opencv/modules/calib/test/test_cameracalibration.cpp

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#include "test_precomp.hpp"
#include "opencv2/stereo.hpp"
namespace opencv_test { namespace {
#if 0
class CV_ProjectPointsTest : public cvtest::ArrayTest
{
public:
CV_ProjectPointsTest();
protected:
int read_params( const cv::FileStorage& fs );
void fill_array( int test_case_idx, int i, int j, Mat& arr );
int prepare_test_case( int test_case_idx );
void get_test_array_types_and_sizes( int test_case_idx, vector<vector<Size> >& sizes, vector<vector<int> >& types );
double get_success_error_level( int test_case_idx, int i, int j );
void run_func();
void prepare_to_validation( int );
bool calc_jacobians;
};
CV_ProjectPointsTest::CV_ProjectPointsTest()
: cvtest::ArrayTest( "3d-ProjectPoints", "cvProjectPoints2", "" )
{
test_array[INPUT].push_back(NULL); // rotation vector
test_array[OUTPUT].push_back(NULL); // rotation matrix
test_array[OUTPUT].push_back(NULL); // jacobian (J)
test_array[OUTPUT].push_back(NULL); // rotation vector (backward transform result)
test_array[OUTPUT].push_back(NULL); // inverse transform jacobian (J1)
test_array[OUTPUT].push_back(NULL); // J*J1 (or J1*J) == I(3x3)
test_array[REF_OUTPUT].push_back(NULL);
test_array[REF_OUTPUT].push_back(NULL);
test_array[REF_OUTPUT].push_back(NULL);
test_array[REF_OUTPUT].push_back(NULL);
test_array[REF_OUTPUT].push_back(NULL);
element_wise_relative_error = false;
calc_jacobians = false;
}
int CV_ProjectPointsTest::read_params( const cv::FileStorage& fs )
{
int code = cvtest::ArrayTest::read_params( fs );
return code;
}
void CV_ProjectPointsTest::get_test_array_types_and_sizes(
int /*test_case_idx*/, vector<vector<Size> >& sizes, vector<vector<int> >& types )
{
RNG& rng = ts->get_rng();
int depth = cvtest::randInt(rng) % 2 == 0 ? CV_32F : CV_64F;
int i, code;
code = cvtest::randInt(rng) % 3;
types[INPUT][0] = CV_MAKETYPE(depth, 1);
if( code == 0 )
{
sizes[INPUT][0] = cvSize(1,1);
types[INPUT][0] = CV_MAKETYPE(depth, 3);
}
else if( code == 1 )
sizes[INPUT][0] = cvSize(3,1);
else
sizes[INPUT][0] = cvSize(1,3);
sizes[OUTPUT][0] = cvSize(3, 3);
types[OUTPUT][0] = CV_MAKETYPE(depth, 1);
types[OUTPUT][1] = CV_MAKETYPE(depth, 1);
if( cvtest::randInt(rng) % 2 )
sizes[OUTPUT][1] = cvSize(3,9);
else
sizes[OUTPUT][1] = cvSize(9,3);
types[OUTPUT][2] = types[INPUT][0];
sizes[OUTPUT][2] = sizes[INPUT][0];
types[OUTPUT][3] = types[OUTPUT][1];
sizes[OUTPUT][3] = cvSize(sizes[OUTPUT][1].height, sizes[OUTPUT][1].width);
types[OUTPUT][4] = types[OUTPUT][1];
sizes[OUTPUT][4] = cvSize(3,3);
calc_jacobians = 1;//cvtest::randInt(rng) % 3 != 0;
if( !calc_jacobians )
sizes[OUTPUT][1] = sizes[OUTPUT][3] = sizes[OUTPUT][4] = cvSize(0,0);
for( i = 0; i < 5; i++ )
{
types[REF_OUTPUT][i] = types[OUTPUT][i];
sizes[REF_OUTPUT][i] = sizes[OUTPUT][i];
}
}
double CV_ProjectPointsTest::get_success_error_level( int /*test_case_idx*/, int /*i*/, int j )
{
return j == 4 ? 1e-2 : 1e-2;
}
void CV_ProjectPointsTest::fill_array( int /*test_case_idx*/, int /*i*/, int /*j*/, CvMat* arr )
{
double r[3], theta0, theta1, f;
CvMat _r = cvMat( arr->rows, arr->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(arr->type)), r );
RNG& rng = ts->get_rng();
r[0] = cvtest::randReal(rng)*CV_PI*2;
r[1] = cvtest::randReal(rng)*CV_PI*2;
r[2] = cvtest::randReal(rng)*CV_PI*2;
theta0 = sqrt(r[0]*r[0] + r[1]*r[1] + r[2]*r[2]);
theta1 = fmod(theta0, CV_PI*2);
if( theta1 > CV_PI )
theta1 = -(CV_PI*2 - theta1);
f = theta1/(theta0 ? theta0 : 1);
r[0] *= f;
r[1] *= f;
r[2] *= f;
cvTsConvert( &_r, arr );
}
int CV_ProjectPointsTest::prepare_test_case( int test_case_idx )
{
int code = cvtest::ArrayTest::prepare_test_case( test_case_idx );
return code;
}
void CV_ProjectPointsTest::run_func()
{
CvMat *v2m_jac = 0, *m2v_jac = 0;
if( calc_jacobians )
{
v2m_jac = &test_mat[OUTPUT][1];
m2v_jac = &test_mat[OUTPUT][3];
}
cvProjectPoints2( &test_mat[INPUT][0], &test_mat[OUTPUT][0], v2m_jac );
cvProjectPoints2( &test_mat[OUTPUT][0], &test_mat[OUTPUT][2], m2v_jac );
}
void CV_ProjectPointsTest::prepare_to_validation( int /*test_case_idx*/ )
{
const CvMat* vec = &test_mat[INPUT][0];
CvMat* m = &test_mat[REF_OUTPUT][0];
CvMat* vec2 = &test_mat[REF_OUTPUT][2];
CvMat* v2m_jac = 0, *m2v_jac = 0;
double theta0, theta1;
if( calc_jacobians )
{
v2m_jac = &test_mat[REF_OUTPUT][1];
m2v_jac = &test_mat[REF_OUTPUT][3];
}
cvTsProjectPoints( vec, m, v2m_jac );
cvTsProjectPoints( m, vec2, m2v_jac );
cvTsCopy( vec, vec2 );
theta0 = cvtest::norm( cvarrtomat(vec2), 0, CV_L2 );
theta1 = fmod( theta0, CV_PI*2 );
if( theta1 > CV_PI )
theta1 = -(CV_PI*2 - theta1);
cvScale( vec2, vec2, theta1/(theta0 ? theta0 : 1) );
if( calc_jacobians )
{
//cvInvert( v2m_jac, m2v_jac, CV_SVD );
if( cvtest::norm(cvarrtomat(&test_mat[OUTPUT][3]), 0, CV_C) < 1000 )
{
cvTsGEMM( &test_mat[OUTPUT][1], &test_mat[OUTPUT][3],
1, 0, 0, &test_mat[OUTPUT][4],
