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opencv
Commit 50b29199 authored by Ilya Krylov's avatar Ilya Krylov
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Added tests for stereoCalibrate

parent c2341fd4
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Showing with 238 additions and 3 deletions
modules/calib3d/include/opencv2/calib3d/calib3d.hpp
View file @ 50b29199
......@@ -806,10 +806,10 @@ public:
//! performs stereo calibaration
static double stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2,
InputOutputArrayOfArrays rvecs1, InputOutputArrayOfArrays tvecs1,
InputOutputArrayOfArrays rvecs2, InputOutputArrayOfArrays tvecs2,
InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize,
OutputArray R, OutputArray T, int flags,
TermCriteria criteria = TermCriteria(3, 100, 1e-10));
};
}
......
modules/calib3d/src/fisheye.cpp
View file @ 50b29199
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modules/calib3d/test/test_fisheye.cpp
View file @ 50b29199
......@@ -368,6 +368,241 @@ TEST_F(FisheyeTest, rectify)
}
}
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();
std::ofstream fs;
for (size_t i = 0; i < leftPoints.size(); i++)
{
std::string ss = combine(folder, "left");
ss = combine_format(ss, "%d", i);
fs.open(ss.c_str());
CV_Assert(fs.is_open());
for (size_t j = 0; j < leftPoints[i].size(); j++)
{
double x = leftPoints[i][j].x;
double y = leftPoints[i][j].y;
fs << std::setprecision(15) << x << "; " << y;
fs << std::endl;
}
fs.close();
}
for (size_t i = 0; i < rightPoints.size(); i++)
{
std::string ss = combine(folder, "right");
ss = combine_format(ss, "%d", i);
fs.open(ss.c_str());
CV_Assert(fs.is_open());
for (size_t j = 0; j < rightPoints[i].size(); j++)
{
double x = rightPoints[i][j].x;
double y = rightPoints[i][j].y;
fs << std::setprecision(15) << x << "; " << y;
fs << std::endl;
}
fs.close();
}
for (size_t i = 0; i < objectPoints.size(); i++)
{
std::string ss = combine(folder, "object");
ss = combine_format(ss, "%d", i);
fs.open(ss.c_str());
CV_Assert(fs.is_open());
for (size_t j = 0; j < objectPoints[i].size(); j++)
{
double x = objectPoints[i][j].x;
double y = objectPoints[i][j].y;
double z = objectPoints[i][j].z;
fs << std::setprecision(15) << x << "; " << y;
fs << std::setprecision(15) << "; " << z;
fs << std::endl;
}
fs.close();
}
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();
std::ofstream fs;
for (size_t i = 0; i < leftPoints.size(); i++)
{
std::string ss = combine(folder, "left");
ss = combine_format(ss, "%d", i);
fs.open(ss.c_str());
CV_Assert(fs.is_open());
for (size_t j = 0; j < leftPoints[i].size(); j++)
{
double x = leftPoints[i][j].x;
double y = leftPoints[i][j].y;
fs << std::setprecision(15) << x << "; " << y;
fs << std::endl;
}
fs.close();
}
for (size_t i = 0; i < rightPoints.size(); i++)
{
std::string ss = combine(folder, "right");
ss = combine_format(ss, "%d", i);
fs.open(ss.c_str());
CV_Assert(fs.is_open());
for (size_t j = 0; j < rightPoints[i].size(); j++)
{
double x = rightPoints[i][j].x;
double y = rightPoints[i][j].y;
fs << std::setprecision(15) << x << "; " << y;
fs << std::endl;
}
fs.close();
}
for (size_t i = 0; i < objectPoints.size(); i++)
{
std::string ss = combine(folder, "object");
ss = combine_format(ss, "%d", i);
fs.open(ss.c_str());
CV_Assert(fs.is_open());
for (size_t j = 0; j < objectPoints[i].size(); j++)
{
double x = objectPoints[i][j].x;
double y = objectPoints[i][j].y;
double z = objectPoints[i][j].z;
fs << std::setprecision(15) << x << "; " << y;
fs << std::setprecision(15) << "; " << z;
fs << std::endl;
}
fs.close();
}
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::
......
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