Refactored class Fisheye to namespace fisheye
This commit is contained in:
Ilya Krylov
parent
c30fef1f9d
commit
651b13f72a
@ -745,10 +745,8 @@ CV_EXPORTS_W int estimateAffine3D(InputArray src, InputArray dst,
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OutputArray out, OutputArray inliers,
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double ransacThreshold=3, double confidence=0.99);
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class CV_EXPORTS Fisheye
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namespace fisheye
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{
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public:
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enum{
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CALIB_USE_INTRINSIC_GUESS = 1,
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CALIB_RECOMPUTE_EXTRINSIC = 2,
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@ -762,50 +760,50 @@ public:
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};
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//! projects 3D points using fisheye model
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static void projectPoints(InputArray objectPoints, OutputArray imagePoints, const Affine3d& affine,
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CV_EXPORTS void projectPoints(InputArray objectPoints, OutputArray imagePoints, const Affine3d& affine,
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InputArray K, InputArray D, double alpha = 0, OutputArray jacobian = noArray());
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//! projects points using fisheye model
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static void projectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec,
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CV_EXPORTS void projectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec,
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InputArray K, InputArray D, double alpha = 0, OutputArray jacobian = noArray());
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//! distorts 2D points using fisheye model
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static void distortPoints(InputArray undistorted, OutputArray distorted, InputArray K, InputArray D, double alpha = 0);
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CV_EXPORTS void distortPoints(InputArray undistorted, OutputArray distorted, InputArray K, InputArray D, double alpha = 0);
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//! undistorts 2D points using fisheye model
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static void undistortPoints(InputArray distorted, OutputArray undistorted,
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CV_EXPORTS void undistortPoints(InputArray distorted, OutputArray undistorted,
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InputArray K, InputArray D, InputArray R = noArray(), InputArray P = noArray());
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//! computing undistortion and rectification maps for image transform by cv::remap()
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//! If D is empty zero distortion is used, if R or P is empty identity matrixes are used
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static void initUndistortRectifyMap(InputArray K, InputArray D, InputArray R, InputArray P,
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CV_EXPORTS void initUndistortRectifyMap(InputArray K, InputArray D, InputArray R, InputArray P,
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const cv::Size& size, int m1type, OutputArray map1, OutputArray map2);
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//! undistorts image, optionally changes resolution and camera matrix. If Knew zero identity matrix is used
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static void undistortImage(InputArray distorted, OutputArray undistorted,
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CV_EXPORTS void undistortImage(InputArray distorted, OutputArray undistorted,
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InputArray K, InputArray D, InputArray Knew = cv::noArray(), const Size& new_size = Size());
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//! estimates new camera matrix for undistortion or rectification
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static void estimateNewCameraMatrixForUndistortRectify(InputArray K, InputArray D, const Size &image_size, InputArray R,
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CV_EXPORTS void estimateNewCameraMatrixForUndistortRectify(InputArray K, InputArray D, const Size &image_size, InputArray R,
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OutputArray P, double balance = 0.0, const Size& new_size = Size(), double fov_scale = 1.0);
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//! performs camera calibaration
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static double calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, const Size& image_size,
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CV_EXPORTS double calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, const Size& image_size,
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InputOutputArray K, InputOutputArray D, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags = 0,
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TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON));
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//! stereo rectification estimation
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static void stereoRectify(InputArray K1, InputArray D1, InputArray K2, InputArray D2, const Size &imageSize, InputArray R, InputArray tvec,
