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Fix issue with solvePnPRansac and Nx3 1-channel input when the number of points is 5. Try to uniform the input shape of projectPoints and undistortPoints.

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pull/14447/head
catree 6 years ago
parent a433394870
commit 7ed858e38e
9 changed files with 763 additions and 12 deletions
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  1. 2
      modules/calib3d/include/opencv2/calib3d.hpp
  2. 4
      modules/calib3d/perf/perf_pnp.cpp
  3. 7
      modules/calib3d/src/calibration.cpp
  4. 13
      modules/calib3d/src/solvepnp.cpp
  5. 177
      modules/calib3d/test/test_cameracalibration.cpp
  6. 372
      modules/calib3d/test/test_solvepnp_ransac.cpp
  7. 176
      modules/calib3d/test/test_undistort.cpp
  8. 12
      modules/imgproc/include/opencv2/imgproc.hpp
  9. 12
      modules/imgproc/src/undistort.cpp

2
modules/calib3d/include/opencv2/calib3d.hpp
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@ -516,7 +516,7 @@ vector\<Point3f\> ), where N is the number of points in the view.
@param distCoeffs Input vector of distortion coefficients @param distCoeffs Input vector of distortion coefficients
\f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6 [, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\f$ of \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6 [, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\f$ of
4, 5, 8, 12 or 14 elements. If the vector is empty, the zero distortion coefficients are assumed. 4, 5, 8, 12 or 14 elements. If the vector is empty, the zero distortion coefficients are assumed.
@param imagePoints Output array of image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel, or @param imagePoints Output array of image points, 1xN/Nx1 2-channel, or
vector\<Point2f\> . vector\<Point2f\> .
@param jacobian Optional output 2Nx(10+\<numDistCoeffs\>) jacobian matrix of derivatives of image @param jacobian Optional output 2Nx(10+\<numDistCoeffs\>) jacobian matrix of derivatives of image
points with respect to components of the rotation vector, translation vector, focal lengths, points with respect to components of the rotation vector, translation vector, focal lengths,

4
modules/calib3d/perf/perf_pnp.cpp
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@ -12,8 +12,8 @@ typedef perf::TestBaseWithParam<PointsNum_Algo_t> PointsNum_Algo;
typedef perf::TestBaseWithParam<int> PointsNum; typedef perf::TestBaseWithParam<int> PointsNum;
PERF_TEST_P(PointsNum_Algo, solvePnP, PERF_TEST_P(PointsNum_Algo, solvePnP,
testing::Combine( testing::Combine( //When non planar, DLT needs at least 6 points for SOLVEPNP_ITERATIVE flag
testing::Values(5, 3*9, 7*13), //TODO: find why results on 4 points are too unstable testing::Values(6, 3*9, 7*13), //TODO: find why results on 4 points are too unstable
testing::Values((int)SOLVEPNP_ITERATIVE, (int)SOLVEPNP_EPNP, (int)SOLVEPNP_UPNP, (int)SOLVEPNP_DLS) testing::Values((int)SOLVEPNP_ITERATIVE, (int)SOLVEPNP_EPNP, (int)SOLVEPNP_UPNP, (int)SOLVEPNP_DLS)
) )
) )

7
modules/calib3d/src/calibration.cpp
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@ -1094,6 +1094,7 @@ CV_IMPL void cvFindExtrinsicCameraParams2( const CvMat* objectPoints,
else else
{ {
// non-planar structure. Use DLT method // non-planar structure. Use DLT method
CV_CheckGE(count, 6, "DLT algorithm needs at least 6 points for pose estimation from 3D-2D point correspondences.");
double* L; double* L;
double LL[12*12], LW[12], LV[12*12], sc; double LL[12*12], LW[12], LV[12*12], sc;
CvMat _LL = cvMat( 12, 12, CV_64F, LL ); CvMat _LL = cvMat( 12, 12, CV_64F, LL );
@ -3314,8 +3315,14 @@ void cv::projectPoints( InputArray _opoints,
{ {
Mat opoints = _opoints.getMat(); Mat opoints = _opoints.getMat();
int npoints = opoints.checkVector(3), depth = opoints.depth(); int npoints = opoints.checkVector(3), depth = opoints.depth();
if (npoints < 0)
opoints = opoints.t();
npoints = opoints.checkVector(3);
CV_Assert(npoints >= 0 && (depth == CV_32F || depth == CV_64F)); CV_Assert(npoints >= 0 && (depth == CV_32F || depth == CV_64F));
if (opoints.cols == 3)
opoints = opoints.reshape(3);
CvMat dpdrot, dpdt, dpdf, dpdc, dpddist; CvMat dpdrot, dpdt, dpdf, dpdc, dpddist;
CvMat *pdpdrot=0, *pdpdt=0, *pdpdf=0, *pdpdc=0, *pdpddist=0; CvMat *pdpdrot=0, *pdpdt=0, *pdpdf=0, *pdpdc=0, *pdpddist=0;

13
modules/calib3d/src/solvepnp.cpp
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@ -245,6 +245,9 @@ bool solvePnPRansac(InputArray _opoints, InputArray _ipoints,
if( model_points == npoints ) if( model_points == npoints )
{ {
opoints = opoints.reshape(3);
ipoints = ipoints.reshape(2);
bool result = solvePnP(opoints, ipoints, cameraMatrix, distCoeffs, _rvec, _tvec, useExtrinsicGuess, ransac_kernel_method); bool result = solvePnP(opoints, ipoints, cameraMatrix, distCoeffs, _rvec, _tvec, useExtrinsicGuess, ransac_kernel_method);
if(!result) if(!result)
