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241 lines
9.9 KiB
Swift
241 lines
9.9 KiB
Swift
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//
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// Calib3dTest.swift
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//
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// Created by Giles Payne on 2020/05/26.
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//
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import XCTest
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import OpenCV
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class Cv3dTest: OpenCVTestCase {
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var size = Size()
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override func setUp() {
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super.setUp()
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size = Size(width: 3, height: 3)
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}
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override func tearDown() {
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super.tearDown()
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}
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func testComposeRTMatMatMatMatMatMat() throws {
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let rvec1 = Mat(rows: 3, cols: 1, type: CvType.CV_32F)
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try rvec1.put(row: 0, col: 0, data: [0.5302828, 0.19925919, 0.40105945] as [Float])
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let tvec1 = Mat(rows: 3, cols: 1, type: CvType.CV_32F)
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try tvec1.put(row: 0, col: 0, data: [0.81438506, 0.43713298, 0.2487897] as [Float])
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let rvec2 = Mat(rows: 3, cols: 1, type: CvType.CV_32F)
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try rvec2.put(row: 0, col: 0, data: [0.77310503, 0.76209372, 0.30779448] as [Float])
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let tvec2 = Mat(rows: 3, cols: 1, type: CvType.CV_32F)
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try tvec2.put(row: 0, col: 0, data: [0.70243168, 0.4784472, 0.79219002] as [Float])
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let rvec3 = Mat()
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let tvec3 = Mat()
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let outRvec = Mat(rows: 3, cols: 1, type: CvType.CV_32F)
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try outRvec.put(row: 0, col: 0, data: [1.418641, 0.88665926, 0.56020796])
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let outTvec = Mat(rows: 3, cols: 1, type: CvType.CV_32F)
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try outTvec.put(row: 0, col: 0, data: [1.4560841, 1.0680628, 0.81598103])
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Cv3d.composeRT(rvec1: rvec1, tvec1: tvec1, rvec2: rvec2, tvec2: tvec2, rvec3: rvec3, tvec3: tvec3)
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try assertMatEqual(outRvec, rvec3, OpenCVTestCase.EPS)
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try assertMatEqual(outTvec, tvec3, OpenCVTestCase.EPS)
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}
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func testFindHomographyListOfPointListOfPoint() throws {
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let NUM:Int32 = 20
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let originalPoints = MatOfPoint2f()
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originalPoints.alloc(NUM)
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let transformedPoints = MatOfPoint2f()
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transformedPoints.alloc(NUM)
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for i:Int32 in 0..<NUM {
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let x:Float = Float.random(in: -50...50)
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let y:Float = Float.random(in: -50...50)
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try originalPoints.put(row:i, col:0, data:[x, y])
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try transformedPoints.put(row:i, col:0, data:[y, x])
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}
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let hmg = Cv3d.findHomography(srcPoints: originalPoints, dstPoints: transformedPoints)
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truth = Mat(rows: 3, cols: 3, type: CvType.CV_64F)
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try truth!.put(row:0, col:0, data:[0, 1, 0, 1, 0, 0, 0, 0, 1] as [Double])
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try assertMatEqual(truth!, hmg, OpenCVTestCase.EPS)
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}
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func testRodriguesMatMat() throws {
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let r = Mat(rows: 3, cols: 1, type: CvType.CV_32F)
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let R = Mat(rows: 3, cols: 3, type: CvType.CV_32F)
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try r.put(row:0, col:0, data:[.pi, 0, 0] as [Float])
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Cv3d.Rodrigues(src: r, dst: R)
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truth = Mat(rows: 3, cols: 3, type: CvType.CV_32F)
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try truth!.put(row:0, col:0, data:[1, 0, 0, 0, -1, 0, 0, 0, -1] as [Float])
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try assertMatEqual(truth!, R, OpenCVTestCase.EPS)
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let r2 = Mat()
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Cv3d.Rodrigues(src: R, dst: r2)
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try assertMatEqual(r, r2, OpenCVTestCase.EPS)
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}
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func testSolvePnPListOfPoint3ListOfPointMatMatMatMat() throws {