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CV_EXPORTS void stereoRectify(InputArray K1, InputArray D1, InputArray K2, InputArray D2, const Size &imageSize, InputArray R, InputArray tvec,
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OutputArray R1, OutputArray R2, OutputArray P1, OutputArray P2, OutputArray Q, int flags, const Size &newImageSize = Size(),
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double balance = 0.0, double fov_scale = 1.0);
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//! performs stereo calibaration
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static double stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
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CV_EXPORTS double stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
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InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize,
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OutputArray R, OutputArray T, int flags = CALIB_FIX_INTRINSIC,
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TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON));
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};
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}
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}
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@ -14,15 +14,15 @@ namespace cv { namespace
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}}
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/// cv::Fisheye::projectPoints
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/// cv::fisheye::projectPoints
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void cv::Fisheye::projectPoints(InputArray objectPoints, OutputArray imagePoints, const Affine3d& affine,
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void cv::fisheye::projectPoints(InputArray objectPoints, OutputArray imagePoints, const Affine3d& affine,
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InputArray K, InputArray D, double alpha, OutputArray jacobian)
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{
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projectPoints(objectPoints, imagePoints, affine.rvec(), affine.translation(), K, D, alpha, jacobian);
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}
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void cv::Fisheye::projectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray _rvec,
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void cv::fisheye::projectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray _rvec,
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InputArray _tvec, InputArray _K, InputArray _D, double alpha, OutputArray jacobian)
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{
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// will support only 3-channel data now for points
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@ -202,9 +202,9 @@ void cv::Fisheye::projectPoints(InputArray objectPoints, OutputArray imagePoints
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}
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/// cv::Fisheye::distortPoints
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/// cv::fisheye::distortPoints
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void cv::Fisheye::distortPoints(InputArray undistorted, OutputArray distorted, InputArray K, InputArray D, double alpha)
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void cv::fisheye::distortPoints(InputArray undistorted, OutputArray distorted, InputArray K, InputArray D, double alpha)
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{
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// will support only 2-channel data now for points
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CV_Assert(undistorted.type() == CV_32FC2 || undistorted.type() == CV_64FC2);
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@ -264,9 +264,9 @@ void cv::Fisheye::distortPoints(InputArray undistorted, OutputArray distorted, I
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}
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/// cv::Fisheye::undistortPoints
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/// cv::fisheye::undistortPoints
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void cv::Fisheye::undistortPoints( InputArray distorted, OutputArray undistorted, InputArray _K, InputArray _D, InputArray _R, InputArray _P)
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void cv::fisheye::undistortPoints( InputArray distorted, OutputArray undistorted, InputArray _K, InputArray _D, InputArray _R, InputArray _P)
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{
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// will support only 2-channel data now for points
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CV_Assert(distorted.type() == CV_32FC2 || distorted.type() == CV_64FC2);
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@ -353,9 +353,9 @@ void cv::Fisheye::undistortPoints( InputArray distorted, OutputArray undistorted
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}
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/// cv::Fisheye::undistortPoints
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/// cv::fisheye::undistortPoints
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void cv::Fisheye::initUndistortRectifyMap( InputArray _K, InputArray _D, InputArray _R, InputArray _P,
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void cv::fisheye::initUndistortRectifyMap( InputArray _K, InputArray _D, InputArray _R, InputArray _P,