@ -350,6 +353,11 @@ int solveP3P( InputArray _opoints, InputArray _ipoints,
CV_Assert( npoints == 3 || npoints == 4 ); CV_Assert( npoints == 3 || npoints == 4 );
CV_Assert( flags == SOLVEPNP_P3P || flags == SOLVEPNP_AP3P ); CV_Assert( flags == SOLVEPNP_P3P || flags == SOLVEPNP_AP3P );
if (opoints.cols == 3)
opoints = opoints.reshape(3);
if (ipoints.cols == 2)
ipoints = ipoints.reshape(2);
Mat cameraMatrix0 = _cameraMatrix.getMat(); Mat cameraMatrix0 = _cameraMatrix.getMat();
Mat distCoeffs0 = _distCoeffs.getMat(); Mat distCoeffs0 = _distCoeffs.getMat();
Mat cameraMatrix = Mat_<double>(cameraMatrix0); Mat cameraMatrix = Mat_<double>(cameraMatrix0);
@ -745,6 +753,11 @@ int solvePnPGeneric( InputArray _opoints, InputArray _ipoints,
CV_Assert( ( (npoints >= 4) || (npoints == 3 && flags == SOLVEPNP_ITERATIVE && useExtrinsicGuess) ) CV_Assert( ( (npoints >= 4) || (npoints == 3 && flags == SOLVEPNP_ITERATIVE && useExtrinsicGuess) )
&& npoints == std::max(ipoints.checkVector(2, CV_32F), ipoints.checkVector(2, CV_64F)) ); && npoints == std::max(ipoints.checkVector(2, CV_32F), ipoints.checkVector(2, CV_64F)) );
if (opoints.cols == 3)
opoints = opoints.reshape(3);
if (ipoints.cols == 2)
ipoints = ipoints.reshape(2);
if( flags != SOLVEPNP_ITERATIVE ) if( flags != SOLVEPNP_ITERATIVE )
useExtrinsicGuess = false; useExtrinsicGuess = false;

177
modules/calib3d/test/test_cameracalibration.cpp
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@ -2071,6 +2071,183 @@ TEST(Calib3d_CalibrationMatrixValues_C, accuracy) { CV_CalibrationMatrixValuesTe
TEST(Calib3d_CalibrationMatrixValues_CPP, accuracy) { CV_CalibrationMatrixValuesTest_CPP test; test.safe_run(); } TEST(Calib3d_CalibrationMatrixValues_CPP, accuracy) { CV_CalibrationMatrixValuesTest_CPP test; test.safe_run(); }
TEST(Calib3d_ProjectPoints_C, accuracy) { CV_ProjectPointsTest_C test; test.safe_run(); } TEST(Calib3d_ProjectPoints_C, accuracy) { CV_ProjectPointsTest_C test; test.safe_run(); }
TEST(Calib3d_ProjectPoints_CPP, regression) { CV_ProjectPointsTest_CPP test; test.safe_run(); } TEST(Calib3d_ProjectPoints_CPP, regression) { CV_ProjectPointsTest_CPP test; test.safe_run(); }
TEST(Calib3d_ProjectPoints_CPP, inputShape)
{
Matx31d rvec = Matx31d::zeros();
Matx31d tvec(0, 0, 1);
Matx33d cameraMatrix = Matx33d::eye();
const float L = 0.1f;
{
//3xN 1-channel
Mat objectPoints = (Mat_<float>(3, 2) << -L, L,
L, L,
0, 0);
vector<Point2f> imagePoints;
projectPoints(objectPoints, rvec, tvec, cameraMatrix, noArray(), imagePoints);
EXPECT_EQ(objectPoints.cols, static_cast<int>(imagePoints.size()));
EXPECT_NEAR(imagePoints[0].x, -L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[0].y, L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[1].x, L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[1].y, L, std::numeric_limits<float>::epsilon());
}
{
//Nx2 1-channel
Mat objectPoints = (Mat_<float>(2, 3) << -L, L, 0,
L, L, 0);
vector<Point2f> imagePoints;
projectPoints(objectPoints, rvec, tvec, cameraMatrix, noArray(), imagePoints);
EXPECT_EQ(objectPoints.rows, static_cast<int>(imagePoints.size()));
EXPECT_NEAR(imagePoints[0].x, -L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[0].y, L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[1].x, L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[1].y, L, std::numeric_limits<float>::epsilon());
}
{
//1xN 3-channel
Mat objectPoints(1, 2, CV_32FC3);
objectPoints.at<Vec3f>(0,0) = Vec3f(-L, L, 0);
objectPoints.at<Vec3f>(0,1) = Vec3f(L, L, 0);
vector<Point2f> imagePoints;
projectPoints(objectPoints, rvec, tvec, cameraMatrix, noArray(), imagePoints);
EXPECT_EQ(objectPoints.cols, static_cast<int>(imagePoints.size()));
EXPECT_NEAR(imagePoints[0].x, -L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[0].y, L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[1].x, L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[1].y, L, std::numeric_limits<float>::epsilon());
}
{
//Nx1 3-channel
Mat objectPoints(2, 1, CV_32FC3);
objectPoints.at<Vec3f>(0,0) = Vec3f(-L, L, 0);
objectPoints.at<Vec3f>(1,0) = Vec3f(L, L, 0);
vector<Point2f> imagePoints;
projectPoints(objectPoints, rvec, tvec, cameraMatrix, noArray(), imagePoints);
EXPECT_EQ(objectPoints.rows, static_cast<int>(imagePoints.size()));
EXPECT_NEAR(imagePoints[0].x, -L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[0].y, L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[1].x, L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[1].y, L, std::numeric_limits<float>::epsilon());
}
{
//vector<Point3f>
vector<Point3f> objectPoints;
objectPoints.push_back(Point3f(-L, L, 0));
objectPoints.push_back(Point3f(L, L, 0));
vector<Point2f> imagePoints;
projectPoints(objectPoints, rvec, tvec, cameraMatrix, noArray(), imagePoints);
EXPECT_EQ(objectPoints.size(), imagePoints.size());
EXPECT_NEAR(imagePoints[0].x, -L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[0].y, L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[1].x, L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[1].y, L, std::numeric_limits<float>::epsilon());