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let intrinsics = Mat.eye(rows: 3, cols: 3, type: CvType.CV_64F)
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try intrinsics.put(row: 0, col: 0, data: [400] as [Double])
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try intrinsics.put(row: 1, col: 1, data: [400] as [Double])
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try intrinsics.put(row: 0, col: 2, data: [640 / 2] as [Double])
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try intrinsics.put(row: 1, col: 2, data: [480 / 2] as [Double])
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let minPnpPointsNum: Int32 = 4
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let points3d = MatOfPoint3f()
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points3d.alloc(minPnpPointsNum)
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let points2d = MatOfPoint2f()
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points2d.alloc(minPnpPointsNum)
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for i in 0..<minPnpPointsNum {
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let x = Float.random(in: -50...50)
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let y = Float.random(in: -50...50)
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try points2d.put(row: i, col: 0, data: [x, y]) //add(Point(x, y))
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try points3d.put(row: i, col: 0, data: [0, y, x]) // add(Point3(0, y, x))
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}
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let rvec = Mat()
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let tvec = Mat()
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Cv3d.solvePnP(objectPoints: points3d, imagePoints: points2d, cameraMatrix: intrinsics, distCoeffs: MatOfDouble(), rvec: rvec, tvec: tvec)
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let truth_rvec = Mat(rows: 3, cols: 1, type: CvType.CV_64F)
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try truth_rvec.put(row: 0, col: 0, data: [0, .pi / 2, 0] as [Double])
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let truth_tvec = Mat(rows: 3, cols: 1, type: CvType.CV_64F)
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try truth_tvec.put(row: 0, col: 0, data: [-320, -240, 400] as [Double])
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try assertMatEqual(truth_rvec, rvec, OpenCVTestCase.EPS)
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try assertMatEqual(truth_tvec, tvec, OpenCVTestCase.EPS)
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}
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func testComputeCorrespondEpilines() throws {
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let fundamental = Mat(rows: 3, cols: 3, type: CvType.CV_64F)
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try fundamental.put(row: 0, col: 0, data: [0, -0.577, 0.288, 0.577, 0, 0.288, -0.288, -0.288, 0])
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let left = MatOfPoint2f()
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left.alloc(1)
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try left.put(row: 0, col: 0, data: [2, 3] as [Float]) //add(Point(x, y))
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let lines = Mat()
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let truth = Mat(rows: 1, cols: 1, type: CvType.CV_32FC3)
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try truth.put(row: 0, col: 0, data: [-0.70735186, 0.70686162, -0.70588124])
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Cv3d.computeCorrespondEpilines(points: left, whichImage: 1, F: fundamental, lines: lines)
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try assertMatEqual(truth, lines, OpenCVTestCase.EPS)
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}
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func testSolvePnPGeneric_regression_16040() throws {
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let intrinsics = Mat.eye(rows: 3, cols: 3, type: CvType.CV_64F)
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try intrinsics.put(row: 0, col: 0, data: [400] as [Double])
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try intrinsics.put(row: 1, col: 1, data: [400] as [Double])
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try intrinsics.put(row: 0, col: 2, data: [640 / 2] as [Double])
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try intrinsics.put(row: 1, col: 2, data: [480 / 2] as [Double])
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let minPnpPointsNum: Int32 = 4
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let points3d = MatOfPoint3f()
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points3d.alloc(minPnpPointsNum)
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let points2d = MatOfPoint2f()
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points2d.alloc(minPnpPointsNum)
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for i in 0..<minPnpPointsNum {
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let x = Float.random(in: -50...50)
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let y = Float.random(in: -50...50)
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try points2d.put(row: i, col: 0, data: [x, y]) //add(Point(x, y))
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try points3d.put(row: i, col: 0, data: [0, y, x]) // add(Point3(0, y, x))
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}
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var rvecs = [Mat]()
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var tvecs = [Mat]()
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let rvec = Mat()
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let tvec = Mat()
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let reprojectionError = Mat(rows: 2, cols: 1, type: CvType.CV_64FC1)
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Cv3d.solvePnPGeneric(objectPoints: points3d, imagePoints: points2d, cameraMatrix: intrinsics, distCoeffs: MatOfDouble(), rvecs: &rvecs, tvecs: &tvecs, useExtrinsicGuess: false, flags: .SOLVEPNP_IPPE, rvec: rvec, tvec: tvec, reprojectionError: reprojectionError)
