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

Merge pull request #16024 from alalek:issue_15953

Browse Source
pull/16068/head^2
Alexander Alekhin 5 years ago
parent 72f35e0626 9a4404276a
commit c790779a37
2 changed files with 15 additions and 117 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. 28
      modules/calib3d/src/calibration.cpp
  2. 104
      modules/calib3d/test/test_cameracalibration.cpp

28
modules/calib3d/src/calibration.cpp
Unescape View File

@ -1212,8 +1212,8 @@ CV_IMPL void cvInitIntrinsicParams2D( const CvMat* objectPoints,
matA.reset(cvCreateMat( 2*nimages, 2, CV_64F ));
_b.reset(cvCreateMat( 2*nimages, 1, CV_64F ));
a[2] = (!imageSize.width) ? 0.5 : (imageSize.width)*0.5;
a[5] = (!imageSize.height) ? 0.5 : (imageSize.height)*0.5;
a[2] = (!imageSize.width) ? 0.5 : (imageSize.width - 1)*0.5;
a[5] = (!imageSize.height) ? 0.5 : (imageSize.height - 1)*0.5;
_allH.reset(cvCreateMat( nimages, 9, CV_64F ));
// extract vanishing points in order to obtain initial value for the focal length
@ -2363,8 +2363,8 @@ void cvStereoRectify( const CvMat* _cameraMatrix1, const CvMat* _cameraMatrix2,
for( i = 0; i < 4; i++ )
{
int j = (i<2) ? 0 : 1;
_pts[i].x = (float)((i % 2)*(nx));
_pts[i].y = (float)(j*(ny));
_pts[i].x = (float)((i % 2)*(nx-1));
_pts[i].y = (float)(j*(ny-1));
}
cvUndistortPoints( &pts, &pts, A, Dk, 0, 0 );
cvConvertPointsHomogeneous( &pts, &pts_3 );
@ -2378,8 +2378,8 @@ void cvStereoRectify( const CvMat* _cameraMatrix1, const CvMat* _cameraMatrix2,
_a_tmp[1][2]=0.0;
cvProjectPoints2( &pts_3, k == 0 ? _R1 : _R2, &Z, &A_tmp, 0, &pts );
CvScalar avg = cvAvg(&pts);
cc_new[k].x = (nx)/2 - avg.val[0];
cc_new[k].y = (ny)/2 - avg.val[1];
cc_new[k].x = (nx-1)/2 - avg.val[0];
cc_new[k].y = (ny-1)/2 - avg.val[1];
}
// vertical focal length must be the same for both images to keep the epipolar constraint
@ -2516,8 +2516,8 @@ void cvGetOptimalNewCameraMatrix( const CvMat* cameraMatrix, const CvMat* distCo
{
double cx0 = M[0][2];
double cy0 = M[1][2];
double cx = (newImgSize.width)*0.5;
double cy = (newImgSize.height)*0.5;
double cx = (newImgSize.width-1)*0.5;
double cy = (newImgSize.height-1)*0.5;
icvGetRectangles( cameraMatrix, distCoeffs, 0, cameraMatrix, imgSize, inner, outer );
double s0 = std::max(std::max(std::max((double)cx/(cx0 - inner.x), (double)cy/(cy0 - inner.y)),
@ -2551,14 +2551,14 @@ void cvGetOptimalNewCameraMatrix( const CvMat* cameraMatrix, const CvMat* distCo
icvGetRectangles( cameraMatrix, distCoeffs, 0, 0, imgSize, inner, outer );
// Projection mapping inner rectangle to viewport
double fx0 = (newImgSize.width) / inner.width;
double fy0 = (newImgSize.height) / inner.height;
double fx0 = (newImgSize.width - 1) / inner.width;
double fy0 = (newImgSize.height - 1) / inner.height;
double cx0 = -fx0 * inner.x;
double cy0 = -fy0 * inner.y;
// Projection mapping outer rectangle to viewport
double fx1 = (newImgSize.width) / outer.width;
double fy1 = (newImgSize.height) / outer.height;
double fx1 = (newImgSize.width - 1) / outer.width;
double fy1 = (newImgSize.height - 1) / outer.height;
double cx1 = -fx1 * outer.x;
double cy1 = -fy1 * outer.y;
@ -2622,8 +2622,8 @@ CV_IMPL int cvStereoRectifyUncalibrated(
cvGEMM( &U, &W, 1, 0, 0, &W, CV_GEMM_A_T );
cvMatMul( &W, &V, &F );
cx = cvRound( (imgSize.width)*0.5 );
cy = cvRound( (imgSize.height)*0.5 );
cx = cvRound( (imgSize.width-1)*0.5 );
cy = cvRound( (imgSize.height-1)*0.5 );
cvZero( _H1 );
cvZero( _H2 );

