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Added a check that Tx after rectification is equal to distance between cameras

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This commit is contained in:
Ilya Lysenkov 2012-03-27 16:47:19 +00:00
parent e72a23243b
commit bc7b517e41
1 changed files with 8 additions and 0 deletions
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8
modules/calib3d/test/test_cameracalibration.cpp
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@ -1478,6 +1478,14 @@ void CV_StereoCalibrationTest::run( int )
return; return;
} }
//check that Tx after rectification is equal to distance between cameras
double tx = fabs(P2.at<double>(0, 3) / P2.at<double>(0, 0));
if (fabs(tx - norm(T)) > 1e-5)
{
ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
return;
}
//check that Q reprojects points before the camera //check that Q reprojects points before the camera
double testPoint[4] = {0.0, 0.0, 100.0, 1.0}; double testPoint[4] = {0.0, 0.0, 100.0, 1.0};
Mat reprojectedTestPoint = Q * Mat_<double>(4, 1, testPoint); Mat reprojectedTestPoint = Q * Mat_<double>(4, 1, testPoint);