added one more test for undistort

modules/calib3d/test/test_undistort_points.cpp

+#include "test_precomp.hpp"
+#include <string>
+
+using namespace cv;
+using namespace std;
+
+class CV_UndistortTest : public cvtest::BaseTest
+{
+public:
+    CV_UndistortTest();
+    ~CV_UndistortTest();    
+protected:    
+    void run(int);
+private:
+    void generate3DPointCloud(vector<Point3f>& points, Point3f pmin = Point3f(-1,
+    -1, 5), Point3f pmax = Point3f(1, 1, 10));
+    void generateCameraMatrix(Mat& cameraMatrix);
+    void generateDistCoeffs(Mat& distCoeffs, int count);
+
+    double thresh;
+    RNG rng;
+};
+
+CV_UndistortTest::CV_UndistortTest()
+{
+    thresh = 1.0e-2;
+}
+CV_UndistortTest::~CV_UndistortTest() {}
+
+void CV_UndistortTest::generate3DPointCloud(vector<Point3f>& points, Point3f pmin, Point3f pmax)
+{
+    const Point3f delta = pmax - pmin;
+    for (size_t i = 0; i < points.size(); i++)
+    {
+        Point3f p(float(rand()) / RAND_MAX, float(rand()) / RAND_MAX,
+            float(rand()) / RAND_MAX);
+        p.x *= delta.x;
+        p.y *= delta.y;
+        p.z *= delta.z;
+        p = p + pmin;
+        points[i] = p;
+    }
+}
+void CV_UndistortTest::generateCameraMatrix(Mat& cameraMatrix)
+{
+    const double fcMinVal = 1e-3;
+    const double fcMaxVal = 100;
+    cameraMatrix.create(3, 3, CV_64FC1);
+    cameraMatrix.setTo(Scalar(0));
+    cameraMatrix.at<double>(0,0) = rng.uniform(fcMinVal, fcMaxVal);
+    cameraMatrix.at<double>(1,1) = rng.uniform(fcMinVal, fcMaxVal);
+    cameraMatrix.at<double>(0,2) = rng.uniform(fcMinVal, fcMaxVal);
+    cameraMatrix.at<double>(1,2) = rng.uniform(fcMinVal, fcMaxVal);
+    cameraMatrix.at<double>(2,2) = 1;
+}
+void CV_UndistortTest::generateDistCoeffs(Mat& distCoeffs, int count)
+{
+    distCoeffs = Mat::zeros(count, 1, CV_64FC1);
+    for (int i = 0; i < count; i++)
+        distCoeffs.at<double>(i,0) = rng.uniform(0.0, 1.0e-3);
+}
+
+void CV_UndistortTest::run(int /* start_from */)
+{
+    Mat intrinsics, distCoeffs;
+    generateCameraMatrix(intrinsics);
+    vector<Point3f> points(500);
+    generate3DPointCloud(points);
+    vector<Point2f> projectedPoints;
+    projectedPoints.resize(points.size());
+    
+    int modelMembersCount[] = {4,5,8};
+    for (int idx = 0; idx < 3; idx++)
+    {
+        generateDistCoeffs(distCoeffs, modelMembersCount[idx]);
+        projectPoints(Mat(points), Mat::zeros(3,1,CV_64FC1), Mat::zeros(3,1,CV_64FC1), intrinsics, distCoeffs, projectedPoints);
+
+        vector<Point2f> realUndistortedPoints;
+        projectPoints(Mat(points), Mat::zeros(3,1,CV_64FC1), Mat::zeros(3,1,CV_64FC1), intrinsics,  Mat::zeros(4,1,CV_64FC1), realUndistortedPoints);
+
+        Mat undistortedPoints;
+        undistortPoints(Mat(projectedPoints), undistortedPoints, intrinsics, distCoeffs);
+
+        Mat p;
+        perspectiveTransform(undistortedPoints, p, intrinsics);
+        undistortedPoints = p;
+        double diff = norm(Mat(realUndistortedPoints), undistortedPoints);
+        if (diff > thresh)
+        {    
+            ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);  
+            return;
+        }
+        ts->set_failed_test_info(cvtest::TS::OK);
+    }
+}
+
+TEST(Calib3d_Undistort, accuracy) { CV_UndistortTest test; test.safe_run(); }
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