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opencv/modules/calib3d/test/test_fisheye.cpp

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
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//M*/
#include "test_precomp.hpp"
#include <opencv2/ts/cuda_test.hpp>
#include "../src/fisheye.hpp"
class fisheyeTest : public ::testing::Test {
protected:
const static cv::Size imageSize;
const static cv::Matx33d K;
const static cv::Vec4d D;
const static cv::Matx33d R;
const static cv::Vec3d T;
std::string datasets_repository_path;
virtual void SetUp() {
datasets_repository_path = combine(cvtest::TS::ptr()->get_data_path(), "cv/cameracalibration/fisheye");
}
protected:
std::string combine(const std::string& _item1, const std::string& _item2);
cv::Mat mergeRectification(const cv::Mat& l, const cv::Mat& r);
};
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/// TESTS::
TEST_F(fisheyeTest, projectPoints)
{
double cols = this->imageSize.width,
rows = this->imageSize.height;
const int N = 20;
cv::Mat distorted0(1, N*N, CV_64FC2), undist1, undist2, distorted1, distorted2;
undist2.create(distorted0.size(), CV_MAKETYPE(distorted0.depth(), 3));
cv::Vec2d* pts = distorted0.ptr<cv::Vec2d>();
cv::Vec2d c(this->K(0, 2), this->K(1, 2));
for(int y = 0, k = 0; y < N; ++y)
for(int x = 0; x < N; ++x)
{
cv::Vec2d point(x*cols/(N-1.f), y*rows/(N-1.f));
pts[k++] = (point - c) * 0.85 + c;
}
cv::fisheye::undistortPoints(distorted0, undist1, this->K, this->D);
cv::Vec2d* u1 = undist1.ptr<cv::Vec2d>();
cv::Vec3d* u2 = undist2.ptr<cv::Vec3d>();
for(int i = 0; i < (int)distorted0.total(); ++i)
u2[i] = cv::Vec3d(u1[i][0], u1[i][1], 1.0);
cv::fisheye::distortPoints(undist1, distorted1, this->K, this->D);
cv::fisheye::projectPoints(undist2, distorted2, cv::Vec3d::all(0), cv::Vec3d::all(0), this->K, this->D);
EXPECT_MAT_NEAR(distorted0, distorted1, 1e-10);
EXPECT_MAT_NEAR(distorted0, distorted2, 1e-10);
}
TEST_F(fisheyeTest, DISABLED_undistortImage)
{
cv::Matx33d K = this->K;
cv::Mat D = cv::Mat(this->D);
std::string file = combine(datasets_repository_path, "/calib-3_stereo_from_JY/left/stereo_pair_014.jpg");
cv::Matx33d newK = K;
cv::Mat distorted = cv::imread(file), undistorted;
{
newK(0, 0) = 100;
newK(1, 1) = 100;
cv::fisheye::undistortImage(distorted, undistorted, K, D, newK);
cv::Mat correct = cv::imread(combine(datasets_repository_path, "new_f_100.png"));
if (correct.empty())
CV_Assert(cv::imwrite(combine(datasets_repository_path, "new_f_100.png"), undistorted));
else
EXPECT_MAT_NEAR(correct, undistorted, 1e-10);
}
{
double balance = 1.0;
cv::fisheye::estimateNewCameraMatrixForUndistortRectify(K, D, distorted.size(), cv::noArray(), newK, balance);
cv::fisheye::undistortImage(distorted, undistorted, K, D, newK);
cv::Mat correct = cv::imread(combine(datasets_repository_path, "balance_1.0.png"));
if (correct.empty())
CV_Assert(cv::imwrite(combine(datasets_repository_path, "balance_1.0.png"), undistorted));
else
EXPECT_MAT_NEAR(correct, undistorted, 1e-10);
}
{
double balance = 0.0;
cv::fisheye::estimateNewCameraMatrixForUndistortRectify(K, D, distorted.size(), cv::noArray(), newK, balance);
cv::fisheye::undistortImage(distorted, undistorted, K, D, newK);
cv::Mat correct = cv::imread(combine(datasets_repository_path, "balance_0.0.png"));
if (correct.empty())
