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259 lines
9.3 KiB
259 lines
9.3 KiB
/*M/////////////////////////////////////////////////////////////////////////////////////// |
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// |
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. |
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// |
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// By downloading, copying, installing or using the software you agree to this license. |
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// If you do not agree to this license, do not download, install, |
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// copy or use the software. |
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// |
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// |
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// Intel License Agreement |
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// For Open Source Computer Vision Library |
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// |
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// Copyright (C) 2000, Intel Corporation, all rights reserved. |
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// Third party copyrights are property of their respective owners. |
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// |
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// Redistribution and use in source and binary forms, with or without modification, |
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// are permitted provided that the following conditions are met: |
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// |
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// * Redistribution's of source code must retain the above copyright notice, |
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// this list of conditions and the following disclaimer. |
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// |
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// * Redistribution's in binary form must reproduce the above copyright notice, |
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// this list of conditions and the following disclaimer in the documentation |
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// and/or other materials provided with the distribution. |
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// |
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// * The name of Intel Corporation may not be used to endorse or promote products |
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// derived from this software without specific prior written permission. |
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// |
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// This software is provided by the copyright holders and contributors "as is" and |
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// any express or implied warranties, including, but not limited to, the implied |
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// warranties of merchantability and fitness for a particular purpose are disclaimed. |
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// In no event shall the Intel Corporation or contributors be liable for any direct, |
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// indirect, incidental, special, exemplary, or consequential damages |
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// (including, but not limited to, procurement of substitute goods or services; |
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// loss of use, data, or profits; or business interruption) however caused |
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// and on any theory of liability, whether in contract, strict liability, |
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// or tort (including negligence or otherwise) arising in any way out of |
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// the use of this software, even if advised of the possibility of such damage. |
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// |
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//M*/ |
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#include "test_precomp.hpp" |
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#include "opencv2/imgproc/imgproc_c.h" |
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#include <limits> |
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#include "test_chessboardgenerator.hpp" |
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using namespace std; |
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using namespace cv; |
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class CV_ChessboardSubpixelTest : public cvtest::BaseTest |
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{ |
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public: |
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CV_ChessboardSubpixelTest(); |
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protected: |
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Mat intrinsic_matrix_; |
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Mat distortion_coeffs_; |
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Size image_size_; |
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void run(int); |
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void generateIntrinsicParams(); |
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}; |
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int calcDistance(const vector<Point2f>& set1, const vector<Point2f>& set2, double& mean_dist) |
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{ |
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if(set1.size() != set2.size()) |
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{ |
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return 0; |
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} |
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std::vector<int> indices; |
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double sum_dist = 0.0; |
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for(size_t i = 0; i < set1.size(); i++) |
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{ |
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double min_dist = std::numeric_limits<double>::max(); |
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int min_idx = -1; |
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for(int j = 0; j < (int)set2.size(); j++) |
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{ |
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double dist = norm(set1[i] - set2[j]); |
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if(dist < min_dist) |
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{ |
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min_idx = j; |
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min_dist = dist; |
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} |
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} |
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// check validity of min_idx |
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if(min_idx == -1) |
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{ |
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return 0; |
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} |
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std::vector<int>::iterator it = std::find(indices.begin(), indices.end(), min_idx); |
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if(it != indices.end()) |
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{ |
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// there are two points in set1 corresponding to the same point in set2 |
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return 0; |
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} |
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indices.push_back(min_idx); |
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// printf("dist %d = %f\n", (int)i, min_dist); |
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sum_dist += min_dist*min_dist; |
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} |
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mean_dist = sqrt(sum_dist/set1.size()); |
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// printf("sum_dist = %f, set1.size() = %d, mean_dist = %f\n", sum_dist, (int)set1.size(), mean_dist); |
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return 1; |
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} |
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CV_ChessboardSubpixelTest::CV_ChessboardSubpixelTest() : |
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intrinsic_matrix_(Size(3, 3), CV_64FC1), distortion_coeffs_(Size(1, 4), CV_64FC1), |
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image_size_(640, 480) |
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{ |
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} |
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/* ///////////////////// chess_corner_test ///////////////////////// */ |
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void CV_ChessboardSubpixelTest::run( int ) |
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{ |
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int code = cvtest::TS::OK; |
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int progress = 0; |
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RNG& rng = ts->get_rng(); |
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const int runs_count = 20; |
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const int max_pattern_size = 8; |
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const int min_pattern_size = 5; |
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Mat bg(image_size_, CV_8UC1); |
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bg = Scalar(0); |
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double sum_dist = 0.0; |
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int count = 0; |
