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

calib3d: fix fisheye stereoRectify test

Browse Source 
- don't write into testdata directory
- check matrices instead of result images
pull/10199/head
Alexander Alekhin 7 years ago
parent 9bf6ec6fe1
commit ac58405a71
1 changed files with 75 additions and 32 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. 107
      modules/calib3d/test/test_fisheye.cpp

107
modules/calib3d/test/test_fisheye.cpp
Unescape View File

@ -61,7 +61,7 @@ protected:
protected:
std::string combine(const std::string& _item1, const std::string& _item2);
cv::Mat mergeRectification(const cv::Mat& l, const cv::Mat& r);
static void merge4(const cv::Mat& tl, const cv::Mat& tr, const cv::Mat& bl, const cv::Mat& br, cv::Mat& merged);
};
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
@ -386,12 +386,7 @@ TEST_F(fisheyeTest, EstimateUncertainties)
CV_Assert(errors.alpha == 0);
}
#ifdef HAVE_TEGRA_OPTIMIZATION
// not passing accuracy constrains
TEST_F(fisheyeTest, DISABLED_rectify)
#else
TEST_F(fisheyeTest, rectify)
#endif
TEST_F(fisheyeTest, stereoRectify)
{
const std::string folder =combine(datasets_repository_path, "calib-3_stereo_from_JY");
@ -407,20 +402,65 @@ TEST_F(fisheyeTest, rectify)
cv::fisheye::stereoRectify(K1, D1, K2, D2, calibration_size, theR, theT, R1, R2, P1, P2, Q,
cv::CALIB_ZERO_DISPARITY, requested_size, balance, fov_scale);
// Collected with these CMake flags: -DWITH_IPP=OFF -DCV_ENABLE_INTRINSICS=OFF -DCV_DISABLE_OPTIMIZATION=ON -DCMAKE_BUILD_TYPE=Debug
cv::Matx33d R1_ref(
0.9992853269091279, 0.03779164101000276, -0.0007920188690205426,
-0.03778569762983931, 0.9992646472015868, 0.006511981857667881,
0.001037534936357442, -0.006477400933964018, 0.9999784831677112
);
cv::Matx33d R2_ref(
0.9994868963898833, -0.03197579751378937, -0.001868774538573449,
0.03196298186616116, 0.9994677442608699, -0.0065265589947392,
0.002076471801477729, 0.006463478587068991, 0.9999769555891836
);
cv::Matx34d P1_ref(
420.8551870450913, 0, 586.501617798451, 0,
0, 420.8551870450913, 374.7667511986098, 0,
0, 0, 1, 0
);
cv::Matx34d P2_ref(
420.8551870450913, 0, 586.501617798451, -41.77758076597302,
0, 420.8551870450913, 374.7667511986098, 0,
0, 0, 1, 0
);
cv::Matx44d Q_ref(
1, 0, 0, -586.501617798451,
0, 1, 0, -374.7667511986098,
0, 0, 0, 420.8551870450913,
0, 0, 10.07370889670733, -0
);
const double eps = 1e-10;
EXPECT_MAT_NEAR(R1_ref, R1, eps);
EXPECT_MAT_NEAR(R2_ref, R2, eps);
EXPECT_MAT_NEAR(P1_ref, P1, eps);
EXPECT_MAT_NEAR(P2_ref, P2, eps);
EXPECT_MAT_NEAR(Q_ref, Q, eps);
if (::testing::Test::HasFailure())
{
std::cout << "Actual values are:" << std::endl
<< "R1 =" << std::endl << R1 << std::endl
<< "R2 =" << std::endl << R2 << std::endl
<< "P1 =" << std::endl << P1 << std::endl
<< "P2 =" << std::endl << P2 << std::endl
<< "Q =" << std::endl << Q << std::endl;
}
#if 1 // Debug code
cv::Mat lmapx, lmapy, rmapx, rmapy;
//rewrite for fisheye