CV_Assert(cv::imwrite(combine(datasets_repository_path, "balance_0.0.png"), undistorted));
else
EXPECT_MAT_NEAR(correct, undistorted, 1e-10);
}
}
TEST_F(fisheyeTest, jacobians)
{
int n = 10;
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);
double alpha;
cv::RNG r;
r.fill(X, cv::RNG::NORMAL, 2, 1);
X = cv::abs(X) * 10;
r.fill(om, cv::RNG::NORMAL, 0, 1);
om = cv::abs(om);
r.fill(T, cv::RNG::NORMAL, 0, 1);
T = cv::abs(T); T.at<double>(2) = 4; T *= 10;
r.fill(f, cv::RNG::NORMAL, 0, 1);
f = cv::abs(f) * 1000;
r.fill(c, cv::RNG::NORMAL, 0, 1);
c = cv::abs(c) * 1000;
r.fill(k, cv::RNG::NORMAL, 0, 1);
k*= 0.5;
alpha = 0.01*r.gaussian(1);
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-10);
//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-10);
//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-10);
//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-10);
//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-10);
//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-10);
}
TEST_F(fisheyeTest, Calibration)
{
const int n_images = 34;
std::vector<std::vector<cv::Point2d> > imagePoints(n_images);
std::vector<std::vector<cv::Point3d> > objectPoints(n_images);
const std::string folder =combine(datasets_repository_path, "calib-3_stereo_from_JY");
cv::FileStorage fs_left(combine(folder, "left.xml"), cv::FileStorage::READ);
CV_Assert(fs_left.isOpened());
for(int i = 0; i < n_images; ++i)
fs_left[cv::format("image_%d", i )] >> imagePoints[i];
fs_left.release();
cv::FileStorage fs_object(combine(folder, "object.xml"), cv::FileStorage::READ);
CV_Assert(fs_object.isOpened());
for(int i = 0; i < n_images; ++i)
fs_object[cv::format("image_%d", i )] >> objectPoints[i];
fs_object.release();
int flag = 0;
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::fisheye::CALIB_CHECK_COND;
flag |= cv::fisheye::CALIB_FIX_SKEW;
cv::Matx33d K;
cv::Vec4d D;
cv::fisheye::calibrate(objectPoints, imagePoints, imageSize, K, D,
cv::noArray(), cv::noArray(), flag, cv::TermCriteria(3, 20, 1e-6));
EXPECT_MAT_NEAR(K, this->K, 1e-10);
EXPECT_MAT_NEAR(D, this->D, 1e-10);
}
TEST_F(fisheyeTest, Homography)
{
const int n_images = 1;
std::vector<std::vector<cv::Point2d> > imagePoints(n_images);
std::vector<std::vector<cv::Point3d> > objectPoints(n_images);
const std::string folder =combine(datasets_repository_path, "calib-3_stereo_from_JY");
cv::FileStorage fs_left(combine(folder, "left.xml"), cv::FileStorage::READ);
CV_Assert(fs_left.isOpened());
for(int i = 0; i < n_images; ++i)
fs_left[cv::format("image_%d", i )] >> imagePoints[i];
fs_left.release();
cv::FileStorage fs_object(combine(folder, "object.xml"), cv::FileStorage::READ);
CV_Assert(fs_object.isOpened());
for(int i = 0; i < n_images; ++i)
fs_object[cv::format("image_%d", i )] >> objectPoints[i];
fs_object.release();
cv::internal::IntrinsicParams param;
param.Init(cv::Vec2d(cv::max(imageSize.width, imageSize.height) / CV_PI, cv::max(imageSize.width, imageSize.height) / CV_PI),
cv::Vec2d(imageSize.width / 2.0 - 0.5, imageSize.height / 2.0 - 0.5));
cv::Mat _imagePoints (imagePoints[0]);
cv::Mat _objectPoints(objectPoints[0]);
cv::Mat imagePointsNormalized = NormalizePixels(_imagePoints, param).reshape(1).t();
_objectPoints = _objectPoints.reshape(1).t();
cv::Mat objectPointsMean, covObjectPoints;
int Np = imagePointsNormalized.cols;