v2m_jac->rows == 3 ? 0 : CV_GEMM_A_T + CV_GEMM_B_T );
}
else
{
cvTsSetIdentity( &test_mat[OUTPUT][4], cvScalarAll(1.) );
cvTsCopy( &test_mat[REF_OUTPUT][2], &test_mat[OUTPUT][2] );
}
cvTsSetIdentity( &test_mat[REF_OUTPUT][4], cvScalarAll(1.) );
}
}
CV_ProjectPointsTest ProjectPoints_test;
#endif
// --------------------------------- CV_CameraCalibrationTest --------------------------------------------
typedef Matx33d RotMat;
class CV_CameraCalibrationTest : public cvtest::BaseTest
{
public:
CV_CameraCalibrationTest();
~CV_CameraCalibrationTest();
void clear();
protected:
int compare(double* val, double* refVal, int len,
double eps, const char* paramName);
virtual void calibrate(Size imageSize,
const std::vector<std::vector<Point2d> >& imagePoints,
const std::vector<std::vector<Point3d> >& objectPoints,
int iFixedPoint, Mat& distortionCoeffs, Mat& cameraMatrix, std::vector<Vec3d>& translationVectors,
std::vector<RotMat>& rotationMatrices, std::vector<Point3d>& newObjPoints,
std::vector<double>& stdDevs, std::vector<double>& perViewErrors,
Merge pull request #12772 from xoox:calib-release-object More accurate pinhole camera calibration with imperfect planar target (#12772) 43 commits: * Add derivatives with respect to object points Add an output parameter to calculate derivatives of image points with respect to 3D coordinates of object points. The output jacobian matrix is a 2Nx3N matrix where N is the number of points. This commit introduces incompatibility to old function signature. * Set zero for dpdo matrix before using dpdo is a sparse matrix with only non-zero value close to major diagonal. Set it to zero because only elements near major diagonal are computed. * Add jacobian columns to projectPoints() The output jacobian matrix of derivatives with respect to coordinates of 3D object points are added. This might break callers who assume the columns of jacobian matrix. * Adapt test code to updated project functions The test cases for projectPoints() and cvProjectPoints2() are updated to fit new function signatures. * Add accuracy test code for dpdo * Add badarg test for dpdo * Add new enum item for new calibration method CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of object points. The method was proposed in: K. H. Strobl and G. Hirzinger. "More Accurate Pinhole Camera Calibration with Imperfect Planar Target". In Proceedings of the IEEE International Conference on Computer Vision (ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, Barcelona, Spain, pp. 1068-1075, November 2011. * Add releasing object method into internal function It's a simple extension of the standard calibration scheme. We choose to fix the first and last object point and a user-selected fixed point. * Add interfaces for extended calibration method * Refine document for calibrateCamera() When releasing object points, only the z coordinates of the objectPoints[0].back is fixed. * Add link to strobl2011iccv paper * Improve documentation for calibrateCamera() * Add implementations of wrapping calibrateCamera() * Add checking for params of new calibration method If input parameters are not qualified, then fall back to standard calibration method. * Add camera calibration method of releasing object The current implementation is equal to or better than https://github.com/xoox/calibrel * Update doc for CALIB_RELEASE_OBJECT CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases. * Add RELEASE_OBJECT calibration to tutorial code To select the calibration method of releasing object points, a command line parameter `-d=<number>` should be provided. * Update tutorial doc for camera_calibration If the method of releasing object points is merged into OpenCV. It will be expected to be firstly released in 4.1, I think. * Reduce epsilon for cornerSubPix() Epsilon of 0.1 is a bigger one. Preciser corner positions are required with calibration method of releasing object. * Refine camera calibration tutorial The hypothesis coordinates are used to indicate which distance must be measured between two specified object points. * Update sample calibration code method selection Similar to camera_calibration tutorial application, a command line argument `-dt=<number>` is used to select the calibration method. * Add guard to flags of cvCalibrateCamera2() cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload interface is added in the future. * Simplify fallback when iFixedPoint is out of range * Refactor projectPoints() to keep compatibilities * Fix arg string "Bad rvecs header" * Read calibration flags from test data files Instead of being hard coded into source file, the calibration flags will be read from test data files. opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with the test code. * Add new C interface of cvCalibrateCamera4() With this new added C interface, the extended calibration method with CALIB_RELEASE_OBJECT can be called by C API. * Add