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added another triangulation test case from http://code.opencv.org/issues/3461; fixed partial derivative on distortion coefficients, as http://code.opencv.org/issues/4101 suggests

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This commit is contained in:
Vadim Pisarevsky 2015-05-23 14:15:11 +03:00
parent 90a78585fb
commit 7fd5b3a0c5
2 changed files with 49 additions and 5 deletions
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4
modules/calib3d/src/calibration.cpp
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@ -820,9 +820,9 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
{
dpdk_p[5] = fx*x*cdist*(-icdist2)*icdist2*r2;
dpdk_p[dpdk_step+5] = fy*y*cdist*(-icdist2)*icdist2*r2;
dpdk_p[6] = fx*x*icdist2*cdist*(-icdist2)*icdist2*r4;
dpdk_p[6] = fx*x*cdist*(-icdist2)*icdist2*r4;
dpdk_p[dpdk_step+6] = fy*y*cdist*(-icdist2)*icdist2*r4;
dpdk_p[7] = fx*x*icdist2*cdist*(-icdist2)*icdist2*r6;
dpdk_p[7] = fx*x*cdist*(-icdist2)*icdist2*r6;
dpdk_p[dpdk_step+7] = fy*y*cdist*(-icdist2)*icdist2*r6;
if( _dpdk->cols > 8 )
{

50
modules/calib3d/test/test_cameracalibration.cpp
View File

@ -1876,9 +1876,11 @@ TEST(Calib3d_ProjectPoints_CPP, regression) { CV_ProjectPointsTest_CPP test; tes
TEST(Calib3d_StereoCalibrate_C, regression) { CV_StereoCalibrationTest_C test; test.safe_run(); }
TEST(Calib3d_StereoCalibrate_CPP, regression) { CV_StereoCalibrationTest_CPP test; test.safe_run(); }
// the testcase by Christian Richardt
TEST(Calib3d_Triangulate, accuracy)
{
// the testcase from http://code.opencv.org/issues/4334
{
double P1data[] = { 250, 0, 200, 0, 0, 250, 150, 0, 0, 0, 1, 0 };
double P2data[] = { 250, 0, 200, -250, 0, 250, 150, 0, 0, 0, 1, 0 };
Mat P1(3, 4, CV_64F, P1data), P2(3, 4, CV_64F, P2data);
@ -1896,8 +1898,50 @@ TEST(Calib3d_Triangulate, accuracy)
convertPointsFromHomogeneous(res_, res);
res = res.reshape(1, 1);
cout << "res0: " << res0 << endl;
cout << "res: " << res << endl;
cout << "[1]:" << endl;
cout << "\tres0: " << res0 << endl;
cout << "\tres: " << res << endl;
ASSERT_LE(norm(res, res0, NORM_INF), 1e-1);
}
// another testcase http://code.opencv.org/issues/3461
{
Matx33d K1(6137.147949, 0.000000, 644.974609,
0.000000, 6137.147949, 573.442749,
0.000000, 0.000000, 1.000000);
Matx33d K2(6137.147949, 0.000000, 644.674438,
0.000000, 6137.147949, 573.079834,
0.000000, 0.000000, 1.000000);
Matx34d RT1(1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0);
Matx34d RT2(0.998297, 0.0064108, -0.0579766, 143.614334,
-0.0065818, 0.999975, -0.00275888, -5.160085,
0.0579574, 0.00313577, 0.998314, 96.066109);
Matx34d P1 = K1*RT1;
Matx34d P2 = K2*RT2;
float x1data[] = { 438.f, 19.f };
float x2data[] = { 452.363600f, 16.452225f };
float Xdata[] = { -81.049530f, -215.702804f, 2401.645449f };
Mat x1(2, 1, CV_32F, x1data);
Mat x2(2, 1, CV_32F, x2data);
Mat res0(1, 3, CV_32F, Xdata);
Mat res_, res;
triangulatePoints(P1, P2, x1, x2, res_);
transpose(res_, res_);
convertPointsFromHomogeneous(res_, res);
res = res.reshape(1, 1);
cout << "[2]:" << endl;
cout << "\tres0: " << res0 << endl;
cout << "\tres: " << res << endl;
ASSERT_LE(norm(res, res0, NORM_INF), 2);
}
}