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Added a check that Q reprojects to the same 3D points as reconstructed by triangulation (#1575)

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This commit is contained in:
Ilya Lysenkov 2012-03-27 19:04:43 +00:00
parent bc7b517e41
commit e1378aad79
1 changed files with 47 additions and 0 deletions
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47
modules/calib3d/test/test_cameracalibration.cpp
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@ -1496,6 +1496,53 @@ void CV_StereoCalibrationTest::run( int )
ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT ); ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
} }
//check that Q reprojects the same points as reconstructed by triangulation
const float minCoord = -300.0f;
const float maxCoord = 300.0f;
const float minDisparity = 0.1f;
const float maxDisparity = 600.0f;
const int pointsCount = 500;
const float requiredAccuracy = 1e-3;
RNG& rng = ts->get_rng();
Mat projectedPoints_1(2, pointsCount, CV_32FC1);
Mat projectedPoints_2(2, pointsCount, CV_32FC1);
Mat disparities(1, pointsCount, CV_32FC1);
rng.fill(projectedPoints_1, RNG::UNIFORM, minCoord, maxCoord);
rng.fill(disparities, RNG::UNIFORM, minDisparity, maxDisparity);
projectedPoints_2.row(0) = projectedPoints_1.row(0) - disparities;
Mat ys_2 = projectedPoints_2.row(1);
projectedPoints_1.row(1).copyTo(ys_2);
const int dimension = 4;
Mat points4d(dimension, pointsCount, CV_32FC1);
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();
homogeneousPoints4d = homogeneousPoints4d.reshape(dimension);
Mat triangulatedPoints;
convertPointsFromHomogeneous(homogeneousPoints4d, triangulatedPoints);
Mat sparsePoints;
sparsePoints.push_back(projectedPoints_1);
sparsePoints.push_back(disparities);
sparsePoints = sparsePoints.t();
sparsePoints = sparsePoints.reshape(3);
Mat reprojectedPoints;
perspectiveTransform(sparsePoints, reprojectedPoints, Q);
if (norm(triangulatedPoints - reprojectedPoints) / sqrt(pointsCount) > requiredAccuracy)
{
ts->printf( cvtest::TS::LOG, "Points reprojected with a matrix Q and points reconstructed by triangulation are different, 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 );