regression test of extended calibration method It has been tested with new added test data in xoox:calib-release-object branch of opencv_extra. * Fix assertion in test_cameracalibration.cpp The total number of refined 3D object coordinates is checked. * Add checker for iFixedPoint in cvCalibrateCamera4 If iFixedPoint is out of rational range, fall back to standard method. * Fix documentation for overloaded calibrateCamera() * Remove calibration flag of CALIB_RELEASE_OBJECT The method selection is based on the range of the index of fixed point. For minus values, standard calibration method will be chosen. Values in a rational range will make the object-releasing calibration method selected. * Use new interfaces instead of function overload Existing interfaces are preserved and new interfaces are added. Since most part of the code base are shared, calibrateCamera() is now a wrapper function of calibrateCameraRO(). * Fix exported name of calibrateCameraRO() * Update documentation for calibrateCameraRO() The circumstances where this method is mostly helpful are described. * Add note on the rigidity of the calibration target * Update documentation for calibrateCameraRO() It is clarified that iFixedPoint is used as a switch to select calibration method. If input data are not qualified, exceptions will be thrown instead of fallback scheme. * Clarify iFixedPoint as switch and remove fallback iFixedPoint is now used as a switch for calibration method selection. No fallback scheme is utilized anymore. If the input data are not qualified, exceptions will be thrown. * Add badarg test for object-releasing method * Fix document format of sample list List items of same level should be indented the same way. Otherwise they will be formatted as nested lists by Doxygen. * Add brief intro for objectPoints and imagePoints * Sync tutorial to sample calibration code * Update tutorial compatibility version to 4.0
2018-10-26 00:38:55 +08:00
int flags ) = 0;
virtual void project( const std::vector<Point3d>& objectPoints,
const RotMat& rotationMatrix, const Vec3d& translationVector,
const Mat& cameraMatrix, const Mat& distortion,
std::vector<Point2d>& imagePoints ) = 0;
void run(int);
};
CV_CameraCalibrationTest::CV_CameraCalibrationTest()
{
}
CV_CameraCalibrationTest::~CV_CameraCalibrationTest()
{
clear();
}
void CV_CameraCalibrationTest::clear()
{
2012-06-09 23:00:04 +08:00
cvtest::BaseTest::clear();
}
int CV_CameraCalibrationTest::compare(double* val, double* ref_val, int len,
double eps, const char* param_name )
{
return cvtest::cmpEps2_64f( ts, val, ref_val, len, eps, param_name );
}
void CV_CameraCalibrationTest::run( int start_from )
{
int code = cvtest::TS::OK;
2014-01-16 20:18:02 +08:00
cv::String filepath;
cv::String filename;
std::vector<std::vector<Point2d> > imagePoints;
std::vector<std::vector<Point3d> > objectPoints;
std::vector<std::vector<Point2d> > reprojectPoints;
std::vector<Vec3d> transVects;
std::vector<RotMat> rotMatrs;
std::vector<Point3d> newObjPoints;
std::vector<double> stdDevs;
std::vector<double> perViewErrors;
std::vector<Vec3d> goodTransVects;
std::vector<RotMat> goodRotMatrs;
std::vector<Point3d> goodObjPoints;
std::vector<double> goodPerViewErrors;
std::vector<double> goodStdDevs;
Mat cameraMatrix;
Mat distortion = Mat::zeros(1, 5, CV_64F);
Mat goodDistortion = Mat::zeros(1, 5, CV_64F);
FILE* file = 0;
FILE* datafile = 0;
int i,j;
int currImage;
int currPoint;
char i_dat_file[100];
int progress = 0;
int values_read = -1;
2014-01-16 20:18:02 +08:00
filepath = cv::format("%scv/cameracalibration/", ts->get_data_path().c_str() );
filename = cv::format("%sdatafiles.txt", filepath.c_str() );
datafile = fopen( filename.c_str(), "r" );
if( datafile == 0 )
{
2014-01-16 20:18:02 +08:00
ts->printf( cvtest::TS::LOG, "Could not open file with list of test files: %s\n", filename.c_str() );
code = cvtest::TS::FAIL_MISSING_TEST_DATA;
ts->set_failed_test_info( code );
return;
}
int numTests = 0;
values_read = fscanf(datafile,"%d",&numTests);
CV_Assert(values_read == 1);
for( int currTest = start_from; currTest < numTests; currTest++ )
{
values_read = fscanf(datafile,"%s",i_dat_file);
CV_Assert(values_read == 1);
2014-01-16 20:18:02 +08:00
filename = cv::format("%s%s", filepath.c_str(), i_dat_file);
file = fopen(filename.c_str(),"r");
ts->update_context( this, currTest, true );
if( file == 0 )
{
ts->printf( cvtest::TS::LOG,
2014-01-16 20:18:02 +08:00
"Can't open current test file: %s\n",filename.c_str());
if( numTests == 1 )
{
code = cvtest::TS::FAIL_MISSING_TEST_DATA;
break;
}
continue; // if there is more than one test, just skip the test
}
Size imageSize;
values_read = fscanf(file,"%d %d\n",&(imageSize.width),&(imageSize.height));
CV_Assert(values_read == 2);
if( imageSize.width <= 0 || imageSize.height <= 0 )
{
ts->printf( cvtest::TS::LOG, "Image size in test file is incorrect\n" );
code = cvtest::TS::FAIL_INVALID_TEST_DATA;