}
{
//vector<Point3d>
vector<Point3d> objectPoints;
objectPoints.push_back(Point3d(-L, L, 0));
objectPoints.push_back(Point3d(L, L, 0));
vector<Point2d> imagePoints;
projectPoints(objectPoints, rvec, tvec, cameraMatrix, noArray(), imagePoints);
EXPECT_EQ(objectPoints.size(), imagePoints.size());
EXPECT_NEAR(imagePoints[0].x, -L, std::numeric_limits<double>::epsilon());
EXPECT_NEAR(imagePoints[0].y, L, std::numeric_limits<double>::epsilon());
EXPECT_NEAR(imagePoints[1].x, L, std::numeric_limits<double>::epsilon());
EXPECT_NEAR(imagePoints[1].y, L, std::numeric_limits<double>::epsilon());
}
}
TEST(Calib3d_ProjectPoints_CPP, outputShape)
{
Matx31d rvec = Matx31d::zeros();
Matx31d tvec(0, 0, 1);
Matx33d cameraMatrix = Matx33d::eye();
const float L = 0.1f;
{
vector<Point3f> objectPoints;
objectPoints.push_back(Point3f(-L, L, 0));
objectPoints.push_back(Point3f( L, L, 0));
objectPoints.push_back(Point3f( L, -L, 0));
//Mat --> will be Nx1 2-channel
Mat imagePoints;
projectPoints(objectPoints, rvec, tvec, cameraMatrix, noArray(), imagePoints);
EXPECT_EQ(static_cast<int>(objectPoints.size()), imagePoints.rows);
EXPECT_NEAR(imagePoints.at<Vec2f>(0,0)(0), -L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(0,0)(1), L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(1,0)(0), L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(1,0)(1), L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(2,0)(0), L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(2,0)(1), -L, std::numeric_limits<float>::epsilon());
}
{
vector<Point3f> objectPoints;
objectPoints.push_back(Point3f(-L, L, 0));
objectPoints.push_back(Point3f( L, L, 0));
objectPoints.push_back(Point3f( L, -L, 0));
//Nx1 2-channel
Mat imagePoints(3,1,CV_32FC2);
projectPoints(objectPoints, rvec, tvec, cameraMatrix, noArray(), imagePoints);
EXPECT_EQ(static_cast<int>(objectPoints.size()), imagePoints.rows);
EXPECT_NEAR(imagePoints.at<Vec2f>(0,0)(0), -L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(0,0)(1), L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(1,0)(0), L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(1,0)(1), L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(2,0)(0), L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(2,0)(1), -L, std::numeric_limits<float>::epsilon());
}
{
vector<Point3f> objectPoints;
objectPoints.push_back(Point3f(-L, L, 0));
objectPoints.push_back(Point3f( L, L, 0));
objectPoints.push_back(Point3f( L, -L, 0));
//1xN 2-channel
Mat imagePoints(1,3,CV_32FC2);
projectPoints(objectPoints, rvec, tvec, cameraMatrix, noArray(), imagePoints);
EXPECT_EQ(static_cast<int>(objectPoints.size()), imagePoints.cols);
EXPECT_NEAR(imagePoints.at<Vec2f>(0,0)(0), -L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(0,0)(1), L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(0,1)(0), L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(0,1)(1), L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(0,2)(0), L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(0,2)(1), -L, std::numeric_limits<float>::epsilon());
}
{
vector<Point3f> objectPoints;
objectPoints.push_back(Point3f(-L, L, 0));
objectPoints.push_back(Point3f(L, L, 0));
//vector<Point2f>
vector<Point2f> imagePoints;
projectPoints(objectPoints, rvec, tvec, cameraMatrix, noArray(), imagePoints);
EXPECT_EQ(objectPoints.size(), imagePoints.size());
EXPECT_NEAR(imagePoints[0].x, -L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[0].y, L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[1].x, L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[1].y, L, std::numeric_limits<float>::epsilon());
}
{
vector<Point3d> objectPoints;
objectPoints.push_back(Point3d(-L, L, 0));
objectPoints.push_back(Point3d(L, L, 0));
//vector<Point2d>
vector<Point2d> imagePoints;
projectPoints(objectPoints, rvec, tvec, cameraMatrix, noArray(), imagePoints);
EXPECT_EQ(objectPoints.size(), imagePoints.size());
EXPECT_NEAR(imagePoints[0].x, -L, std::numeric_limits<double>::epsilon());
EXPECT_NEAR(imagePoints[0].y, L, std::numeric_limits<double>::epsilon());
EXPECT_NEAR(imagePoints[1].x, L, std::numeric_limits<double>::epsilon());
EXPECT_NEAR(imagePoints[1].y, L, std::numeric_limits<double>::epsilon());
}
}
TEST(Calib3d_StereoCalibrate_C, regression) { CV_StereoCalibrationTest_C test; test.safe_run(); } TEST(Calib3d_StereoCalibrate_C, regression) { CV_StereoCalibrationTest_C test; test.safe_run(); }
TEST(Calib3d_StereoCalibrate_CPP, regression) { CV_StereoCalibrationTest_CPP test; test.safe_run(); } TEST(Calib3d_StereoCalibrate_CPP, regression) { CV_StereoCalibrationTest_CPP test; test.safe_run(); }
TEST(Calib3d_StereoCalibrateCorner, regression) { CV_StereoCalibrationCornerTest test; test.safe_run(); } TEST(Calib3d_StereoCalibrateCorner, regression) { CV_StereoCalibrationCornerTest test; test.safe_run(); }

372
modules/calib3d/test/test_solvepnp_ransac.cpp