cv::calcCovarMatrix(_objectPoints, covObjectPoints, objectPointsMean, cv::COVAR_NORMAL | cv::COVAR_COLS);
cv::SVD svd(covObjectPoints);
cv::Mat R(svd.vt);
if (cv::norm(R(cv::Rect(2, 0, 1, 2))) < 1e-6)
R = cv::Mat::eye(3,3, CV_64FC1);
if (cv::determinant(R) < 0)
R = -R;
cv::Mat T = -R * objectPointsMean;
cv::Mat X_new = R * _objectPoints + T * cv::Mat::ones(1, Np, CV_64FC1);
cv::Mat H = cv::internal::ComputeHomography(imagePointsNormalized, X_new.rowRange(0, 2));
cv::Mat M = cv::Mat::ones(3, X_new.cols, CV_64FC1);
X_new.rowRange(0, 2).copyTo(M.rowRange(0, 2));
cv::Mat mrep = H * M;
cv::divide(mrep, cv::Mat::ones(3,1, CV_64FC1) * mrep.row(2).clone(), mrep);
cv::Mat merr = (mrep.rowRange(0, 2) - imagePointsNormalized).t();
cv::Vec2d std_err;
cv::meanStdDev(merr.reshape(2), cv::noArray(), std_err);
std_err *= sqrt((double)merr.reshape(2).total() / (merr.reshape(2).total() - 1));
cv::Vec2d correct_std_err(0.00516740156010384, 0.00644205331553901);
EXPECT_MAT_NEAR(std_err, correct_std_err, 1e-12);
}
TEST_F(fisheyeTest, EtimateUncertainties)
{
const int n_images = 34;
std::vector<std::vector<cv::Point2d> > imagePoints(n_images);
std::vector<std::vector<cv::Point3d> > objectPoints(n_images);
const std::string folder =combine(datasets_repository_path, "calib-3_stereo_from_JY");
cv::FileStorage fs_left(combine(folder, "left.xml"), cv::FileStorage::READ);
CV_Assert(fs_left.isOpened());
for(int i = 0; i < n_images; ++i)
fs_left[cv::format("image_%d", i )] >> imagePoints[i];
fs_left.release();
cv::FileStorage fs_object(combine(folder, "object.xml"), cv::FileStorage::READ);
CV_Assert(fs_object.isOpened());
for(int i = 0; i < n_images; ++i)
fs_object[cv::format("image_%d", i )] >> objectPoints[i];
fs_object.release();
int flag = 0;
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::fisheye::CALIB_CHECK_COND;
flag |= cv::fisheye::CALIB_FIX_SKEW;
cv::Matx33d K;
cv::Vec4d D;
std::vector<cv::Vec3d> rvec;
std::vector<cv::Vec3d> tvec;
cv::fisheye::calibrate(objectPoints, imagePoints, imageSize, K, D,
rvec, tvec, flag, cv::TermCriteria(3, 20, 1e-6));
cv::internal::IntrinsicParams param, errors;
cv::Vec2d err_std;
double thresh_cond = 1e6;
int check_cond = 1;
param.Init(cv::Vec2d(K(0,0), K(1,1)), cv::Vec2d(K(0,2), K(1, 2)), D);
param.isEstimate = std::vector<int>(9, 1);
param.isEstimate[4] = 0;
errors.isEstimate = param.isEstimate;
double rms;
cv::internal::EstimateUncertainties(objectPoints, imagePoints, param, rvec, tvec,
errors, err_std, thresh_cond, check_cond, rms);
EXPECT_MAT_NEAR(errors.f, cv::Vec2d(1.29837104202046, 1.31565641071524), 1e-10);
EXPECT_MAT_NEAR(errors.c, cv::Vec2d(0.890439368129246, 0.816096854937896), 1e-10);
EXPECT_MAT_NEAR(errors.k, cv::Vec4d(0.00516248605191506, 0.0168181467500934, 0.0213118690274604, 0.00916010877545648), 1e-10);
EXPECT_MAT_NEAR(err_std, cv::Vec2d(0.187475975266883, 0.185678953263995), 1e-10);
CV_Assert(abs(rms - 0.263782587133546) < 1e-10);
CV_Assert(errors.alpha == 0);
}
TEST_F(fisheyeTest, rectify)
{
const std::string folder =combine(datasets_repository_path, "calib-3_stereo_from_JY");
cv::Size calibration_size = this->imageSize, requested_size = calibration_size;
cv::Matx33d K1 = this->K, K2 = K1;
cv::Mat D1 = cv::Mat(this->D), D2 = D1;
cv::Vec3d T = this->T;
cv::Matx33d R = this->R;
double balance = 0.0, fov_scale = 1.1;
