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Added tests for stereoCalibrate

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This commit is contained in:
Ilya Krylov
2014-05-05 17:23:03 +04:00
parent c2341fd446
commit 50b291995a
3 changed files with 312 additions and 125 deletions
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235
modules/calib3d/test/test_fisheye.cpp
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@@ -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::