break;
}
/* Read etalon size */
Size etalonSize;
values_read = fscanf(file,"%d %d\n",&(etalonSize.width),&(etalonSize.height));
CV_Assert(values_read == 2);
if( etalonSize.width <= 0 || etalonSize.height <= 0 )
{
ts->printf( cvtest::TS::LOG, "Pattern size in test file is incorrect\n" );
code = cvtest::TS::FAIL_INVALID_TEST_DATA;
break;
}
int numPoints = etalonSize.width * etalonSize.height;
/* Read number of images */
int numImages = 0;
values_read = fscanf(file,"%d\n",&numImages);
CV_Assert(values_read == 1);
if( numImages <=0 )
{
ts->printf( cvtest::TS::LOG, "Number of images in test file is incorrect\n");
code = cvtest::TS::FAIL_INVALID_TEST_DATA;
break;
}
Merge pull request #12772 from xoox:calib-release-object More accurate pinhole camera calibration with imperfect planar target (#12772) 43 commits: * Add derivatives with respect to object points Add an output parameter to calculate derivatives of image points with respect to 3D coordinates of object points. The output jacobian matrix is a 2Nx3N matrix where N is the number of points. This commit introduces incompatibility to old function signature. * Set zero for dpdo matrix before using dpdo is a sparse matrix with only non-zero value close to major diagonal. Set it to zero because only elements near major diagonal are computed. * Add jacobian columns to projectPoints() The output jacobian matrix of derivatives with respect to coordinates of 3D object points are added. This might break callers who assume the columns of jacobian matrix. * Adapt test code to updated project functions The test cases for projectPoints() and cvProjectPoints2() are updated to fit new function signatures. * Add accuracy test code for dpdo * Add badarg test for dpdo * Add new enum item for new calibration method CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of object points. The method was proposed in: K. H. Strobl and G. Hirzinger. "More Accurate Pinhole Camera Calibration with Imperfect Planar Target". In Proceedings of the IEEE International Conference on Computer Vision (ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, Barcelona, Spain, pp. 1068-1075, November 2011. * Add releasing object method into internal function It's a simple extension of the standard calibration scheme. We choose to fix the first and last object point and a user-selected fixed point. * Add interfaces for extended calibration method * Refine document for calibrateCamera() When releasing object points, only the z coordinates of the objectPoints[0].back is fixed. * Add link to strobl2011iccv paper * Improve documentation for calibrateCamera() * Add implementations of wrapping calibrateCamera() * Add checking for params of new calibration method If input parameters are not qualified, then fall back to standard calibration method. * Add camera calibration method of releasing object The current implementation is equal to or better than https://github.com/xoox/calibrel * Update doc for CALIB_RELEASE_OBJECT CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases. * Add RELEASE_OBJECT calibration to tutorial code To select the calibration method of releasing object points, a command line parameter `-d=<number>` should be provided. * Update tutorial doc for camera_calibration If the method of releasing object points is merged into OpenCV. It will be expected to be firstly released in 4.1, I think. * Reduce epsilon for cornerSubPix() Epsilon of 0.1 is a bigger one. Preciser corner positions are required with calibration method of releasing object. * Refine camera calibration tutorial The hypothesis coordinates are used to indicate which distance must be measured between two specified object points. * Update sample calibration code method selection Similar to camera_calibration tutorial application, a command line argument `-dt=<number>` is used to select the calibration method. * Add guard to flags of cvCalibrateCamera2() cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload interface is added in the future. * Simplify fallback when iFixedPoint is out of range * Refactor projectPoints() to keep compatibilities * Fix arg string "Bad rvecs header" * Read calibration flags from test data files Instead of being hard coded into source file, the calibration flags will be read from test data files. opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with the test code. * Add new C interface of cvCalibrateCamera4() With this new added C interface, the extended calibration method with CALIB_RELEASE_OBJECT can be called by C API. * Add regression test of extended calibration method It has been tested with new added test data in xoox:calib-release-object branch of opencv_extra. * Fix assertion in test_cameracalibration.cpp The total number of refined 3D object coordinates is checked. * Add checker for iFixedPoint in cvCalibrateCamera4 If iFixedPoint is out of rational range, fall back to