cv::Mat R1, R2, P1, P2, Q;
cv::fisheye::stereoRectify(K1, D1, K2, D2, calibration_size, R, T, R1, R2, P1, P2, Q,
cv::CALIB_ZERO_DISPARITY, requested_size, balance, fov_scale);
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)
{
lcap >> l; rcap >> r;
if (l.empty() || r.empty())
break;
int ndisp = 128;
cv::rectangle(l, cv::Rect(255, 0, 829, l.rows-1), cv::Scalar(0, 0, 255));
cv::rectangle(r, cv::Rect(255, 0, 829, l.rows-1), cv::Scalar(0, 0, 255));
cv::rectangle(r, cv::Rect(255-ndisp, 0, 829+ndisp ,l.rows-1), cv::Scalar(0, 0, 255));
cv::remap(l, lundist, lmapx, lmapy, cv::INTER_LINEAR);
cv::remap(r, rundist, rmapx, rmapy, cv::INTER_LINEAR);
cv::Mat rectification = mergeRectification(lundist, rundist);
cv::Mat correct = cv::imread(combine(datasets_repository_path, cv::format("rectification_AB_%03d.png", i)));
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);
}
}
TEST_F(fisheyeTest, stereoCalibrate)
{
const int n_images = 34;
const std::string folder =combine(datasets_repository_path, "calib-3_stereo_from_JY");
std::vector<std::vector<cv::Point2d> > leftPoints(n_images);
std::vector<std::vector<cv::Point2d> > rightPoints(n_images);
std::vector<std::vector<cv::Point3d> > objectPoints(n_images);
cv::FileStorage fs_left(combine(folder, "left.xml"), cv::FileStorage::READ);
CV_Assert(fs_left.isOpened());
for(int i = 0; i < n_images; ++i)
fs_left[cv::format("image_%d", i )] >> leftPoints[i];
fs_left.release();
cv::FileStorage fs_right(combine(folder, "right.xml"), cv::FileStorage::READ);
CV_Assert(fs_right.isOpened());
for(int i = 0; i < n_images; ++i)
fs_right[cv::format("image_%d", i )] >> rightPoints[i];
fs_right.release();
cv::FileStorage fs_object(combine(folder, "object.xml"), cv::FileStorage::READ);
CV_Assert(fs_object.isOpened());
for(int i = 0; i < n_images; ++i)
fs_object[cv::format("image_%d", i )] >> objectPoints[i];
fs_object.release();
cv::Matx33d K1, K2, R;
cv::Vec3d T;
cv::Vec4d D1, D2;
int flag = 0;
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::fisheye::CALIB_CHECK_COND;
flag |= cv::fisheye::CALIB_FIX_SKEW;
// flag |= cv::fisheye::CALIB_FIX_INTRINSIC;
cv::fisheye::stereoCalibrate(objectPoints, leftPoints, rightPoints,
K1, D1, K2, D2, imageSize, R, T, flag,
cv::TermCriteria(3, 12, 0));
cv::Matx33d R_correct( 0.9975587205950972, 0.06953016383322372, 0.006492709911733523,
-0.06956823121068059, 0.9975601387249519, 0.005833595226966235,
-0.006071257768382089, -0.006271040135405457, 0.9999619062167968);
cv::Vec3d T_correct(-0.099402724724121, 0.00270812139265413, 0.00129330292472699);
cv::Matx33d K1_correct (561.195925927249, 0, 621.282400272412,
0, 562.849402029712, 380.555455380889,
0, 0, 1);
cv::Matx33d K2_correct (560.395452535348, 0, 678.971652040359,
0, 561.90171021422, 380.401340535339,
0, 0, 1);
cv::Vec4d D1_correct (-7.44253716539556e-05, -0.00702662033932424, 0.00737569823650885, -0.00342230256441771);
cv::Vec4d D2_correct (-0.0130785435677431, 0.0284434505383497, -0.0360333869900506, 0.0144724062347222);
EXPECT_MAT_NEAR(R, R_correct, 1e-10);
EXPECT_MAT_NEAR(T, T_correct, 1e-10);
EXPECT_MAT_NEAR(K1, K1_correct, 1e-10);
EXPECT_MAT_NEAR(K2, K2_correct, 1e-10);
EXPECT_MAT_NEAR(D1, D1_correct, 1e-10);
EXPECT_MAT_NEAR(D2, D2_correct, 1e-10);
}
TEST_F(fisheyeTest, stereoCalibrateFixIntrinsic)
{
const int n_images = 34;