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@ -1211,6 +1211,7 @@ TEST(Calib3d_SolvePnP, translation)
p3d.push_back(Point3f(0,10,10)); p3d.push_back(Point3f(0,10,10));
p3d.push_back(Point3f(10,10,10)); p3d.push_back(Point3f(10,10,10));
p3d.push_back(Point3f(2,5,5)); p3d.push_back(Point3f(2,5,5));
p3d.push_back(Point3f(-4,8,6));
vector<Point2f> p2d; vector<Point2f> p2d;
projectPoints(p3d, crvec, ctvec, cameraIntrinsic, noArray(), p2d); projectPoints(p3d, crvec, ctvec, cameraIntrinsic, noArray(), p2d);
@ -1845,4 +1846,375 @@ TEST(Calib3d_SolvePnP, refine)
} }
} }
TEST(Calib3d_SolvePnPRansac, minPoints)
{
//https://github.com/opencv/opencv/issues/14423
Mat matK = Mat::eye(3,3,CV_64FC1);
Mat distCoeff = Mat::zeros(1,5,CV_64FC1);
Matx31d true_rvec(0.9072420896651262, 0.09226497171882152, 0.8880772883671504);
Matx31d true_tvec(7.376333362427632, 8.434449036856979, 13.79801619778456);
{
//nb points = 5 --> ransac_kernel_method = SOLVEPNP_EPNP
Mat keypoints13D = (Mat_<float>(5, 3) << 12.00604, -2.8654366, 18.472504,
7.6863389, 4.9355154, 11.146358,
14.260933, 2.8320458, 12.582781,
3.4562225, 8.2668982, 11.300434,
15.316854, 3.7486348, 12.491116);
vector<Point2f> imagesPoints;
projectPoints(keypoints13D, true_rvec, true_tvec, matK, distCoeff, imagesPoints);
Mat keypoints22D(keypoints13D.rows, 2, CV_32FC1);
vector<Point3f> objectPoints;
for (int i = 0; i < static_cast<int>(imagesPoints.size()); i++)
{
keypoints22D.at<float>(i,0) = imagesPoints[i].x;
keypoints22D.at<float>(i,1) = imagesPoints[i].y;
objectPoints.push_back(Point3f(keypoints13D.at<float>(i,0), keypoints13D.at<float>(i,1), keypoints13D.at<float>(i,2)));
}
Mat rvec = Mat::zeros(1,3,CV_64FC1);
Mat Tvec = Mat::zeros(1,3,CV_64FC1);
solvePnPRansac(keypoints13D, keypoints22D, matK, distCoeff, rvec, Tvec);
Mat rvec2, Tvec2;
solvePnP(objectPoints, imagesPoints, matK, distCoeff, rvec2, Tvec2, false, SOLVEPNP_EPNP);
EXPECT_LE(cvtest::norm(true_rvec, rvec, NORM_INF), 1e-4);
EXPECT_LE(cvtest::norm(true_tvec, Tvec, NORM_INF), 1e-4);
EXPECT_LE(cvtest::norm(rvec, rvec2, NORM_INF), 1e-6);
EXPECT_LE(cvtest::norm(Tvec, Tvec2, NORM_INF), 1e-6);
}
{
//nb points = 4 --> ransac_kernel_method = SOLVEPNP_P3P
Mat keypoints13D = (Mat_<float>(4, 3) << 12.00604, -2.8654366, 18.472504,
7.6863389, 4.9355154, 11.146358,
14.260933, 2.8320458, 12.582781,
3.4562225, 8.2668982, 11.300434);
vector<Point2f> imagesPoints;
projectPoints(keypoints13D, true_rvec, true_tvec, matK, distCoeff, imagesPoints);
Mat keypoints22D(keypoints13D.rows, 2, CV_32FC1);
vector<Point3f> objectPoints;
for (int i = 0; i < static_cast<int>(imagesPoints.size()); i++)
{
keypoints22D.at<float>(i,0) = imagesPoints[i].x;
keypoints22D.at<float>(i,1) = imagesPoints[i].y;
objectPoints.push_back(Point3f(keypoints13D.at<float>(i,0), keypoints13D.at<float>(i,1), keypoints13D.at<float>(i,2)));
}
Mat rvec = Mat::zeros(1,3,CV_64FC1);
Mat Tvec = Mat::zeros(1,3,CV_64FC1);
solvePnPRansac(keypoints13D, keypoints22D, matK, distCoeff, rvec, Tvec);
Mat rvec2, Tvec2;
solvePnP(objectPoints, imagesPoints, matK, distCoeff, rvec2, Tvec2, false, SOLVEPNP_P3P);
EXPECT_LE(cvtest::norm(true_rvec, rvec, NORM_INF), 1e-4);
EXPECT_LE(cvtest::norm(true_tvec, Tvec, NORM_INF), 1e-4);
EXPECT_LE(cvtest::norm(rvec, rvec2, NORM_INF), 1e-6);
EXPECT_LE(cvtest::norm(Tvec, Tvec2, NORM_INF), 1e-6);
}
}
TEST(Calib3d_SolvePnPRansac, inputShape)
{
//https://github.com/opencv/opencv/issues/14423
Mat matK = Mat::eye(3,3,CV_64FC1);
Mat distCoeff = Mat::zeros(1,5,CV_64FC1);
Matx31d true_rvec(0.9072420896651262, 0.09226497171882152, 0.8880772883671504);
Matx31d true_tvec(7.376333362427632, 8.434449036856979, 13.79801619778456);
{
//Nx3 1-channel
Mat keypoints13D = (Mat_<float>(6, 3) << 12.00604, -2.8654366, 18.472504,
7.6863389, 4.9355154, 11.146358,
14.260933, 2.8320458, 12.582781,
3.4562225, 8.2668982, 11.300434,
10.00604, 2.8654366, 15.472504,
-4.6863389, 5.9355154, 13.146358);
vector<Point2f> imagesPoints;
projectPoints(keypoints13D, true_rvec, true_tvec, matK, distCoeff, imagesPoints);
Mat keypoints22D(keypoints13D.rows, 2, CV_32FC1);
for (int i = 0; i < static_cast<int>(imagesPoints.size()); i++)
{
keypoints22D.at<float>(i,0) = imagesPoints[i].x;
keypoints22D.at<float>(i,1) = imagesPoints[i].y;
}
Mat rvec, Tvec;
solvePnPRansac(keypoints13D, keypoints22D, matK, distCoeff, rvec, Tvec);
EXPECT_LE(cvtest::norm(true_rvec, rvec, NORM_INF), 1e-6);
EXPECT_LE(cvtest::norm(true_tvec, Tvec, NORM_INF), 1e-6);
}
{
//1xN 3-channel
Mat keypoints13D(1, 6, CV_32FC3);
keypoints13D.at<Vec3f>(0,0) = Vec3f(12.00604f, -2.8654366f, 18.472504f);
keypoints13D.at<Vec3f>(0,1) = Vec3f(7.6863389f, 4.9355154f, 11.146358f);
keypoints13D.at<Vec3f>(0,2) = Vec3f(14.260933f, 2.8320458f, 12.582781f);
keypoints13D.at<Vec3f>(0,3) = Vec3f(3.4562225f, 8.2668982f, 11.300434f);
keypoints13D.at<Vec3f>(0,4) = Vec3f(10.00604f, 2.8654366f, 15.472504f);
keypoints13D.at<Vec3f>(0,5) = Vec3f(-4.6863389f, 5.9355154f, 13.146358f);
vector<Point2f> imagesPoints;
