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merged the trunk r8735:8766, r8769, r8777:8780, r8790 and r8800:8811

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This commit is contained in:
Marina Kolpakova
2012-06-28 17:07:17 +00:00
parent b156e2f7ed
commit 162f9fd7ea
61 changed files with 2738 additions and 1726 deletions
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3
modules/calib3d/src/calibration.cpp
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@@ -2366,7 +2366,8 @@ void cvStereoRectify( const CvMat* _cameraMatrix1, const CvMat* _cameraMatrix2,
// calculate global Z rotation
cvCrossProduct(&t,&uu,&ww);
double nw = cvNorm(&ww, 0, CV_L2);
cvConvertScale(&ww, &ww, acos(fabs(c)/nt)/nw);
if (nw > 0.0)
cvConvertScale(&ww, &ww, acos(fabs(c)/nt)/nw);
cvRodrigues2(&ww, &wR);
// apply to both views

74
modules/calib3d/test/test_cornerssubpix.cpp
View File

@@ -54,7 +54,7 @@ protected:
Mat intrinsic_matrix_;
Mat distortion_coeffs_;
Size image_size_;
void run(int);
void generateIntrinsicParams();
};
@@ -66,14 +66,14 @@ int calcDistance(const vector<Point2f>& set1, const vector<Point2f>& set2, doubl
{
return 0;
}
std::vector<int> indices;
double sum_dist = 0.0;
for(size_t i = 0; i < set1.size(); i++)
{
double min_dist = std::numeric_limits<double>::max();
int min_idx = -1;
for(int j = 0; j < (int)set2.size(); j++)
{
double dist = norm(set1[i] - set2[j]);
@@ -83,33 +83,33 @@ int calcDistance(const vector<Point2f>& set1, const vector<Point2f>& set2, doubl
min_dist = dist;
}
}
// check validity of min_idx
if(min_idx == -1)
{
return 0;
}
std::vector<int>::iterator it = std::find(indices.begin(), indices.end(), min_idx);
if(it != indices.end())
if(it != indices.end())
{
// there are two points in set1 corresponding to the same point in set2
return 0;
}
indices.push_back(min_idx);
// printf("dist %d = %f\n", (int)i, min_dist);
sum_dist += min_dist*min_dist;
}
mean_dist = sqrt(sum_dist/set1.size());
// printf("sum_dist = %f, set1.size() = %d, mean_dist = %f\n", sum_dist, (int)set1.size(), mean_dist);
return 1;
}
CV_ChessboardSubpixelTest::CV_ChessboardSubpixelTest() :
intrinsic_matrix_(Size(3, 3), CV_64FC1), distortion_coeffs_(Size(1, 4), CV_64FC1),
intrinsic_matrix_(Size(3, 3), CV_64FC1), distortion_coeffs_(Size(1, 4), CV_64FC1),
image_size_(640, 480)
{
}
@@ -121,13 +121,13 @@ void CV_ChessboardSubpixelTest::run( int )
int progress = 0;
RNG& rng = ts->get_rng();
const int runs_count = 20;
const int max_pattern_size = 8;
const int min_pattern_size = 5;
Mat bg(image_size_, CV_8UC1);
bg = Scalar(0);
double sum_dist = 0.0;
int count = 0;
for(int i = 0; i < runs_count; i++)
@@ -144,13 +144,13 @@ void CV_ChessboardSubpixelTest::run( int )
pattern_size = Size(pattern_width, pattern_height);
}
ChessBoardGenerator gen_chessboard(Size(pattern_size.width + 1, pattern_size.height + 1));
// generates intrinsic camera and distortion matrices
generateIntrinsicParams();
vector<Point2f> corners;
Mat chessboard_image = gen_chessboard(bg, intrinsic_matrix_, distortion_coeffs_, corners);
Mat chessboard_image = gen_chessboard(bg, intrinsic_matrix_, distortion_coeffs_, corners);
vector<Point2f> test_corners;
bool result = findChessboardCorners(chessboard_image, pattern_size, test_corners, 15);
if(!result)
@@ -158,47 +158,47 @@ void CV_ChessboardSubpixelTest::run( int )
