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Added a test for the C++ wrapper of cvTriangulatePoints()

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This commit is contained in:
Ilya Lysenkov 2012-03-29 10:39:48 +00:00
parent 37db334f8a
commit 7901879e48
1 changed files with 28 additions and 8 deletions
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36
modules/calib3d/test/test_cameracalibration.cpp
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@ -1282,6 +1282,9 @@ protected:
virtual bool rectifyUncalibrated( const Mat& points1, virtual bool rectifyUncalibrated( const Mat& points1,
const Mat& points2, const Mat& F, Size imgSize, const Mat& points2, const Mat& F, Size imgSize,
Mat& H1, Mat& H2, double threshold=5 ) = 0; Mat& H1, Mat& H2, double threshold=5 ) = 0;
virtual void triangulate( const Mat& P1, const Mat& P2,
const Mat &points1, const Mat &points2,
Mat &points4D ) = 0;
void run(int); void run(int);
}; };
@ -1515,15 +1518,10 @@ void CV_StereoCalibrationTest::run( int )
Mat ys_2 = projectedPoints_2.row(1); Mat ys_2 = projectedPoints_2.row(1);
projectedPoints_1.row(1).copyTo(ys_2); projectedPoints_1.row(1).copyTo(ys_2);
const int dimension = 4; Mat points4d;
Mat points4d(dimension, pointsCount, CV_32FC1); triangulate(P1, P2, projectedPoints_1, projectedPoints_2, points4d);
CvMat cvPoints4d = points4d;
CvMat cvP1 = P1;
CvMat cvP2 = P2;
CvMat cvPoints1 = projectedPoints_1;
CvMat cvPoints2 = projectedPoints_2;
cvTriangulatePoints(&cvP1, &cvP2, &cvPoints1, &cvPoints2, &cvPoints4d);
Mat homogeneousPoints4d = points4d.t(); Mat homogeneousPoints4d = points4d.t();
const int dimension = 4;
homogeneousPoints4d = homogeneousPoints4d.reshape(dimension); homogeneousPoints4d = homogeneousPoints4d.reshape(dimension);
Mat triangulatedPoints; Mat triangulatedPoints;
convertPointsFromHomogeneous(homogeneousPoints4d, triangulatedPoints); convertPointsFromHomogeneous(homogeneousPoints4d, triangulatedPoints);
@ -1635,6 +1633,9 @@ protected:
virtual bool rectifyUncalibrated( const Mat& points1, virtual bool rectifyUncalibrated( const Mat& points1,
const Mat& points2, const Mat& F, Size imgSize, const Mat& points2, const Mat& F, Size imgSize,
Mat& H1, Mat& H2, double threshold=5 ); Mat& H1, Mat& H2, double threshold=5 );
virtual void triangulate( const Mat& P1, const Mat& P2,
const Mat &points1, const Mat &points2,
Mat &points4D );
}; };
double CV_StereoCalibrationTest_C::calibrateStereoCamera( const vector<vector<Point3f> >& objectPoints, double CV_StereoCalibrationTest_C::calibrateStereoCamera( const vector<vector<Point3f> >& objectPoints,
@ -1718,6 +1719,15 @@ bool CV_StereoCalibrationTest_C::rectifyUncalibrated( const Mat& points1,
return cvStereoRectifyUncalibrated(&_pt1, &_pt2, pF, imgSize, &_H1, &_H2, threshold) > 0; return cvStereoRectifyUncalibrated(&_pt1, &_pt2, pF, imgSize, &_H1, &_H2, threshold) > 0;
} }
void CV_StereoCalibrationTest_C::triangulate( const Mat& P1, const Mat& P2,
const Mat &points1, const Mat &points2,
Mat &points4D )
{
CvMat _P1 = P1, _P2 = P2, _points1 = points1, _points2 = points2;
points4D.create(4, points1.cols, points1.type());
CvMat _points4D = points4D;
cvTriangulatePoints(&_P1, &_P2, &_points1, &_points2, &_points4D);
}
//-------------------------------- CV_StereoCalibrationTest_CPP ------------------------------ //-------------------------------- CV_StereoCalibrationTest_CPP ------------------------------
@ -1742,6 +1752,9 @@ protected:
virtual bool rectifyUncalibrated( const Mat& points1, virtual bool rectifyUncalibrated( const Mat& points1,
const Mat& points2, const Mat& F, Size imgSize, const Mat& points2, const Mat& F, Size imgSize,
Mat& H1, Mat& H2, double threshold=5 ); Mat& H1, Mat& H2, double threshold=5 );
virtual void triangulate( const Mat& P1, const Mat& P2,
const Mat &points1, const Mat &points2,
Mat &points4D );
}; };
double CV_StereoCalibrationTest_CPP::calibrateStereoCamera( const vector<vector<Point3f> >& objectPoints, double CV_StereoCalibrationTest_CPP::calibrateStereoCamera( const vector<vector<Point3f> >& objectPoints,
@ -1774,6 +1787,13 @@ bool CV_StereoCalibrationTest_CPP::rectifyUncalibrated( const Mat& points1,
return stereoRectifyUncalibrated( points1, points2, F, imgSize, H1, H2, threshold ); return stereoRectifyUncalibrated( points1, points2, F, imgSize, H1, H2, threshold );
} }
void CV_StereoCalibrationTest_CPP::triangulate( const Mat& P1, const Mat& P2,
const Mat &points1, const Mat &points2,
Mat &points4D )
{
triangulatePoints(P1, P2, points1, points2, points4D);
}
/////////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////////
TEST(Calib3d_CalibrateCamera_C, regression) { CV_CameraCalibrationTest_C test; test.safe_run(); } TEST(Calib3d_CalibrateCamera_C, regression) { CV_CameraCalibrationTest_C test; test.safe_run(); }