standard method. * Fix documentation for overloaded calibrateCamera() * Remove calibration flag of CALIB_RELEASE_OBJECT The method selection is based on the range of the index of fixed point. For minus values, standard calibration method will be chosen. Values in a rational range will make the object-releasing calibration method selected. * Use new interfaces instead of function overload Existing interfaces are preserved and new interfaces are added. Since most part of the code base are shared, calibrateCamera() is now a wrapper function of calibrateCameraRO(). * Fix exported name of calibrateCameraRO() * Update documentation for calibrateCameraRO() The circumstances where this method is mostly helpful are described. * Add note on the rigidity of the calibration target * Update documentation for calibrateCameraRO() It is clarified that iFixedPoint is used as a switch to select calibration method. If input data are not qualified, exceptions will be thrown instead of fallback scheme. * Clarify iFixedPoint as switch and remove fallback iFixedPoint is now used as a switch for calibration method selection. No fallback scheme is utilized anymore. If the input data are not qualified, exceptions will be thrown. * Add badarg test for object-releasing method * Fix document format of sample list List items of same level should be indented the same way. Otherwise they will be formatted as nested lists by Doxygen. * Add brief intro for objectPoints and imagePoints * Sync tutorial to sample calibration code * Update tutorial compatibility version to 4.0
2018-10-26 00:38:55 +08:00
/* Read calibration flags */
int calibFlags = 0;
Merge pull request #12772 from xoox:calib-release-object More accurate pinhole camera calibration with imperfect planar target (#12772) 43 commits: * Add derivatives with respect to object points Add an output parameter to calculate derivatives of image points with respect to 3D coordinates of object points. The output jacobian matrix is a 2Nx3N matrix where N is the number of points. This commit introduces incompatibility to old function signature. * Set zero for dpdo matrix before using dpdo is a sparse matrix with only non-zero value close to major diagonal. Set it to zero because only elements near major diagonal are computed. * Add jacobian columns to projectPoints() The output jacobian matrix of derivatives with respect to coordinates of 3D object points are added. This might break callers who assume the columns of jacobian matrix. * Adapt test code to updated project functions The test cases for projectPoints() and cvProjectPoints2() are updated to fit new function signatures. * Add accuracy test code for dpdo * Add badarg test for dpdo * Add new enum item for new calibration method CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of object points. The method was proposed in: K. H. Strobl and G. Hirzinger. "More Accurate Pinhole Camera Calibration with Imperfect Planar Target". In Proceedings of the IEEE International Conference on Computer Vision (ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, Barcelona, Spain, pp. 1068-1075, November 2011. * Add releasing object method into internal function It's a simple extension of the standard calibration scheme. We choose to fix the first and last object point and a user-selected fixed point. * Add interfaces for extended calibration method * Refine document for calibrateCamera() When releasing object points, only the z coordinates of the objectPoints[0].back is fixed. * Add link to strobl2011iccv paper * Improve documentation for calibrateCamera() * Add implementations of wrapping calibrateCamera() * Add checking for params of new calibration method If input parameters are not qualified, then fall back to standard calibration method. * Add camera calibration method of releasing object The current implementation is equal to or better than https://github.com/xoox/calibrel * Update doc for CALIB_RELEASE_OBJECT CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases. * Add RELEASE_OBJECT calibration to tutorial code To select the calibration method of releasing object points, a command line parameter `-d=<number>` should be provided. * Update tutorial doc for camera_calibration If the method of releasing object points is merged into OpenCV. It will be expected to be firstly released in 4.1, I think. * Reduce epsilon for cornerSubPix() Epsilon of 0.1 is a bigger one. Preciser corner positions are required with calibration method of releasing object. * Refine camera calibration tutorial The hypothesis coordinates are used to indicate which distance must be measured between two specified object points. * Update sample calibration code method selection Similar to camera_calibration tutorial application, a command line argument `-dt=<number>` is used to select the calibration method. * Add guard to flags of