projectPoints(keypoints13D, true_rvec, true_tvec, matK, distCoeff, imagesPoints);
Mat keypoints22D(keypoints13D.rows, keypoints13D.cols, CV_32FC2);
for (int i = 0; i < static_cast<int>(imagesPoints.size()); i++)
{
keypoints22D.at<Vec2f>(0,i) = Vec2f(imagesPoints[i].x, imagesPoints[i].y);
}
Mat rvec, Tvec;
solvePnPRansac(keypoints13D, keypoints22D, matK, distCoeff, rvec, Tvec);
EXPECT_LE(cvtest::norm(true_rvec, rvec, NORM_INF), 1e-6);
EXPECT_LE(cvtest::norm(true_tvec, Tvec, NORM_INF), 1e-6);
}
{
//Nx1 3-channel
Mat keypoints13D(6, 1, CV_32FC3);
keypoints13D.at<Vec3f>(0,0) = Vec3f(12.00604f, -2.8654366f, 18.472504f);
keypoints13D.at<Vec3f>(1,0) = Vec3f(7.6863389f, 4.9355154f, 11.146358f);
keypoints13D.at<Vec3f>(2,0) = Vec3f(14.260933f, 2.8320458f, 12.582781f);
keypoints13D.at<Vec3f>(3,0) = Vec3f(3.4562225f, 8.2668982f, 11.300434f);
keypoints13D.at<Vec3f>(4,0) = Vec3f(10.00604f, 2.8654366f, 15.472504f);
keypoints13D.at<Vec3f>(5,0) = Vec3f(-4.6863389f, 5.9355154f, 13.146358f);
vector<Point2f> imagesPoints;
projectPoints(keypoints13D, true_rvec, true_tvec, matK, distCoeff, imagesPoints);
Mat keypoints22D(keypoints13D.rows, keypoints13D.cols, CV_32FC2);
for (int i = 0; i < static_cast<int>(imagesPoints.size()); i++)
{
keypoints22D.at<Vec2f>(i,0) = Vec2f(imagesPoints[i].x, imagesPoints[i].y);
}
Mat rvec, Tvec;
solvePnPRansac(keypoints13D, keypoints22D, matK, distCoeff, rvec, Tvec);
EXPECT_LE(cvtest::norm(true_rvec, rvec, NORM_INF), 1e-6);
EXPECT_LE(cvtest::norm(true_tvec, Tvec, NORM_INF), 1e-6);
}
{
//vector<Point3f>
vector<Point3f> keypoints13D;
keypoints13D.push_back(Point3f(12.00604f, -2.8654366f, 18.472504f));
keypoints13D.push_back(Point3f(7.6863389f, 4.9355154f, 11.146358f));
keypoints13D.push_back(Point3f(14.260933f, 2.8320458f, 12.582781f));
keypoints13D.push_back(Point3f(3.4562225f, 8.2668982f, 11.300434f));
keypoints13D.push_back(Point3f(10.00604f, 2.8654366f, 15.472504f));
keypoints13D.push_back(Point3f(-4.6863389f, 5.9355154f, 13.146358f));
vector<Point2f> keypoints22D;
projectPoints(keypoints13D, true_rvec, true_tvec, matK, distCoeff, keypoints22D);
Mat rvec, Tvec;
solvePnPRansac(keypoints13D, keypoints22D, matK, distCoeff, rvec, Tvec);
EXPECT_LE(cvtest::norm(true_rvec, rvec, NORM_INF), 1e-6);
EXPECT_LE(cvtest::norm(true_tvec, Tvec, NORM_INF), 1e-6);
}
{
//vector<Point3d>
vector<Point3d> keypoints13D;
keypoints13D.push_back(Point3d(12.00604f, -2.8654366f, 18.472504f));
keypoints13D.push_back(Point3d(7.6863389f, 4.9355154f, 11.146358f));
keypoints13D.push_back(Point3d(14.260933f, 2.8320458f, 12.582781f));
keypoints13D.push_back(Point3d(3.4562225f, 8.2668982f, 11.300434f));
keypoints13D.push_back(Point3d(10.00604f, 2.8654366f, 15.472504f));
keypoints13D.push_back(Point3d(-4.6863389f, 5.9355154f, 13.146358f));
vector<Point2d> keypoints22D;
projectPoints(keypoints13D, true_rvec, true_tvec, matK, distCoeff, keypoints22D);
Mat rvec, Tvec;
solvePnPRansac(keypoints13D, keypoints22D, matK, distCoeff, rvec, Tvec);
EXPECT_LE(cvtest::norm(true_rvec, rvec, NORM_INF), 1e-6);
EXPECT_LE(cvtest::norm(true_tvec, Tvec, NORM_INF), 1e-6);
}
}
TEST(Calib3d_SolvePnP, inputShape)
{
//https://github.com/opencv/opencv/issues/14423
Mat matK = Mat::eye(3,3,CV_64FC1);
Mat distCoeff = Mat::zeros(1,5,CV_64FC1);
Matx31d true_rvec(0.407, 0.092, 0.88);
Matx31d true_tvec(0.576, -0.43, 1.3798);
vector<Point3d> objectPoints;
const double L = 0.5;
objectPoints.push_back(Point3d(-L, -L, L));
objectPoints.push_back(Point3d( L, -L, L));
objectPoints.push_back(Point3d( L, L, L));
objectPoints.push_back(Point3d(-L, L, L));
objectPoints.push_back(Point3d(-L, -L, -L));
objectPoints.push_back(Point3d( L, -L, -L));
const int methodsCount = 6;
int methods[] = {SOLVEPNP_ITERATIVE, SOLVEPNP_EPNP, SOLVEPNP_P3P, SOLVEPNP_AP3P, SOLVEPNP_IPPE, SOLVEPNP_IPPE_SQUARE};
for (int method = 0; method < methodsCount; method++)
{
if (methods[method] == SOLVEPNP_IPPE_SQUARE)
{
objectPoints[0] = Point3d(-L, L, 0);
objectPoints[1] = Point3d( L, L, 0);
objectPoints[2] = Point3d( L, -L, 0);
objectPoints[3] = Point3d(-L, -L, 0);
}
{
//Nx3 1-channel
Mat keypoints13D;
if (methods[method] == SOLVEPNP_P3P || methods[method] == SOLVEPNP_AP3P ||
methods[method] == SOLVEPNP_IPPE || methods[method] == SOLVEPNP_IPPE_SQUARE)
{
keypoints13D = Mat(4, 3, CV_32FC1);
}
else
{
keypoints13D = Mat(6, 3, CV_32FC1);
}
for (int i = 0; i < keypoints13D.rows; i++)
{
keypoints13D.at<float>(i,0) = static_cast<float>(objectPoints[i].x);
keypoints13D.at<float>(i,1) = static_cast<float>(objectPoints[i].y);
keypoints13D.at<float>(i,2) = static_cast<float>(objectPoints[i].z);
}
vector<Point2f> imagesPoints;
projectPoints(keypoints13D, true_rvec, true_tvec, matK, distCoeff, imagesPoints);
Mat keypoints22D(keypoints13D.rows, 2, CV_32FC1);
for (int i = 0; i < static_cast<int>(imagesPoints.size()); i++)
{
keypoints22D.at<float>(i,0) = imagesPoints[i].x;
keypoints22D.at<float>(i,1) = imagesPoints[i].y;
}
Mat rvec, Tvec;
