred;
cv::Matx33d K(f.at<double>(0), alpha * f.at<double>(0), c.at<double>(0),
0, f.at<double>(1), c.at<double>(1),
0, 0, 1);
cv::Mat jacobians;
cv::Fisheye::projectPoints(X, x1, om, T, K, k, alpha, jacobians);
//test on T:
cv::Mat dT(3, 1, CV_64FC1);
r.fill(dT, cv::RNG::NORMAL, 0, 1);
dT *= 1e-9*cv::norm(T);
cv::Mat T2 = T + dT;
cv::Fisheye::projectPoints(X, x2, om, T2, K, k, alpha, cv::noArray());
xpred = x1 + cv::Mat(jacobians.colRange(11,14) * dT).reshape(2, 1);
CV_Assert (cv::norm(x2 - xpred) < 1e-12);
//test on om:
cv::Mat dom(3, 1, CV_64FC1);
r.fill(dom, cv::RNG::NORMAL, 0, 1);
dom *= 1e-9*cv::norm(om);
cv::Mat om2 = om + dom;
cv::Fisheye::projectPoints(X, x2, om2, T, K, k, alpha, cv::noArray());
xpred = x1 + cv::Mat(jacobians.colRange(8,11) * dom).reshape(2, 1);
CV_Assert (cv::norm(x2 - xpred) < 1e-12);
//test on f:
cv::Mat df(2, 1, CV_64FC1);
r.fill(df, cv::RNG::NORMAL, 0, 1);
df *= 1e-9*cv::norm(f);
cv::Matx33d K2 = K + cv::Matx33d(df.at<double>(0), df.at<double>(0) * alpha, 0, 0, df.at<double>(1), 0, 0, 0, 0);
cv::Fisheye::projectPoints(X, x2, om, T, K2, k, alpha, cv::noArray());
xpred = x1 + cv::Mat(jacobians.colRange(0,2) * df).reshape(2, 1);
CV_Assert (cv::norm(x2 - xpred) < 1e-12);
//test on c:
cv::Mat dc(2, 1, CV_64FC1);
r.fill(dc, cv::RNG::NORMAL, 0, 1);
dc *= 1e-9*cv::norm(c);
K2 = K + cv::Matx33d(0, 0, dc.at<double>(0), 0, 0, dc.at<double>(1), 0, 0, 0);
cv::Fisheye::projectPoints(X, x2, om, T, K2, k, alpha, cv::noArray());
xpred = x1 + cv::Mat(jacobians.colRange(2,4) * dc).reshape(2, 1);
CV_Assert (cv::norm(x2 - xpred) < 1e-12);
//test on k:
cv::Mat dk(4, 1, CV_64FC1);
r.fill(dk, cv::RNG::NORMAL, 0, 1);
dk *= 1e-9*cv::norm(k);
cv::Mat k2 = k + dk;
cv::Fisheye::projectPoints(X, x2, om, T, K, k2, alpha, cv::noArray());
xpred = x1 + cv::Mat(jacobians.colRange(4,8) * dk).reshape(2, 1);
CV_Assert (cv::norm(x2 - xpred) < 1e-12);
//test on alpha:
cv::Mat dalpha(1, 1, CV_64FC1);
r.fill(dalpha, cv::RNG::NORMAL, 0, 1);
dalpha *= 1e-9*cv::norm(f);
double alpha2 = alpha + dalpha.at<double>(0);
K2 = K + cv::Matx33d(0, f.at<double>(0) * dalpha.at<double>(0), 0, 0, 0, 0, 0, 0, 0);
cv::Fisheye::projectPoints(X, x2, om, T, K, k, alpha2, cv::noArray());
xpred = x1 + cv::Mat(jacobians.col(14) * dalpha).reshape(2, 1);
CV_Assert (cv::norm(x2 - xpred) < 1e-12);
}
TEST(FisheyeTest, Calibration)
@ -407,7 +456,7 @@ TEST(FisheyeTest, rectify)
cv::remap(l, lundist, lmapx, lmapy, cv::INTER_LINEAR);
cv::remap(r, rundist, rmapx, rmapy, cv::INTER_LINEAR);
cv::Mat rectification = mergeRectification(lundist, rundist, 0.75);
cv::Mat rectification = mergeRectification(lundist, rundist);
cv::Mat correct = cv::imread(combine_format(folder, "test_rectify/rectification_AB_%03d.png", i));
if (correct.empty())

Write Preview
Loading…
Cancel
Save