cvCalibrateCamera2() cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload interface is added in the future. * Simplify fallback when iFixedPoint is out of range * Refactor projectPoints() to keep compatibilities * Fix arg string "Bad rvecs header" * Read calibration flags from test data files Instead of being hard coded into source file, the calibration flags will be read from test data files. opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with the test code. * Add new C interface of cvCalibrateCamera4() With this new added C interface, the extended calibration method with CALIB_RELEASE_OBJECT can be called by C API. * Add regression test of extended calibration method It has been tested with new added test data in xoox:calib-release-object branch of opencv_extra. * Fix assertion in test_cameracalibration.cpp The total number of refined 3D object coordinates is checked. * Add checker for iFixedPoint in cvCalibrateCamera4 If iFixedPoint is out of rational range, fall back to standard method. * Fix documentation for overloaded calibrateCamera() * Remove calibration flag of CALIB_RELEASE_OBJECT The method selection is based on the range of the index of fixed point. For minus values, standard calibration method will be chosen. Values in a rational range will make the object-releasing calibration method selected. * Use new interfaces instead of function overload Existing interfaces are preserved and new interfaces are added. Since most part of the code base are shared, calibrateCamera() is now a wrapper function of calibrateCameraRO(). * Fix exported name of calibrateCameraRO() * Update documentation for calibrateCameraRO() The circumstances where this method is mostly helpful are described. * Add note on the rigidity of the calibration target * Update documentation for calibrateCameraRO() It is clarified that iFixedPoint is used as a switch to select calibration method. If input data are not qualified, exceptions will be thrown instead of fallback scheme. * Clarify iFixedPoint as switch and remove fallback iFixedPoint is now used as a switch for calibration method selection. No fallback scheme is utilized anymore. If the input data are not qualified, exceptions will be thrown. * Add badarg test for object-releasing method * Fix document format of sample list List items of same level should be indented the same way. Otherwise they will be formatted as nested lists by Doxygen. * Add brief intro for objectPoints and imagePoints * Sync tutorial to sample calibration code * Update tutorial compatibility version to 4.0
2018-10-26 00:38:55 +08:00
values_read = fscanf(file,"%d\n",&calibFlags);
CV_Assert(values_read == 1);
/* Read index of the fixed point */
int iFixedPoint;
values_read = fscanf(file,"%d\n",&iFixedPoint);
CV_Assert(values_read == 1);
/* Need to allocate memory */
imagePoints.resize(numImages);
objectPoints.resize(numImages);
reprojectPoints.resize(numImages);
for( currImage = 0; currImage < numImages; currImage++ )
{
imagePoints[currImage].resize(numPoints);
objectPoints[currImage].resize(numPoints);
reprojectPoints[currImage].resize(numPoints);
}
transVects.resize(numImages);
rotMatrs.resize(numImages);
newObjPoints.resize(numPoints);
stdDevs.resize(CALIB_NINTRINSIC + 6*numImages + 3*numPoints);
perViewErrors.resize(numImages);
goodTransVects.resize(numImages);
goodRotMatrs.resize(numImages);
goodObjPoints.resize(numPoints);
goodPerViewErrors.resize(numImages);
int nstddev = CALIB_NINTRINSIC + 6*numImages + 3*numPoints;
goodStdDevs.resize(nstddev);
for( currImage = 0; currImage < numImages; currImage++ )
{
for( currPoint = 0; currPoint < numPoints; currPoint++ )
{
double x,y,z;
values_read = fscanf(file,"%lf %lf %lf\n",&x,&y,&z);
CV_Assert(values_read == 3);
objectPoints[currImage][currPoint].x = x;
objectPoints[currImage][currPoint].y = y;
objectPoints[currImage][currPoint].z = z;
}
}
/* Read image points */
for( currImage = 0; currImage < numImages; currImage++ )
{
for( currPoint = 0; currPoint < numPoints; currPoint++ )
{
double x,y;
values_read = fscanf(file,"%lf %lf\n",&x,&y);
CV_Assert(values_read == 2);
imagePoints[currImage][currPoint].x = x;
imagePoints[currImage][currPoint].y = y;
}
}
/* Read good data computed before */
/* Focal lengths */
double goodFcx,goodFcy;
values_read = fscanf(file,"%lf %lf",&goodFcx,&goodFcy);
CV_Assert(values_read == 2);
/* Principal points */
double goodCx,goodCy;
values_read = fscanf(file,"%lf %lf",&goodCx,&goodCy);
CV_Assert(values_read == 2);
/* Read distortion */
for( i = 0; i < 4; i++ )
{
values_read = fscanf(file,"%lf",&goodDistortion.at<double>(i)); CV_Assert(values_read == 1);
}
2014-03-03 01:04:17 +08:00
/* Read good Rot matrices */
for( currImage = 0; currImage < numImages; currImage++ )
{
for( i = 0; i < 3; i++ )
for( j = 0; j < 3; j++ )
{
// Yes, load with transpose
values_read = fscanf(file, "%lf", &goodRotMatrs[currImage].val[j*3+i]);
CV_Assert(values_read == 1);
}
}