solvePnP(keypoints13D, keypoints22D, matK, distCoeff, rvec, Tvec, false, methods[method]);
EXPECT_LE(cvtest::norm(true_rvec, rvec, NORM_INF), 1e-3);
EXPECT_LE(cvtest::norm(true_tvec, Tvec, NORM_INF), 1e-3);
}
{
//1xN 3-channel
Mat keypoints13D;
if (methods[method] == SOLVEPNP_P3P || methods[method] == SOLVEPNP_AP3P ||
methods[method] == SOLVEPNP_IPPE || methods[method] == SOLVEPNP_IPPE_SQUARE)
{
keypoints13D = Mat(1, 4, CV_32FC3);
}
else
{
keypoints13D = Mat(1, 6, CV_32FC3);
}
for (int i = 0; i < keypoints13D.cols; i++)
{
keypoints13D.at<Vec3f>(0,i) = Vec3f(static_cast<float>(objectPoints[i].x),
static_cast<float>(objectPoints[i].y),
static_cast<float>(objectPoints[i].z));
}
vector<Point2f> imagesPoints;
projectPoints(keypoints13D, true_rvec, true_tvec, matK, distCoeff, imagesPoints);
Mat keypoints22D(keypoints13D.rows, keypoints13D.cols, CV_32FC2);
for (int i = 0; i < static_cast<int>(imagesPoints.size()); i++)
{
keypoints22D.at<Vec2f>(0,i) = Vec2f(imagesPoints[i].x, imagesPoints[i].y);
}
Mat rvec, Tvec;
solvePnP(keypoints13D, keypoints22D, matK, distCoeff, rvec, Tvec, false, methods[method]);
EXPECT_LE(cvtest::norm(true_rvec, rvec, NORM_INF), 1e-3);
EXPECT_LE(cvtest::norm(true_tvec, Tvec, NORM_INF), 1e-3);
}
{
//Nx1 3-channel
Mat keypoints13D;
if (methods[method] == SOLVEPNP_P3P || methods[method] == SOLVEPNP_AP3P ||
methods[method] == SOLVEPNP_IPPE || methods[method] == SOLVEPNP_IPPE_SQUARE)
{
keypoints13D = Mat(4, 1, CV_32FC3);
}
else
{
keypoints13D = Mat(6, 1, CV_32FC3);
}
for (int i = 0; i < keypoints13D.rows; i++)
{
keypoints13D.at<Vec3f>(i,0) = Vec3f(static_cast<float>(objectPoints[i].x),
static_cast<float>(objectPoints[i].y),
static_cast<float>(objectPoints[i].z));
}
vector<Point2f> imagesPoints;
projectPoints(keypoints13D, true_rvec, true_tvec, matK, distCoeff, imagesPoints);
Mat keypoints22D(keypoints13D.rows, keypoints13D.cols, CV_32FC2);
for (int i = 0; i < static_cast<int>(imagesPoints.size()); i++)
{
keypoints22D.at<Vec2f>(i,0) = Vec2f(imagesPoints[i].x, imagesPoints[i].y);
}
Mat rvec, Tvec;
solvePnP(keypoints13D, keypoints22D, matK, distCoeff, rvec, Tvec, false, methods[method]);
EXPECT_LE(cvtest::norm(true_rvec, rvec, NORM_INF), 1e-3);
EXPECT_LE(cvtest::norm(true_tvec, Tvec, NORM_INF), 1e-3);
}
{
//vector<Point3f>
vector<Point3f> keypoints13D;
const int nbPts = (methods[method] == SOLVEPNP_P3P || methods[method] == SOLVEPNP_AP3P ||
methods[method] == SOLVEPNP_IPPE || methods[method] == SOLVEPNP_IPPE_SQUARE) ? 4 : 6;
for (int i = 0; i < nbPts; i++)
{
keypoints13D.push_back(Point3f(static_cast<float>(objectPoints[i].x),
static_cast<float>(objectPoints[i].y),
static_cast<float>(objectPoints[i].z)));
}
vector<Point2f> keypoints22D;
projectPoints(keypoints13D, true_rvec, true_tvec, matK, distCoeff, keypoints22D);
Mat rvec, Tvec;
solvePnP(keypoints13D, keypoints22D, matK, distCoeff, rvec, Tvec, false, methods[method]);
EXPECT_LE(cvtest::norm(true_rvec, rvec, NORM_INF), 1e-3);
EXPECT_LE(cvtest::norm(true_tvec, Tvec, NORM_INF), 1e-3);
}
{
//vector<Point3d>
vector<Point3d> keypoints13D;
const int nbPts = (methods[method] == SOLVEPNP_P3P || methods[method] == SOLVEPNP_AP3P ||
methods[method] == SOLVEPNP_IPPE || methods[method] == SOLVEPNP_IPPE_SQUARE) ? 4 : 6;
for (int i = 0; i < nbPts; i++)
{
keypoints13D.push_back(objectPoints[i]);
}
vector<Point2d> keypoints22D;
projectPoints(keypoints13D, true_rvec, true_tvec, matK, distCoeff, keypoints22D);
Mat rvec, Tvec;
solvePnP(keypoints13D, keypoints22D, matK, distCoeff, rvec, Tvec, false, methods[method]);
EXPECT_LE(cvtest::norm(true_rvec, rvec, NORM_INF), 1e-3);
EXPECT_LE(cvtest::norm(true_tvec, Tvec, NORM_INF), 1e-3);
}
}
}
}} // namespace }} // namespace

176
modules/calib3d/test/test_undistort.cpp
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@ -938,4 +938,180 @@ TEST(Calib3d_DefaultNewCameraMatrix, accuracy) { CV_DefaultNewCameraMatrixTest t
TEST(Calib3d_UndistortPoints, accuracy) { CV_UndistortPointsTest test; test.safe_run(); } TEST(Calib3d_UndistortPoints, accuracy) { CV_UndistortPointsTest test; test.safe_run(); }
TEST(Calib3d_InitUndistortRectifyMap, accuracy) { CV_InitUndistortRectifyMapTest test; test.safe_run(); } TEST(Calib3d_InitUndistortRectifyMap, accuracy) { CV_InitUndistortRectifyMapTest test; test.safe_run(); }
TEST(Calib3d_UndistortPoints, inputShape)
{
//https://github.com/opencv/opencv/issues/14423
Matx33d cameraMatrix = Matx33d::eye();
{
//2xN 1-channel
Mat imagePoints(2, 3, CV_32FC1);
imagePoints.at<float>(0,0) = 320; imagePoints.at<float>(1,0) = 240;
imagePoints.at<float>(0,1) = 0; imagePoints.at<float>(1,1) = 240;
imagePoints.at<float>(0,2) = 320; imagePoints.at<float>(1,2) = 0;
vector<Point2f> normalized;
undistortPoints(imagePoints, normalized, cameraMatrix, noArray());
EXPECT_EQ(static_cast<int>(normalized.size()), imagePoints.cols);
for (int i = 0; i < static_cast<int>(normalized.size()); i++) {
EXPECT_NEAR(normalized[i].x, imagePoints.at<float>(0,i), std::numeric_limits<float>::epsilon());