const std::string folder =combine(datasets_repository_path, "calib-3_stereo_from_JY");
std::vector<std::vector<cv::Point2d> > leftPoints(n_images);
std::vector<std::vector<cv::Point2d> > rightPoints(n_images);
std::vector<std::vector<cv::Point3d> > objectPoints(n_images);
cv::FileStorage fs_left(combine(folder, "left.xml"), cv::FileStorage::READ);
CV_Assert(fs_left.isOpened());
for(int i = 0; i < n_images; ++i)
fs_left[cv::format("image_%d", i )] >> leftPoints[i];
fs_left.release();
cv::FileStorage fs_right(combine(folder, "right.xml"), cv::FileStorage::READ);
CV_Assert(fs_right.isOpened());
for(int i = 0; i < n_images; ++i)
fs_right[cv::format("image_%d", i )] >> rightPoints[i];
fs_right.release();
cv::FileStorage fs_object(combine(folder, "object.xml"), cv::FileStorage::READ);
CV_Assert(fs_object.isOpened());
for(int i = 0; i < n_images; ++i)
fs_object[cv::format("image_%d", i )] >> objectPoints[i];
fs_object.release();
cv::Matx33d R;
cv::Vec3d T;
int flag = 0;
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::fisheye::CALIB_CHECK_COND;
flag |= cv::fisheye::CALIB_FIX_SKEW;
flag |= cv::fisheye::CALIB_FIX_INTRINSIC;
cv::Matx33d K1 (561.195925927249, 0, 621.282400272412,
0, 562.849402029712, 380.555455380889,
0, 0, 1);
cv::Matx33d K2 (560.395452535348, 0, 678.971652040359,
0, 561.90171021422, 380.401340535339,
0, 0, 1);
cv::Vec4d D1 (-7.44253716539556e-05, -0.00702662033932424, 0.00737569823650885, -0.00342230256441771);
cv::Vec4d D2 (-0.0130785435677431, 0.0284434505383497, -0.0360333869900506, 0.0144724062347222);
cv::fisheye::stereoCalibrate(objectPoints, leftPoints, rightPoints,
K1, D1, K2, D2, imageSize, R, T, flag,
cv::TermCriteria(3, 12, 0));
cv::Matx33d R_correct( 0.9975587205950972, 0.06953016383322372, 0.006492709911733523,
-0.06956823121068059, 0.9975601387249519, 0.005833595226966235,
-0.006071257768382089, -0.006271040135405457, 0.9999619062167968);
cv::Vec3d T_correct(-0.099402724724121, 0.00270812139265413, 0.00129330292472699);
EXPECT_MAT_NEAR(R, R_correct, 1e-10);
EXPECT_MAT_NEAR(T, T_correct, 1e-10);
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/// fisheyeTest::
const cv::Size fisheyeTest::imageSize(1280, 800);
const cv::Matx33d fisheyeTest::K(558.478087865323, 0, 620.458515360843,
0, 560.506767351568, 381.939424848348,
0, 0, 1);
const cv::Vec4d fisheyeTest::D(-0.0014613319981768, -0.00329861110580401, 0.00605760088590183, -0.00374209380722371);
const cv::Matx33d fisheyeTest::R ( 9.9756700084424932e-01, 6.9698277640183867e-02, 1.4929569991321144e-03,
-6.9711825162322980e-02, 9.9748249845531767e-01, 1.2997180766418455e-02,
-5.8331736398316541e-04,-1.3069635393884985e-02, 9.9991441852366736e-01);
const cv::Vec3d fisheyeTest::T(-9.9217369356044638e-02, 3.1741831972356663e-03, 1.8551007952921010e-04);
std::string fisheyeTest::combine(const std::string& _item1, const std::string& _item2)
{
std::string item1 = _item1, item2 = _item2;
std::replace(item1.begin(), item1.end(), '\\', '/');
std::replace(item2.begin(), item2.end(), '\\', '/');
if (item1.empty())
return item2;
if (item2.empty())
return item1;
char last = item1[item1.size()-1];
return item1 + (last != '/' ? "/" : "") + item2;
}
cv::Mat fisheyeTest::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());
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;
}