cv::fisheye::initUndistortRectifyMap(K1, D1, R1, P1, requested_size, CV_32F, lmapx, lmapy);
cv::fisheye::initUndistortRectifyMap(K2, D2, R2, P2, requested_size, CV_32F, rmapx, rmapy);
cv::Mat l, r, lundist, rundist;
cv::VideoCapture lcap(combine(folder, "left/stereo_pair_%03d.jpg")),
rcap(combine(folder, "right/stereo_pair_%03d.jpg"));
for(int i = 0;; ++i)
for (int i = 0; i < 34; ++i)
{
lcap >> l; rcap >> r;
if (l.empty() || r.empty())
break;
SCOPED_TRACE(cv::format("image %d", i));
l = imread(combine(folder, cv::format("left/stereo_pair_%03d.jpg", i)), cv::IMREAD_COLOR);
r = imread(combine(folder, cv::format("right/stereo_pair_%03d.jpg", i)), cv::IMREAD_COLOR);
ASSERT_FALSE(l.empty());
ASSERT_FALSE(r.empty());
int ndisp = 128;
cv::rectangle(l, cv::Rect(255, 0, 829, l.rows-1), cv::Scalar(0, 0, 255));
@ -429,15 +469,18 @@ TEST_F(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);
for (int ii = 0; ii < lundist.rows; ii += 20)
{
cv::line(lundist, cv::Point(0, ii), cv::Point(lundist.cols, ii), cv::Scalar(0, 255, 0));
cv::line(rundist, cv::Point(0, ii), cv::Point(lundist.cols, ii), cv::Scalar(0, 255, 0));
}
cv::Mat correct = cv::imread(combine(datasets_repository_path, cv::format("rectification_AB_%03d.png", i)));
cv::Mat rectification;
merge4(l, r, lundist, rundist, rectification);
if (correct.empty())
cv::imwrite(combine(datasets_repository_path, cv::format("rectification_AB_%03d.png", i)), rectification);
else
EXPECT_MAT_NEAR(correct, rectification, 1e-10);
cv::imwrite(cv::format("fisheye_rectification_AB_%03d.png", i), rectification);
}
#endif
}
TEST_F(fisheyeTest, stereoCalibrate)
@ -644,17 +687,17 @@ std::string fisheyeTest::combine(const std::string& _item1, const std::string& _
return item1 + (last != '/' ? "/" : "") + item2;
}
cv::Mat fisheyeTest::mergeRectification(const cv::Mat& l, const cv::Mat& r)
void fisheyeTest::merge4(const cv::Mat& tl, const cv::Mat& tr, const cv::Mat& bl, const cv::Mat& br, cv::Mat& merged)
{
CV_Assert(l.type() == r.type() && l.size() == r.size());
cv::Mat merged(l.rows, l.cols * 2, l.type());
cv::Mat lpart = merged.colRange(0, l.cols);
cv::Mat rpart = merged.colRange(l.cols, merged.cols);
l.copyTo(lpart);
r.copyTo(rpart);
for(int i = 0; i < l.rows; i+=20)
cv::line(merged, cv::Point(0, i), cv::Point(merged.cols, i), cv::Scalar(0, 255, 0));
return merged;
int type = tl.type();
cv::Size sz = tl.size();
ASSERT_EQ(type, tr.type()); ASSERT_EQ(type, bl.type()); ASSERT_EQ(type, br.type());
ASSERT_EQ(sz.width, tr.cols); ASSERT_EQ(sz.width, bl.cols); ASSERT_EQ(sz.width, br.cols);
ASSERT_EQ(sz.height, tr.rows); ASSERT_EQ(sz.height, bl.rows); ASSERT_EQ(sz.height, br.rows);
merged.create(cv::Size(sz.width * 2, sz.height * 2), type);
tl.copyTo(merged(cv::Rect(0, 0, sz.width, sz.height)));
tr.copyTo(merged(cv::Rect(sz.width, 0, sz.width, sz.height)));
bl.copyTo(merged(cv::Rect(0, sz.height, sz.width, sz.height)));
br.copyTo(merged(cv::Rect(sz.width, sz.height, sz.width, sz.height)));
}

Write Preview
Loading…
Cancel
Save