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let truth_rvec = Mat(rows: 3, cols: 1, type: CvType.CV_64F)
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try truth_rvec.put(row: 0, col: 0, data: [0, .pi / 2, 0] as [Double])
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let truth_tvec = Mat(rows: 3, cols: 1, type: CvType.CV_64F)
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try truth_tvec.put(row: 0, col: 0, data: [-320, -240, 400] as [Double])
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try assertMatEqual(truth_rvec, rvecs[0], 10 * OpenCVTestCase.EPS)
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try assertMatEqual(truth_tvec, tvecs[0], 1000 * OpenCVTestCase.EPS)
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}
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func testGetDefaultNewCameraMatrixMat() {
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let mtx = Cv3d.getDefaultNewCameraMatrix(cameraMatrix: gray0)
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XCTAssertFalse(mtx.empty())
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XCTAssertEqual(0, Core.countNonZero(src: mtx))
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}
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func testGetDefaultNewCameraMatrixMatSizeBoolean() {
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let mtx = Cv3d.getDefaultNewCameraMatrix(cameraMatrix: gray0, imgsize: size, centerPrincipalPoint: true)
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XCTAssertFalse(mtx.empty())
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XCTAssertFalse(0 == Core.countNonZero(src: mtx))
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// TODO_: write better test
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}
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func testUndistortMatMatMatMat() throws {
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let src = Mat(rows: 3, cols: 3, type: CvType.CV_32F, scalar: Scalar(3))
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let cameraMatrix = Mat(rows: 3, cols: 3, type: CvType.CV_32F)
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try cameraMatrix.put(row: 0, col: 0, data: [1, 0, 1] as [Float])
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try cameraMatrix.put(row: 1, col: 0, data: [0, 1, 2] as [Float])
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try cameraMatrix.put(row: 2, col: 0, data: [0, 0, 1] as [Float])
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let distCoeffs = Mat(rows: 1, cols: 4, type: CvType.CV_32F)
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try distCoeffs.put(row: 0, col: 0, data: [1, 3, 2, 4] as [Float])
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Cv3d.undistort(src: src, dst: dst, cameraMatrix: cameraMatrix, distCoeffs: distCoeffs)
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truth = Mat(rows: 3, cols: 3, type: CvType.CV_32F)
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try truth!.put(row: 0, col: 0, data: [0, 0, 0] as [Float])
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try truth!.put(row: 1, col: 0, data: [0, 0, 0] as [Float])
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try truth!.put(row: 2, col: 0, data: [0, 3, 0] as [Float])
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try assertMatEqual(truth!, dst, OpenCVTestCase.EPS)
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}
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func testUndistortMatMatMatMatMat() throws {
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let src = Mat(rows: 3, cols: 3, type: CvType.CV_32F, scalar: Scalar(3))
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let cameraMatrix = Mat(rows: 3, cols: 3, type: CvType.CV_32F)
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try cameraMatrix.put(row: 0, col: 0, data: [1, 0, 1] as [Float])
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try cameraMatrix.put(row: 1, col: 0, data: [0, 1, 2] as [Float])
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try cameraMatrix.put(row: 2, col: 0, data: [0, 0, 1] as [Float])
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let distCoeffs = Mat(rows: 1, cols: 4, type: CvType.CV_32F)
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try distCoeffs.put(row: 0, col: 0, data: [2, 1, 4, 5] as [Float])
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let newCameraMatrix = Mat(rows: 3, cols: 3, type: CvType.CV_32F, scalar: Scalar(1))
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Cv3d.undistort(src: src, dst: dst, cameraMatrix: cameraMatrix, distCoeffs: distCoeffs, newCameraMatrix: newCameraMatrix)
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truth = Mat(rows: 3, cols: 3, type: CvType.CV_32F, scalar: Scalar(3))
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try assertMatEqual(truth!, dst, OpenCVTestCase.EPS)
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}
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//undistortPoints(List<Point> src, List<Point> dst, Mat cameraMatrix, Mat distCoeffs)
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func testUndistortPointsListOfPointListOfPointMatMat() {
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let src = MatOfPoint2f(array: [Point2f(x: 1, y: 2), Point2f(x: 3, y: 4), Point2f(x: -1, y: -1)])
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let dst = MatOfPoint2f()
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let cameraMatrix = Mat.eye(rows: 3, cols: 3, type: CvType.CV_64FC1)
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let distCoeffs = Mat(rows: 8, cols: 1, type: CvType.CV_64FC1, scalar: Scalar(0))
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Cv3d.undistortPoints(src: src, dst: dst, cameraMatrix: cameraMatrix, distCoeffs: distCoeffs)
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XCTAssertEqual(src.toArray(), dst.toArray())
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}
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}
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