EXPECT_NEAR(normalized[i].y, imagePoints.at<float>(1,i), std::numeric_limits<float>::epsilon());
}
}
{
//Nx2 1-channel
Mat imagePoints(3, 2, CV_32FC1);
imagePoints.at<float>(0,0) = 320; imagePoints.at<float>(0,1) = 240;
imagePoints.at<float>(1,0) = 0; imagePoints.at<float>(1,1) = 240;
imagePoints.at<float>(2,0) = 320; imagePoints.at<float>(2,1) = 0;
vector<Point2f> normalized;
undistortPoints(imagePoints, normalized, cameraMatrix, noArray());
EXPECT_EQ(static_cast<int>(normalized.size()), imagePoints.rows);
for (int i = 0; i < static_cast<int>(normalized.size()); i++) {
EXPECT_NEAR(normalized[i].x, imagePoints.at<float>(i,0), std::numeric_limits<float>::epsilon());
EXPECT_NEAR(normalized[i].y, imagePoints.at<float>(i,1), std::numeric_limits<float>::epsilon());
}
}
{
//1xN 2-channel
Mat imagePoints(1, 3, CV_32FC2);
imagePoints.at<Vec2f>(0,0) = Vec2f(320, 240);
imagePoints.at<Vec2f>(0,1) = Vec2f(0, 240);
imagePoints.at<Vec2f>(0,2) = Vec2f(320, 0);
vector<Point2f> normalized;
undistortPoints(imagePoints, normalized, cameraMatrix, noArray());
EXPECT_EQ(static_cast<int>(normalized.size()), imagePoints.cols);
for (int i = 0; i < static_cast<int>(normalized.size()); i++) {
EXPECT_NEAR(normalized[i].x, imagePoints.at<Vec2f>(0,i)(0), std::numeric_limits<float>::epsilon());
EXPECT_NEAR(normalized[i].y, imagePoints.at<Vec2f>(0,i)(1), std::numeric_limits<float>::epsilon());
}
}
{
//Nx1 2-channel
Mat imagePoints(3, 1, CV_32FC2);
imagePoints.at<Vec2f>(0,0) = Vec2f(320, 240);
imagePoints.at<Vec2f>(1,0) = Vec2f(0, 240);
imagePoints.at<Vec2f>(2,0) = Vec2f(320, 0);
vector<Point2f> normalized;
undistortPoints(imagePoints, normalized, cameraMatrix, noArray());
EXPECT_EQ(static_cast<int>(normalized.size()), imagePoints.rows);
for (int i = 0; i < static_cast<int>(normalized.size()); i++) {
EXPECT_NEAR(normalized[i].x, imagePoints.at<Vec2f>(i,0)(0), std::numeric_limits<float>::epsilon());
EXPECT_NEAR(normalized[i].y, imagePoints.at<Vec2f>(i,0)(1), std::numeric_limits<float>::epsilon());
}
}
{
//vector<Point2f>
vector<Point2f> imagePoints;
imagePoints.push_back(Point2f(320, 240));
imagePoints.push_back(Point2f(0, 240));
imagePoints.push_back(Point2f(320, 0));
vector<Point2f> normalized;
undistortPoints(imagePoints, normalized, cameraMatrix, noArray());
EXPECT_EQ(normalized.size(), imagePoints.size());
for (int i = 0; i < static_cast<int>(normalized.size()); i++) {
EXPECT_NEAR(normalized[i].x, imagePoints[i].x, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(normalized[i].y, imagePoints[i].y, std::numeric_limits<float>::epsilon());
}
}
{
//vector<Point2d>
vector<Point2d> imagePoints;
imagePoints.push_back(Point2d(320, 240));
imagePoints.push_back(Point2d(0, 240));
imagePoints.push_back(Point2d(320, 0));
vector<Point2d> normalized;
undistortPoints(imagePoints, normalized, cameraMatrix, noArray());
EXPECT_EQ(normalized.size(), imagePoints.size());
for (int i = 0; i < static_cast<int>(normalized.size()); i++) {
EXPECT_NEAR(normalized[i].x, imagePoints[i].x, std::numeric_limits<double>::epsilon());
EXPECT_NEAR(normalized[i].y, imagePoints[i].y, std::numeric_limits<double>::epsilon());
}
}
}
TEST(Calib3d_UndistortPoints, outputShape)
{
Matx33d cameraMatrix = Matx33d::eye();
{
vector<Point2f> imagePoints;
imagePoints.push_back(Point2f(320, 240));
imagePoints.push_back(Point2f(0, 240));
imagePoints.push_back(Point2f(320, 0));
//Mat --> will be Nx1 2-channel
Mat normalized;
undistortPoints(imagePoints, normalized, cameraMatrix, noArray());
EXPECT_EQ(static_cast<int>(imagePoints.size()), normalized.rows);
for (int i = 0; i < normalized.rows; i++) {
EXPECT_NEAR(normalized.at<Vec2f>(i,0)(0), imagePoints[i].x, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(normalized.at<Vec2f>(i,0)(1), imagePoints[i].y, std::numeric_limits<float>::epsilon());
}
}
{
vector<Point2f> imagePoints;
imagePoints.push_back(Point2f(320, 240));
imagePoints.push_back(Point2f(0, 240));
imagePoints.push_back(Point2f(320, 0));
//Nx1 2-channel
Mat normalized(static_cast<int>(imagePoints.size()), 1, CV_32FC2);
undistortPoints(imagePoints, normalized, cameraMatrix, noArray());
EXPECT_EQ(static_cast<int>(imagePoints.size()), normalized.rows);
for (int i = 0; i < normalized.rows; i++) {
EXPECT_NEAR(normalized.at<Vec2f>(i,0)(0), imagePoints[i].x, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(normalized.at<Vec2f>(i,0)(1), imagePoints[i].y, std::numeric_limits<float>::epsilon());
}
}
{
vector<Point2f> imagePoints;
imagePoints.push_back(Point2f(320, 240));
imagePoints.push_back(Point2f(0, 240));
imagePoints.push_back(Point2f(320, 0));
//1xN 2-channel
Mat normalized(1, static_cast<int>(imagePoints.size()), CV_32FC2);
undistortPoints(imagePoints, normalized, cameraMatrix, noArray());
EXPECT_EQ(static_cast<int>(imagePoints.size()), normalized.cols);
for (int i = 0; i < normalized.rows; i++) {
EXPECT_NEAR(normalized.at<Vec2f>(0,i)(0), imagePoints[i].x, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(normalized.at<Vec2f>(0,i)(1), imagePoints[i].y, std::numeric_limits<float>::epsilon());