/* Read good Trans vectors */
for( currImage = 0; currImage < numImages; currImage++ )
{
for( i = 0; i < 3; i++ )
{
values_read = fscanf(file, "%lf", &goodTransVects[currImage].val[i]);
CV_Assert(values_read == 1);
}
}
Merge pull request #12772 from xoox:calib-release-object More accurate pinhole camera calibration with imperfect planar target (#12772) 43 commits: * Add derivatives with respect to object points Add an output parameter to calculate derivatives of image points with respect to 3D coordinates of object points. The output jacobian matrix is a 2Nx3N matrix where N is the number of points. This commit introduces incompatibility to old function signature. * Set zero for dpdo matrix before using dpdo is a sparse matrix with only non-zero value close to major diagonal. Set it to zero because only elements near major diagonal are computed. * Add jacobian columns to projectPoints() The output jacobian matrix of derivatives with respect to coordinates of 3D object points are added. This might break callers who assume the columns of jacobian matrix. * Adapt test code to updated project functions The test cases for projectPoints() and cvProjectPoints2() are updated to fit new function signatures. * Add accuracy test code for dpdo * Add badarg test for dpdo * Add new enum item for new calibration method CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of object points. The method was proposed in: K. H. Strobl and G. Hirzinger. "More Accurate Pinhole Camera Calibration with Imperfect Planar Target". In Proceedings of the IEEE International Conference on Computer Vision (ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, Barcelona, Spain, pp. 1068-1075, November 2011. * Add releasing object method into internal function It's a simple extension of the standard calibration scheme. We choose to fix the first and last object point and a user-selected fixed point. * Add interfaces for extended calibration method * Refine document for calibrateCamera() When releasing object points, only the z coordinates of the objectPoints[0].back is fixed. * Add link to strobl2011iccv paper * Improve documentation for calibrateCamera() * Add implementations of wrapping calibrateCamera() * Add checking for params of new calibration method If input parameters are not qualified, then fall back to standard calibration method. * Add camera calibration method of releasing object The current implementation is equal to or better than https://github.com/xoox/calibrel * Update doc for CALIB_RELEASE_OBJECT CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases. * Add RELEASE_OBJECT calibration to tutorial code To select the calibration method of releasing object points, a command line parameter `-d=<number>` should be provided. * Update tutorial doc for camera_calibration If the method of releasing object points is merged into OpenCV. It will be expected to be firstly released in 4.1, I think. * Reduce epsilon for cornerSubPix() Epsilon of 0.1 is a bigger one. Preciser corner positions are required with calibration method of releasing object. * Refine camera calibration tutorial The hypothesis coordinates are used to indicate which distance must be measured between two specified object points. * Update sample calibration code method selection Similar to camera_calibration tutorial application, a command line argument `-dt=<number>` is used to select the calibration method. * Add guard to flags of cvCalibrateCamera2() cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload interface is added in the future. * Simplify fallback when iFixedPoint is out of range * Refactor projectPoints() to keep compatibilities * Fix arg string "Bad rvecs header" * Read calibration flags from test data files Instead of being hard coded into source file, the calibration flags will be read from test data files. opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with the test code. * Add new C interface of cvCalibrateCamera4() With this new added C interface, the extended calibration method with CALIB_RELEASE_OBJECT can be called by C API. * Add regression test of extended calibration method It has been tested with new added test data in xoox:calib-release-object branch of opencv_extra. * Fix assertion in test_cameracalibration.cpp The total number of refined 3D object coordinates is checked. * Add checker for iFixedPoint in cvCalibrateCamera4 If iFixedPoint is out of rational range, fall back to standard method. * Fix documentation for overloaded calibrateCamera() * Remove calibration flag of CALIB_RELEASE_OBJECT The method selection is based on the range of the index of fixed point. For minus values, standard calibration method will be chosen. Values in a rational range will make the object-releasing calibration method selected. * Use new interfaces instead of function overload Existing interfaces are preserved and new interfaces are added. Since most