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Added a check that Q (computed by rectification) reprojects a point before the camera

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Ilya Lysenkov 2012-03-27 15:01:26 +00:00
parent b6ab96ae0b
commit d9001d1a91
1 changed files with 10 additions and 0 deletions
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10
modules/calib3d/test/test_cameracalibration.cpp
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@ -1478,6 +1478,16 @@ void CV_StereoCalibrationTest::run( int )
return; return;
} }
//check that Q reprojects points before the camera
double testPoint[4] = {0.0, 0.0, 100.0, 1.0};
Mat reprojectedTestPoint = Q * Mat_<double>(4, 1, testPoint);
CV_Assert(reprojectedTestPoint.type() == CV_64FC1);
if( reprojectedTestPoint.at<double>(2) / reprojectedTestPoint.at<double>(3) < 0 )
{
ts->printf( cvtest::TS::LOG, "A point after rectification is reprojected behind the camera, testcase %d\n", testcase);
ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
}
// rectifyUncalibrated // rectifyUncalibrated
CV_Assert( imgpt1.size() == imgpt2.size() ); CV_Assert( imgpt1.size() == imgpt2.size() );
Mat _imgpt1( total, 1, CV_32FC2 ), _imgpt2( total, 1, CV_32FC2 ); Mat _imgpt1( total, 1, CV_32FC2 ), _imgpt2( total, 1, CV_32FC2 );