}
}
{
vector<Point2f> imagePoints;
imagePoints.push_back(Point2f(320, 240));
imagePoints.push_back(Point2f(0, 240));
imagePoints.push_back(Point2f(320, 0));
//vector<Point2f>
vector<Point2f> normalized;
undistortPoints(imagePoints, normalized, cameraMatrix, noArray());
EXPECT_EQ(imagePoints.size(), normalized.size());
for (int i = 0; i < static_cast<int>(normalized.size()); i++) {
EXPECT_NEAR(normalized[i].x, imagePoints[i].x, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(normalized[i].y, imagePoints[i].y, std::numeric_limits<float>::epsilon());
}
}
{
vector<Point2d> imagePoints;
imagePoints.push_back(Point2d(320, 240));
imagePoints.push_back(Point2d(0, 240));
imagePoints.push_back(Point2d(320, 0));
//vector<Point2d>
vector<Point2d> normalized;
undistortPoints(imagePoints, normalized, cameraMatrix, noArray());
EXPECT_EQ(imagePoints.size(), normalized.size());
for (int i = 0; i < static_cast<int>(normalized.size()); i++) {
EXPECT_NEAR(normalized[i].x, imagePoints[i].x, std::numeric_limits<double>::epsilon());
EXPECT_NEAR(normalized[i].y, imagePoints[i].y, std::numeric_limits<double>::epsilon());
}
}
}
}} // namespace }} // namespace

12
modules/imgproc/include/opencv2/imgproc.hpp
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@ -3116,9 +3116,9 @@ point coordinates out of the normalized distorted point coordinates ("normalized
coordinates do not depend on the camera matrix). coordinates do not depend on the camera matrix).
The function can be used for both a stereo camera head or a monocular camera (when R is empty). The function can be used for both a stereo camera head or a monocular camera (when R is empty).
@param src Observed point coordinates, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel (CV_32FC2 or CV_64FC2) (or
@param src Observed point coordinates, 1xN or Nx1 2-channel (CV_32FC2 or CV_64FC2). vector\<Point2f\> ).
@param dst Output ideal point coordinates after undistortion and reverse perspective @param dst Output ideal point coordinates (1xN/Nx1 2-channel or vector\<Point2f\> ) after undistortion and reverse perspective
transformation. If matrix P is identity or omitted, dst will contain normalized point coordinates. transformation. If matrix P is identity or omitted, dst will contain normalized point coordinates.
@param cameraMatrix Camera matrix \f$\vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$ . @param cameraMatrix Camera matrix \f$\vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$ .
@param distCoeffs Input vector of distortion coefficients @param distCoeffs Input vector of distortion coefficients
@ -3131,14 +3131,14 @@ of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion
*/ */
CV_EXPORTS_W void undistortPoints( InputArray src, OutputArray dst, CV_EXPORTS_W void undistortPoints( InputArray src, OutputArray dst,
InputArray cameraMatrix, InputArray distCoeffs, InputArray cameraMatrix, InputArray distCoeffs,
InputArray R = noArray(), InputArray P = noArray()); InputArray R = noArray(), InputArray P = noArray() );
/** @overload /** @overload
@note Default version of #undistortPoints does 5 iterations to compute undistorted points. @note Default version of #undistortPoints does 5 iterations to compute undistorted points.
*/ */
CV_EXPORTS_AS(undistortPointsIter) void undistortPoints( InputArray src, OutputArray dst, CV_EXPORTS_AS(undistortPointsIter) void undistortPoints( InputArray src, OutputArray dst,
InputArray cameraMatrix, InputArray distCoeffs, InputArray cameraMatrix, InputArray distCoeffs,
InputArray R, InputArray P, TermCriteria criteria); InputArray R, InputArray P, TermCriteria criteria );
//! @} imgproc_transform //! @} imgproc_transform

12
modules/imgproc/src/undistort.cpp
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@ -561,10 +561,16 @@ void cv::undistortPoints( InputArray _src, OutputArray _dst,
Mat src = _src.getMat(), cameraMatrix = _cameraMatrix.getMat(); Mat src = _src.getMat(), cameraMatrix = _cameraMatrix.getMat();
Mat distCoeffs = _distCoeffs.getMat(), R = _Rmat.getMat(), P = _Pmat.getMat(); Mat distCoeffs = _distCoeffs.getMat(), R = _Rmat.getMat(), P = _Pmat.getMat();
CV_Assert( src.isContinuous() && (src.depth() == CV_32F || src.depth() == CV_64F) && int npoints = src.checkVector(2), depth = src.depth();
((src.rows == 1 && src.channels() == 2) || src.cols*src.channels() == 2)); if (npoints < 0)
src = src.t();
npoints = src.checkVector(2);
CV_Assert(npoints >= 0 && src.isContinuous() && (depth == CV_32F || depth == CV_64F));
_dst.create(src.size(), src.type(), -1, true); if (src.cols == 2)
src = src.reshape(2);
_dst.create(npoints, 1, CV_MAKETYPE(depth, 2), -1, true);
Mat dst = _dst.getMat(); Mat dst = _dst.getMat();
CvMat _csrc = cvMat(src), _cdst = cvMat(dst), _ccameraMatrix = cvMat(cameraMatrix); CvMat _csrc = cvMat(src), _cdst = cvMat(dst), _ccameraMatrix = cvMat(cameraMatrix);

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