104
modules/calib3d/test/test_cameracalibration.cpp
Unescape View File

@ -1345,108 +1345,6 @@ void CV_ProjectPointsTest_CPP::project( const Mat& objectPoints, const Mat& rvec
///////////////////////////////// Stereo Calibration /////////////////////////////////////
class CV_StereoCalibrationCornerTest : public cvtest::BaseTest
{
public:
CV_StereoCalibrationCornerTest();
~CV_StereoCalibrationCornerTest();
void clear();
protected:
void run(int);
};
CV_StereoCalibrationCornerTest::CV_StereoCalibrationCornerTest()
{
}
CV_StereoCalibrationCornerTest::~CV_StereoCalibrationCornerTest()
{
clear();
}
void CV_StereoCalibrationCornerTest::clear()
{
cvtest::BaseTest::clear();
}
static bool resizeCameraMatrix(const Mat &in_cm, Mat &dst_cm, double scale)
{
if (in_cm.empty() || in_cm.cols != 3 || in_cm.rows != 3 || in_cm.type() != CV_64FC1)
return false;
dst_cm = in_cm * scale;
dst_cm.at<double>(2, 2) = 1.0;
return true;
}
// see https://github.com/opencv/opencv/pull/6836 for details
void CV_StereoCalibrationCornerTest::run(int)
{
const Matx33d M1(906.7857732303256, 0.0, 1026.456125870669,
0.0, 906.7857732303256, 540.0531577669913,
0.0, 0.0, 1.0);
const Matx33d M2(906.782205162265, 0.0, 1014.619997352785,
0.0, 906.782205162265, 561.9990018887295,
0.0, 0.0, 1.0);
const Matx<double, 5, 1> D1(0.0064836857220181504, 0.033880363848984636, 0.0, 0.0, -0.042996356352306114);
const Matx<double, 5, 1> D2(0.023754068600491646, -0.02364619610835259, 0.0, 0.0, 0.0015014971456262652);
const Size imageSize(2048, 1088);
const double scale = 0.25;
const Matx33d Rot(0.999788461750194, -0.015696495349844446, -0.013291041528534329,
0.015233019205877604, 0.999296086451901, -0.034282455101525826,
0.01381980018141639, 0.03407274036010432, 0.9993238021218641);
const Matx31d T(-1.552005597952028, 0.0019508251875105093, -0.023335501616116062);
// generate camera matrices for resized image rectification.
Mat srcM1(M1), srcM2(M2);
Mat rszM1, rszM2;
resizeCameraMatrix(srcM1, rszM1, scale);
resizeCameraMatrix(srcM2, rszM2, scale);
Size rszImageSize(cvRound(scale * imageSize.width), cvRound(scale * imageSize.height));
Size srcImageSize = imageSize;
// apply stereoRectify
Mat srcR[2], srcP[2], srcQ;
Mat rszR[2], rszP[2], rszQ;
stereoRectify(srcM1, D1, srcM2, D2, srcImageSize, Rot, T,
srcR[0], srcR[1], srcP[0], srcP[1], srcQ,
CALIB_ZERO_DISPARITY, 0);
stereoRectify(rszM1, D1, rszM2, D2, rszImageSize, Rot, T,
rszR[0], rszR[1], rszP[0], rszP[1], rszQ,
CALIB_ZERO_DISPARITY, 0);
// generate remap maps
Mat srcRmap[2], rszRmap[2];
initUndistortRectifyMap(srcM1, D1, srcR[0], srcP[0], srcImageSize, CV_32FC2, srcRmap[0], srcRmap[1]);
initUndistortRectifyMap(rszM1, D1, rszR[0], rszP[0], rszImageSize, CV_32FC2, rszRmap[0], rszRmap[1]);
// generate source image
// it's an artificial pattern with white rect in the center
Mat image(imageSize, CV_8UC3);
image.setTo(0);
image(cv::Rect(imageSize.width / 3, imageSize.height / 3, imageSize.width / 3, imageSize.height / 3)).setTo(255);
// perform remap-resize
Mat src_result;
remap(image, src_result, srcRmap[0], srcRmap[1], INTER_LINEAR);
resize(src_result, src_result, Size(), scale, scale, INTER_LINEAR_EXACT);
// perform resize-remap
Mat rsz_result;
resize(image, rsz_result, Size(), scale, scale, INTER_LINEAR_EXACT);
remap(rsz_result, rsz_result, rszRmap[0], rszRmap[1], INTER_LINEAR);
// modifying the camera matrix with resizeCameraMatrix must yield the same
// result as calibrating the downscaled images
int cnz = countNonZero((cv::Mat(src_result - rsz_result) != 0)(
cv::Rect(src_result.cols / 3, src_result.rows / 3,
(int)(src_result.cols / 3.1), int(src_result.rows / 3.1))));
if (cnz)
{
ts->printf( cvtest::TS::LOG, "The camera matrix is wrong for downscaled image\n");
ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
}
}
class CV_StereoCalibrationTest : public cvtest::BaseTest
{
public:
@ -2250,7 +2148,7 @@ TEST(Calib3d_ProjectPoints_CPP, outputShape)
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_StereoCalibrateCorner, regression) { CV_StereoCalibrationCornerTest test; test.safe_run(); }
TEST(Calib3d_StereoCalibrate_CPP, extended)
{

Write Preview
Loading…
Cancel
Save