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const cv::Size& size, int m1type, OutputArray map1, OutputArray map2 )
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{
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CV_Assert( m1type == CV_16SC2 || m1type == CV_32F || m1type <=0 );
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@ -449,23 +449,23 @@ void cv::Fisheye::initUndistortRectifyMap( InputArray _K, InputArray _D, InputAr
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}
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/// cv::Fisheye::undistortImage
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/// cv::fisheye::undistortImage
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void cv::Fisheye::undistortImage(InputArray distorted, OutputArray undistorted,
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void cv::fisheye::undistortImage(InputArray distorted, OutputArray undistorted,
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InputArray K, InputArray D, InputArray Knew, const Size& new_size)
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{
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Size size = new_size.area() != 0 ? new_size : distorted.size();
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cv::Mat map1, map2;
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initUndistortRectifyMap(K, D, cv::Matx33d::eye(), Knew, size, CV_16SC2, map1, map2 );
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fisheye::initUndistortRectifyMap(K, D, cv::Matx33d::eye(), Knew, size, CV_16SC2, map1, map2 );
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cv::remap(distorted, undistorted, map1, map2, INTER_LINEAR, BORDER_CONSTANT);
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}
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/// cv::Fisheye::estimateNewCameraMatrixForUndistortRectify
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/// cv::fisheye::estimateNewCameraMatrixForUndistortRectify
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void cv::Fisheye::estimateNewCameraMatrixForUndistortRectify(InputArray K, InputArray D, const Size &image_size, InputArray R,
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void cv::fisheye::estimateNewCameraMatrixForUndistortRectify(InputArray K, InputArray D, const Size &image_size, InputArray R,
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OutputArray P, double balance, const Size& new_size, double fov_scale)
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{
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CV_Assert( K.size() == Size(3, 3) && (K.depth() == CV_32F || K.depth() == CV_64F));
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@ -495,7 +495,7 @@ void cv::Fisheye::estimateNewCameraMatrixForUndistortRectify(InputArray K, Input
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}
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#endif
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undistortPoints(points, points, K, D, R);
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fisheye::undistortPoints(points, points, K, D, R);
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cv::Scalar center_mass = mean(points);
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cv::Vec2d cn(center_mass.val);
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@ -560,9 +560,9 @@ void cv::Fisheye::estimateNewCameraMatrixForUndistortRectify(InputArray K, Input
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/// cv::Fisheye::stereoRectify
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/// cv::fisheye::stereoRectify
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void cv::Fisheye::stereoRectify( InputArray K1, InputArray D1, InputArray K2, InputArray D2, const Size& imageSize,
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void cv::fisheye::stereoRectify( InputArray K1, InputArray D1, InputArray K2, InputArray D2, const Size& imageSize,
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InputArray _R, InputArray _tvec, OutputArray R1, OutputArray R2, OutputArray P1, OutputArray P2,
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OutputArray Q, int flags, const Size& newImageSize, double balance, double fov_scale)
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{
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@ -642,9 +642,9 @@ void cv::Fisheye::stereoRectify( InputArray K1, InputArray D1, InputArray K2, In
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}
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/// cv::Fisheye::calibrate
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/// cv::fisheye::calibrate
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double cv::Fisheye::calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, const Size& image_size,
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double cv::fisheye::calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, const Size& image_size,
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InputOutputArray K, InputOutputArray D, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
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int flags , cv::TermCriteria criteria)
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{
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@ -758,9 +758,9 @@ double cv::Fisheye::calibrate(InputArrayOfArrays objectPoints, InputArrayOfArray
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}
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/// cv::Fisheye::stereoCalibrate
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/// cv::fisheye::stereoCalibrate