#if 0
ts->printf(cvtest::TS::LOG, "Warning: chessboard was not detected! Writing image to test.jpg\n");
ts->printf(cvtest::TS::LOG, "Size = %d, %d\n", pattern_size.width, pattern_size.height);
ts->printf(cvtest::TS::LOG, "Intrinsic params: fx = %f, fy = %f, cx = %f, cy = %f\n",
intrinsic_matrix_.at<double>(0, 0), intrinsic_matrix_.at<double>(1, 1),
ts->printf(cvtest::TS::LOG, "Intrinsic params: fx = %f, fy = %f, cx = %f, cy = %f\n",
intrinsic_matrix_.at<double>(0, 0), intrinsic_matrix_.at<double>(1, 1),
intrinsic_matrix_.at<double>(0, 2), intrinsic_matrix_.at<double>(1, 2));
ts->printf(cvtest::TS::LOG, "Distortion matrix: %f, %f, %f, %f, %f\n",
ts->printf(cvtest::TS::LOG, "Distortion matrix: %f, %f, %f, %f, %f\n",
distortion_coeffs_.at<double>(0, 0), distortion_coeffs_.at<double>(0, 1),
distortion_coeffs_.at<double>(0, 2), distortion_coeffs_.at<double>(0, 3),
distortion_coeffs_.at<double>(0, 2), distortion_coeffs_.at<double>(0, 3),
distortion_coeffs_.at<double>(0, 4));
imwrite("test.jpg", chessboard_image);
#endif
continue;
}
double dist1 = 0.0;
int ret = calcDistance(corners, test_corners, dist1);
if(ret == 0)
{
ts->printf(cvtest::TS::LOG, "findChessboardCorners returns invalid corner coordinates!\n");
code = cvtest::TS::FAIL_INVALID_OUTPUT;
break;
break;
}
IplImage chessboard_image_header = chessboard_image;
cvFindCornerSubPix(&chessboard_image_header, (CvPoint2D32f*)&test_corners[0],
cvFindCornerSubPix(&chessboard_image_header, (CvPoint2D32f*)&test_corners[0],
(int)test_corners.size(), cvSize(3, 3), cvSize(1, 1), cvTermCriteria(CV_TERMCRIT_EPS|CV_TERMCRIT_ITER,300,0.1));
find4QuadCornerSubpix(chessboard_image, test_corners, Size(5, 5));
double dist2 = 0.0;
ret = calcDistance(corners, test_corners, dist2);
if(ret == 0)
{
ts->printf(cvtest::TS::LOG, "findCornerSubpix returns invalid corner coordinates!\n");
code = cvtest::TS::FAIL_INVALID_OUTPUT;
break;
break;
}
ts->printf(cvtest::TS::LOG, "Error after findChessboardCorners: %f, after findCornerSubPix: %f\n",
ts->printf(cvtest::TS::LOG, "Error after findChessboardCorners: %f, after findCornerSubPix: %f\n",
dist1, dist2);
sum_dist += dist2;
count++;
const double max_reduce_factor = 0.8;
if(dist1 < dist2*max_reduce_factor)
{
@@ -206,33 +206,33 @@ void CV_ChessboardSubpixelTest::run( int )
code = cvtest::TS::FAIL_INVALID_OUTPUT;
break;
}
progress = update_progress( progress, i-1, runs_count, 0 );
}
sum_dist /= count;
ts->printf(cvtest::TS::LOG, "Average error after findCornerSubpix: %f\n", sum_dist);
ts->printf(cvtest::TS::LOG, "Average error after findCornerSubpix: %f\n", sum_dist);
if( code < 0 )
ts->set_failed_test_info( code );
}
void CV_ChessboardSubpixelTest::generateIntrinsicParams()
{
RNG& rng = ts->get_rng();
const double max_focus_length = 1000.0;
const double max_focus_diff = 5.0;
double fx = cvtest::randReal(rng)*max_focus_length;
double fy = fx + cvtest::randReal(rng)*max_focus_diff;
double cx = image_size_.width/2;
double cy = image_size_.height/2;
double k1 = 0.5*cvtest::randReal(rng);
double k2 = 0.05*cvtest::randReal(rng);
double p1 = 0.05*cvtest::randReal(rng);
double p2 = 0.05*cvtest::randReal(rng);
double k3 = 0.0;
intrinsic_matrix_ = (Mat_<double>(3, 3) << fx, 0.0, cx, 0.0, fy, cy, 0.0, 0.0, 1.0);
distortion_coeffs_ = (Mat_<double>(1, 5) << k1, k2, p1, p2, k3);
}