init - 初始化项目

modules/calib3d/test/test_undistort_points.cpp

@@ -0,0 +1,148 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+#include "test_precomp.hpp"
+
+namespace opencv_test { namespace {
+
+class CV_UndistortTest : public cvtest::BaseTest
+{
+public:
+    CV_UndistortTest();
+    ~CV_UndistortTest();
+protected:
+    void run(int);
+private:
+    void generate3DPointCloud(vector<Point3f>& points, Point3f pmin = Point3f(-1,
+    -1, 5), Point3f pmax = Point3f(1, 1, 10));
+    void generateCameraMatrix(Mat& cameraMatrix);
+    void generateDistCoeffs(Mat& distCoeffs, int count);
+
+    double thresh;
+    RNG rng;
+};
+
+CV_UndistortTest::CV_UndistortTest()
+{
+    thresh = 1.0e-2;
+}
+CV_UndistortTest::~CV_UndistortTest() {}
+
+void CV_UndistortTest::generate3DPointCloud(vector<Point3f>& points, Point3f pmin, Point3f pmax)
+{
+    RNG rng_Point = cv::theRNG(); // fix the seed to use "fixed" input 3D points
+    for (size_t i = 0; i < points.size(); i++)
+    {
+        float _x = rng_Point.uniform(pmin.x, pmax.x);
+        float _y = rng_Point.uniform(pmin.y, pmax.y);
+        float _z = rng_Point.uniform(pmin.z, pmax.z);
+        points[i] = Point3f(_x, _y, _z);
+    }
+}
+void CV_UndistortTest::generateCameraMatrix(Mat& cameraMatrix)
+{
+    const double fcMinVal = 1e-3;
+    const double fcMaxVal = 100;
+    cameraMatrix.create(3, 3, CV_64FC1);
+    cameraMatrix.setTo(Scalar(0));
+    cameraMatrix.at<double>(0,0) = rng.uniform(fcMinVal, fcMaxVal);
+    cameraMatrix.at<double>(1,1) = rng.uniform(fcMinVal, fcMaxVal);
+    cameraMatrix.at<double>(0,2) = rng.uniform(fcMinVal, fcMaxVal);
+    cameraMatrix.at<double>(1,2) = rng.uniform(fcMinVal, fcMaxVal);
+    cameraMatrix.at<double>(2,2) = 1;
+}
+void CV_UndistortTest::generateDistCoeffs(Mat& distCoeffs, int count)
+{
+    distCoeffs = Mat::zeros(count, 1, CV_64FC1);
+    for (int i = 0; i < count; i++)
+        distCoeffs.at<double>(i,0) = rng.uniform(0.0, 1.0e-3);
+}
+
+void CV_UndistortTest::run(int /* start_from */)
+{
+    Mat intrinsics, distCoeffs;
+    generateCameraMatrix(intrinsics);
+    vector<Point3f> points(500);
+    generate3DPointCloud(points);
+    vector<Point2f> projectedPoints;
+    projectedPoints.resize(points.size());
+
+    int modelMembersCount[] = {4,5,8};
+    for (int idx = 0; idx < 3; idx++)
+    {
+        generateDistCoeffs(distCoeffs, modelMembersCount[idx]);
+        projectPoints(Mat(points), Mat::zeros(3,1,CV_64FC1), Mat::zeros(3,1,CV_64FC1), intrinsics, distCoeffs, projectedPoints);
+
+        vector<Point2f> realUndistortedPoints;
+        projectPoints(Mat(points), Mat::zeros(3,1,CV_64FC1), Mat::zeros(3,1,CV_64FC1), intrinsics,  Mat::zeros(4,1,CV_64FC1), realUndistortedPoints);
+
+        Mat undistortedPoints;
+        undistortPoints(Mat(projectedPoints), undistortedPoints, intrinsics, distCoeffs);
+
+        Mat p;
+        perspectiveTransform(undistortedPoints, p, intrinsics);
+        undistortedPoints = p;
+        double diff = cvtest::norm(Mat(realUndistortedPoints), undistortedPoints, NORM_L2);
+        if (diff > thresh)
+        {
+            ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
+            return;
+        }
+        ts->set_failed_test_info(cvtest::TS::OK);
+    }
+}
+
+TEST(Calib3d_Undistort, accuracy) { CV_UndistortTest test; test.safe_run(); }
+
+TEST(Calib3d_Undistort, stop_criteria)
+{
+    Mat cameraMatrix = (Mat_<double>(3,3,CV_64F) << 857.48296979, 0, 968.06224829,
+                                                        0, 876.71824265, 556.37145899,
+                                                        0, 0, 1);
+    Mat distCoeffs = (Mat_<double>(5,1,CV_64F) <<
+                      -2.57614020e-01, 8.77086999e-02, -2.56970803e-04, -5.93390389e-04, -1.52194091e-02);
+    RNG rng(2);
+    Point2d pt_distorted(rng.uniform(0.0, 1920.0), rng.uniform(0.0, 1080.0));
+    std::vector<Point2d> pt_distorted_vec;
+    pt_distorted_vec.push_back(pt_distorted);
+    const double maxError = 1e-6;
+    TermCriteria criteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 100, maxError);
+    std::vector<Point2d> pt_undist_vec;
+    undistortPoints(pt_distorted_vec, pt_undist_vec, cameraMatrix, distCoeffs, noArray(), noArray(), criteria);
+
+    std::vector<Point2d> pt_redistorted_vec;
+    std::vector<Point3d> pt_undist_vec_homogeneous;
+    pt_undist_vec_homogeneous.push_back( Point3d(pt_undist_vec[0].x, pt_undist_vec[0].y, 1.0) );
+    projectPoints(pt_undist_vec_homogeneous, Mat::zeros(3,1,CV_64F), Mat::zeros(3,1,CV_64F), cameraMatrix, distCoeffs, pt_redistorted_vec);
+    const double obtainedError = sqrt( pow(pt_distorted.x - pt_redistorted_vec[0].x, 2) + pow(pt_distorted.y - pt_redistorted_vec[0].y, 2) );
+
+    ASSERT_LE(obtainedError, maxError);
+}
+
+TEST(undistortPoints, regression_14583)
+{
+    const int col = 720;
+    // const int row = 540;
+    float camera_matrix_value[] = {
+        437.8995f, 0.0f, 342.9241f,
+        0.0f, 438.8216f, 273.7163f,
+        0.0f, 0.0f,      1.0f
+    };
+    cv::Mat camera_interior(3, 3, CV_32F, camera_matrix_value);
+
+    float camera_distort_value[] = {-0.34329f, 0.11431f, 0.0f, 0.0f, -0.017375f};
+    cv::Mat camera_distort(1, 5, CV_32F, camera_distort_value);
+
+    float distort_points_value[] = {col, 0.};
+    cv::Mat distort_pt(1, 1, CV_32FC2, distort_points_value);
+
+    cv::Mat undistort_pt;
+    cv::undistortPoints(distort_pt, undistort_pt, camera_interior,
+                        camera_distort, cv::Mat(), camera_interior);
+
+    EXPECT_NEAR(distort_pt.at<Vec2f>(0)[0], undistort_pt.at<Vec2f>(0)[0], col / 2)
+        << "distort point: " << distort_pt << std::endl
+        << "undistort point: " << undistort_pt;
+}
+
+}} // namespace