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double cv::Fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
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double cv::fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
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InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize,
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OutputArray R, OutputArray T, int flags, TermCriteria criteria)
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{
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@ -1094,7 +1094,7 @@ void cv::internal::projectPoints(cv::InputArray objectPoints, cv::OutputArray im
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Matx33d K(param.f[0], param.f[0] * param.alpha, param.c[0],
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0, param.f[1], param.c[1],
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0, 0, 1);
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Fisheye::projectPoints(objectPoints, imagePoints, _rvec, _tvec, K, param.k, param.alpha, jacobian);
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fisheye::projectPoints(objectPoints, imagePoints, _rvec, _tvec, K, param.k, param.alpha, jacobian);
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}
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void cv::internal::ComputeExtrinsicRefine(const Mat& imagePoints, const Mat& objectPoints, Mat& rvec,
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@ -1251,7 +1251,7 @@ cv::Mat cv::internal::NormalizePixels(const Mat& imagePoints, const IntrinsicPar
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ptr_d[i] = (ptr[i] - param.c).mul(Vec2d(1.0 / param.f[0], 1.0 / param.f[1]));
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ptr_d[i][0] = ptr_d[i][0] - param.alpha * ptr_d[i][1];
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}
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cv::Fisheye::undistortPoints(distorted, undistorted, Matx33d::eye(), param.k);
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cv::fisheye::undistortPoints(distorted, undistorted, Matx33d::eye(), param.k);
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return undistorted;
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}
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@ -2,7 +2,7 @@
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#include <opencv2/ts/gpu_test.hpp>
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#include "../src/fisheye.hpp"
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class FisheyeTest : public ::testing::Test {
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class fisheyeTest : public ::testing::Test {
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protected:
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const static cv::Size imageSize;
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@ -26,7 +26,7 @@ protected:
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////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/// TESTS::
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TEST_F(FisheyeTest, projectPoints)
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TEST_F(fisheyeTest, projectPoints)
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{
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double cols = this->imageSize.width,
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rows = this->imageSize.height;
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@ -44,21 +44,21 @@ TEST_F(FisheyeTest, projectPoints)
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pts[k++] = (point - c) * 0.85 + c;
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}
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cv::Fisheye::undistortPoints(distorted0, undist1, this->K, this->D);
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cv::fisheye::undistortPoints(distorted0, undist1, this->K, this->D);
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cv::Vec2d* u1 = undist1.ptr<cv::Vec2d>();
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cv::Vec3d* u2 = undist2.ptr<cv::Vec3d>();
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for(int i = 0; i < (int)distorted0.total(); ++i)
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u2[i] = cv::Vec3d(u1[i][0], u1[i][1], 1.0);
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cv::Fisheye::distortPoints(undist1, distorted1, this->K, this->D);
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cv::Fisheye::projectPoints(undist2, distorted2, cv::Vec3d::all(0), cv::Vec3d::all(0), this->K, this->D);
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cv::fisheye::distortPoints(undist1, distorted1, this->K, this->D);
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cv::fisheye::projectPoints(undist2, distorted2, cv::Vec3d::all(0), cv::Vec3d::all(0), this->K, this->D);
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EXPECT_MAT_NEAR(distorted0, distorted1, 1e-10);
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EXPECT_MAT_NEAR(distorted0, distorted2, 1e-10);
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}
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TEST_F(FisheyeTest, undistortImage)
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TEST_F(fisheyeTest, undistortImage)
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{
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cv::Matx33d K = this->K;
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cv::Mat D = cv::Mat(this->D);
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@ -68,7 +68,7 @@ TEST_F(FisheyeTest, undistortImage)
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{