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for(int i = 0; i < runs_count; i++) |
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{ |
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const int pattern_width = min_pattern_size + cvtest::randInt(rng) % (max_pattern_size - min_pattern_size); |
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const int pattern_height = min_pattern_size + cvtest::randInt(rng) % (max_pattern_size - min_pattern_size); |
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Size pattern_size; |
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if(pattern_width > pattern_height) |
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{ |
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pattern_size = Size(pattern_height, pattern_width); |
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} |
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else |
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{ |
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pattern_size = Size(pattern_width, pattern_height); |
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} |
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ChessBoardGenerator gen_chessboard(Size(pattern_size.width + 1, pattern_size.height + 1)); |
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// generates intrinsic camera and distortion matrices |
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generateIntrinsicParams(); |
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vector<Point2f> corners; |
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Mat chessboard_image = gen_chessboard(bg, intrinsic_matrix_, distortion_coeffs_, corners); |
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vector<Point2f> test_corners; |
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bool result = findChessboardCorners(chessboard_image, pattern_size, test_corners, 15); |
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if(!result) |
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{ |
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#if 0 |
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ts->printf(cvtest::TS::LOG, "Warning: chessboard was not detected! Writing image to test.png\n"); |
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ts->printf(cvtest::TS::LOG, "Size = %d, %d\n", pattern_size.width, pattern_size.height); |
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ts->printf(cvtest::TS::LOG, "Intrinsic params: fx = %f, fy = %f, cx = %f, cy = %f\n", |
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intrinsic_matrix_.at<double>(0, 0), intrinsic_matrix_.at<double>(1, 1), |
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intrinsic_matrix_.at<double>(0, 2), intrinsic_matrix_.at<double>(1, 2)); |
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ts->printf(cvtest::TS::LOG, "Distortion matrix: %f, %f, %f, %f, %f\n", |
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distortion_coeffs_.at<double>(0, 0), distortion_coeffs_.at<double>(0, 1), |
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distortion_coeffs_.at<double>(0, 2), distortion_coeffs_.at<double>(0, 3), |
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distortion_coeffs_.at<double>(0, 4)); |
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imwrite("test.png", chessboard_image); |
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#endif |
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continue; |
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} |
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double dist1 = 0.0; |
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int ret = calcDistance(corners, test_corners, dist1); |
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if(ret == 0) |
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{ |
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ts->printf(cvtest::TS::LOG, "findChessboardCorners returns invalid corner coordinates!\n"); |
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code = cvtest::TS::FAIL_INVALID_OUTPUT; |
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break; |
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} |
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IplImage chessboard_image_header = chessboard_image; |
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cvFindCornerSubPix(&chessboard_image_header, (CvPoint2D32f*)&test_corners[0], |
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(int)test_corners.size(), cvSize(3, 3), cvSize(1, 1), cvTermCriteria(CV_TERMCRIT_EPS|CV_TERMCRIT_ITER,300,0.1)); |
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find4QuadCornerSubpix(chessboard_image, test_corners, Size(5, 5)); |
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double dist2 = 0.0; |
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ret = calcDistance(corners, test_corners, dist2); |
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if(ret == 0) |
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{ |
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ts->printf(cvtest::TS::LOG, "findCornerSubpix returns invalid corner coordinates!\n"); |
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code = cvtest::TS::FAIL_INVALID_OUTPUT; |
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break; |
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} |
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ts->printf(cvtest::TS::LOG, "Error after findChessboardCorners: %f, after findCornerSubPix: %f\n", |
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dist1, dist2); |
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sum_dist += dist2; |
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count++; |
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const double max_reduce_factor = 0.8; |
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if(dist1 < dist2*max_reduce_factor) |
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{ |
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ts->printf(cvtest::TS::LOG, "findCornerSubPix increases average error!\n"); |
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code = cvtest::TS::FAIL_INVALID_OUTPUT; |
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break; |
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} |
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progress = update_progress( progress, i-1, runs_count, 0 ); |
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} |
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ASSERT_NE(0, count); |
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sum_dist /= count; |
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ts->printf(cvtest::TS::LOG, "Average error after findCornerSubpix: %f\n", sum_dist); |
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if( code < 0 ) |
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ts->set_failed_test_info( code ); |
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} |
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void CV_ChessboardSubpixelTest::generateIntrinsicParams() |
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{ |
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RNG& rng = ts->get_rng(); |
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const double max_focus_length = 1000.0; |
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const double max_focus_diff = 5.0; |
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double fx = cvtest::randReal(rng)*max_focus_length; |
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double fy = fx + cvtest::randReal(rng)*max_focus_diff; |
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double cx = image_size_.width/2; |
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double cy = image_size_.height/2; |
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double k1 = 0.5*cvtest::randReal(rng); |
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double k2 = 0.05*cvtest::randReal(rng); |
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double p1 = 0.05*cvtest::randReal(rng); |
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double p2 = 0.05*cvtest::randReal(rng); |
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double k3 = 0.0; |
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intrinsic_matrix_ = (Mat_<double>(3, 3) << fx, 0.0, cx, 0.0, fy, cy, 0.0, 0.0, 1.0); |
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distortion_coeffs_ = (Mat_<double>(1, 5) << k1, k2, p1, p2, k3); |
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} |
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TEST(Calib3d_ChessboardSubPixDetector, accuracy) { CV_ChessboardSubpixelTest test; test.safe_run(); } |
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TEST(Calib3d_CornerSubPix, regression_7204) |
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{ |
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cv::Mat image(cv::Size(70, 38), CV_8UC1, cv::Scalar::all(0)); |
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image(cv::Rect(65, 26, 5, 5)).setTo(cv::Scalar::all(255)); |
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image(cv::Rect(55, 31, 8, 1)).setTo(cv::Scalar::all(255)); |
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image(cv::Rect(56, 35, 14, 2)).setTo(cv::Scalar::all(255)); |
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image(cv::Rect(66, 24, 4, 2)).setTo(cv::Scalar::all(255)); |
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image.at<uchar>(24, 69) = 0; |
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std::vector<cv::Point2f> corners; |
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corners.push_back(cv::Point2f(65, 30)); |
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cv::cornerSubPix(image, corners, cv::Size(3, 3), cv::Size(-1, -1), |
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cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1)); |
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} |
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/* End of file. */
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