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newK(0, 0) = 100;
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newK(1, 1) = 100;
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cv::Fisheye::undistortImage(distorted, undistorted, K, D, newK);
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cv::fisheye::undistortImage(distorted, undistorted, K, D, newK);
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cv::Mat correct = cv::imread(combine(datasets_repository_path, "new_f_100.png"));
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if (correct.empty())
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CV_Assert(cv::imwrite(combine(datasets_repository_path, "new_f_100.png"), undistorted));
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@ -77,8 +77,8 @@ TEST_F(FisheyeTest, undistortImage)
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}
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{
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double balance = 1.0;
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cv::Fisheye::estimateNewCameraMatrixForUndistortRectify(K, D, distorted.size(), cv::noArray(), newK, balance);
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cv::Fisheye::undistortImage(distorted, undistorted, K, D, newK);
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cv::fisheye::estimateNewCameraMatrixForUndistortRectify(K, D, distorted.size(), cv::noArray(), newK, balance);
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cv::fisheye::undistortImage(distorted, undistorted, K, D, newK);
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cv::Mat correct = cv::imread(combine(datasets_repository_path, "balance_1.0.png"));
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if (correct.empty())
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CV_Assert(cv::imwrite(combine(datasets_repository_path, "balance_1.0.png"), undistorted));
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@ -88,8 +88,8 @@ TEST_F(FisheyeTest, undistortImage)
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{
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double balance = 0.0;
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cv::Fisheye::estimateNewCameraMatrixForUndistortRectify(K, D, distorted.size(), cv::noArray(), newK, balance);
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cv::Fisheye::undistortImage(distorted, undistorted, K, D, newK);
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cv::fisheye::estimateNewCameraMatrixForUndistortRectify(K, D, distorted.size(), cv::noArray(), newK, balance);
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cv::fisheye::undistortImage(distorted, undistorted, K, D, newK);
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cv::Mat correct = cv::imread(combine(datasets_repository_path, "balance_0.0.png"));
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if (correct.empty())
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CV_Assert(cv::imwrite(combine(datasets_repository_path, "balance_0.0.png"), undistorted));
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@ -98,7 +98,7 @@ TEST_F(FisheyeTest, undistortImage)
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}
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}
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TEST_F(FisheyeTest, jacobians)
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TEST_F(fisheyeTest, jacobians)
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{
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int n = 10;
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cv::Mat X(1, n, CV_64FC3);
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@ -135,14 +135,14 @@ TEST_F(FisheyeTest, jacobians)
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0, 0, 1);
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cv::Mat jacobians;
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cv::Fisheye::projectPoints(X, x1, om, T, K, k, alpha, jacobians);
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cv::fisheye::projectPoints(X, x1, om, T, K, k, alpha, jacobians);
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//test on T:
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cv::Mat dT(3, 1, CV_64FC1);
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r.fill(dT, cv::RNG::NORMAL, 0, 1);
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dT *= 1e-9*cv::norm(T);
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cv::Mat T2 = T + dT;
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cv::Fisheye::projectPoints(X, x2, om, T2, K, k, alpha, cv::noArray());
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cv::fisheye::projectPoints(X, x2, om, T2, K, k, alpha, cv::noArray());
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xpred = x1 + cv::Mat(jacobians.colRange(11,14) * dT).reshape(2, 1);
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CV_Assert (cv::norm(x2 - xpred) < 1e-10);
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@ -151,7 +151,7 @@ TEST_F(FisheyeTest, jacobians)
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r.fill(dom, cv::RNG::NORMAL, 0, 1);
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dom *= 1e-9*cv::norm(om);
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cv::Mat om2 = om + dom;
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cv::Fisheye::projectPoints(X, x2, om2, T, K, k, alpha, cv::noArray());
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cv::fisheye::projectPoints(X, x2, om2, T, K, k, alpha, cv::noArray());
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xpred = x1 + cv::Mat(jacobians.colRange(8,11) * dom).reshape(2, 1);
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CV_Assert (cv::norm(x2 - xpred) < 1e-10);
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@ -160,7 +160,7 @@ TEST_F(FisheyeTest, jacobians)
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r.fill(df, cv::RNG::NORMAL, 0, 1);
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df *= 1e-9*cv::norm(f);
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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());
|
||||
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);
|
||||
|
||||
@ -169,7 +169,7 @@ TEST_F(FisheyeTest, jacobians)
|
||||
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());
|
||||
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);
|
||||
|
||||
@ -178,7 +178,7 @@ TEST_F(FisheyeTest, jacobians)
|
||||
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());
|
||||
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);
|
||||
|
||||
@ -188,12 +188,12 @@ TEST_F(FisheyeTest, jacobians)
|
||||
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());
|
||||
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)
|
||||
TEST_F(fisheyeTest, Calibration)
|
||||
{
|
||||
const int n_images = 34;
|
||||
|
||||
@ -214,21 +214,21 @@ TEST_F(FisheyeTest, Calibration)
|
||||
fs_object.release();
|
||||
|
||||
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_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::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)
|
||||
TEST_F(fisheyeTest, Homography)
|
||||
{
|
||||
const int n_images = 1;
|
||||
|
||||
@ -289,7 +289,7 @@ TEST_F(FisheyeTest, Homography)
|
||||
EXPECT_MAT_NEAR(std_err, correct_std_err, 1e-12);
|
||||
}
|
||||
|
||||
TEST_F(FisheyeTest, EtimateUncertainties)
|
||||
TEST_F(fisheyeTest, EtimateUncertainties)
|
||||
{
|
||||
const int n_images = 34;
|
||||
|
||||
@ -310,16 +310,16 @@ TEST_F(FisheyeTest, EtimateUncertainties)
|
||||
fs_object.release();
|
||||
|
||||
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_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,
|
||||
cv::fisheye::calibrate(objectPoints, imagePoints, imageSize, K, D,
|
||||
rvec, tvec, flag, cv::TermCriteria(3, 20, 1e-6));
|
||||
|
||||
cv::internal::IntrinsicParams param, errors;
|
||||
@ -345,7 +345,7 @@ TEST_F(FisheyeTest, EtimateUncertainties)
|
||||
CV_Assert(errors.alpha == 0);
|
||||
}
|
||||
|
||||
TEST_F(FisheyeTest, rectify)
|
||||
TEST_F(fisheyeTest, rectify)
|
||||
{
|
||||
const std::string folder =combine(datasets_repository_path, "calib-3_stereo_from_JY");
|
||||
|
||||
@ -358,13 +358,13 @@ TEST_F(FisheyeTest, rectify)
|
||||
|
||||
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::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::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")),
|
||||
@ -394,7 +394,7 @@ TEST_F(FisheyeTest, rectify)
|
||||
}
|
||||
}
|
||||
|
||||
TEST_F(FisheyeTest, stereoCalibrate)
|
||||
TEST_F(fisheyeTest, stereoCalibrate)
|
||||
{
|
||||
const int n_images = 34;
|
||||
|
||||
@ -427,12 +427,12 @@ TEST_F(FisheyeTest, stereoCalibrate)
|
||||
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;
|
||||
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,
|
||||
cv::fisheye::stereoCalibrate(objectPoints, leftPoints, rightPoints,
|
||||
K1, D1, K2, D2, imageSize, R, T, flag,
|
||||
cv::TermCriteria(3, 12, 0));
|
||||
|
||||
@ -462,7 +462,7 @@ TEST_F(FisheyeTest, stereoCalibrate)
|
||||
|
||||
}
|
||||
|
||||
TEST_F(FisheyeTest, stereoCalibrateFixIntrinsic)
|
||||
TEST_F(fisheyeTest, stereoCalibrateFixIntrinsic)
|
||||
{
|
||||
const int n_images = 34;
|
||||
|
||||
@ -494,10 +494,10 @@ TEST_F(FisheyeTest, stereoCalibrateFixIntrinsic)
|
||||
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;
|
||||
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,
|
||||
@ -510,7 +510,7 @@ TEST_F(FisheyeTest, stereoCalibrateFixIntrinsic)
|
||||
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,
|
||||
cv::fisheye::stereoCalibrate(objectPoints, leftPoints, rightPoints,
|
||||
K1, D1, K2, D2, imageSize, R, T, flag,
|
||||
cv::TermCriteria(3, 12, 0));
|
||||
|
||||
@ -525,23 +525,23 @@ TEST_F(FisheyeTest, stereoCalibrateFixIntrinsic)
|
||||
}
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
/// FisheyeTest::
|
||||
/// fisheyeTest::
|
||||
|
||||
const cv::Size FisheyeTest::imageSize(1280, 800);
|
||||
const cv::Size fisheyeTest::imageSize(1280, 800);
|
||||
|
||||
const cv::Matx33d FisheyeTest::K(558.478087865323, 0, 620.458515360843,
|
||||
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::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,
|
||||
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);
|
||||
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 fisheyeTest::combine(const std::string& _item1, const std::string& _item2)
|
||||
{
|
||||
std::string item1 = _item1, item2 = _item2;
|
||||
std::replace(item1.begin(), item1.end(), '\\', '/');
|
||||
@ -557,7 +557,7 @@ std::string FisheyeTest::combine(const std::string& _item1, const std::string& _
|
||||
return item1 + (last != '/' ? "/" : "") + item2;
|
||||
}
|
||||
|
||||
std::string FisheyeTest::combine_format(const std::string& item1, const std::string& item2, ...)
|
||||
std::string fisheyeTest::combine_format(const std::string& item1, const std::string& item2, ...)
|
||||
{
|
||||
std::string fmt = combine(item1, item2);
|
||||
char buffer[1 << 16];
|
||||
@ -568,7 +568,7 @@ std::string FisheyeTest::combine_format(const std::string& item1, const std::str
|
||||
return std::string(buffer);
|
||||
}
|
||||
|
||||
cv::Mat FisheyeTest::mergeRectification(const cv::Mat& l, const cv::Mat& r)
|
||||
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());
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user