part of the code base are shared, calibrateCamera() is now a wrapper function of calibrateCameraRO(). * Fix exported name of calibrateCameraRO() * Update documentation for calibrateCameraRO() The circumstances where this method is mostly helpful are described. * Add note on the rigidity of the calibration target * Update documentation for calibrateCameraRO() It is clarified that iFixedPoint is used as a switch to select calibration method. If input data are not qualified, exceptions will be thrown instead of fallback scheme. * Clarify iFixedPoint as switch and remove fallback iFixedPoint is now used as a switch for calibration method selection. No fallback scheme is utilized anymore. If the input data are not qualified, exceptions will be thrown. * Add badarg test for object-releasing method * Fix document format of sample list List items of same level should be indented the same way. Otherwise they will be formatted as nested lists by Doxygen. * Add brief intro for objectPoints and imagePoints * Sync tutorial to sample calibration code * Update tutorial compatibility version to 4.0
2018-10-26 00:38:55 +08:00
bool releaseObject = iFixedPoint > 0 && iFixedPoint < numPoints - 1;
/* Read good refined 3D object points */
if( releaseObject )
{
for( i = 0; i < numPoints; i++ )
Merge pull request #12772 from xoox:calib-release-object More accurate pinhole camera calibration with imperfect planar target (#12772) 43 commits: * Add derivatives with respect to object points Add an output parameter to calculate derivatives of image points with respect to 3D coordinates of object points. The output jacobian matrix is a 2Nx3N matrix where N is the number of points. This commit introduces incompatibility to old function signature. * Set zero for dpdo matrix before using dpdo is a sparse matrix with only non-zero value close to major diagonal. Set it to zero because only elements near major diagonal are computed. * Add jacobian columns to projectPoints() The output jacobian matrix of derivatives with respect to coordinates of 3D object points are added. This might break callers who assume the columns of jacobian matrix. * Adapt test code to updated project functions The test cases for projectPoints() and cvProjectPoints2() are updated to fit new function signatures. * Add accuracy test code for dpdo * Add badarg test for dpdo * Add new enum item for new calibration method CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of object points. The method was proposed in: K. H. Strobl and G. Hirzinger. "More Accurate Pinhole Camera Calibration with Imperfect Planar Target". In Proceedings of the IEEE International Conference on Computer Vision (ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, Barcelona, Spain, pp. 1068-1075, November 2011. * Add releasing object method into internal function It's a simple extension of the standard calibration scheme. We choose to fix the first and last object point and a user-selected fixed point. * Add interfaces for extended calibration method * Refine document for calibrateCamera() When releasing object points, only the z coordinates of the objectPoints[0].back is fixed. * Add link to strobl2011iccv paper * Improve documentation for calibrateCamera() * Add implementations of wrapping calibrateCamera() * Add checking for params of new calibration method If input parameters are not qualified, then fall back to standard calibration method. * Add camera calibration method of releasing object The current implementation is equal to or better than https://github.com/xoox/calibrel * Update doc for CALIB_RELEASE_OBJECT CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases. * Add RELEASE_OBJECT calibration to tutorial code To select the calibration method of releasing object points, a command line parameter `-d=<number>` should be provided. * Update tutorial doc for camera_calibration If the method of releasing object points is merged into OpenCV. It will be expected to be firstly released in 4.1, I think. * Reduce epsilon for cornerSubPix() Epsilon of 0.1 is a bigger one. Preciser corner positions are required with calibration method of releasing object. * Refine camera calibration tutorial The hypothesis coordinates are used to indicate which distance must be measured between two specified object points. * Update sample calibration code method selection Similar to camera_calibration tutorial application, a command line argument `-dt=<number>` is used to select the calibration method. * Add guard to flags of cvCalibrateCamera2() cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload interface is added in the future. * Simplify fallback when iFixedPoint is out of range * Refactor projectPoints() to keep compatibilities * Fix arg string "Bad rvecs header" * Read calibration flags from test data files Instead of being hard coded into source file, the calibration flags will be read from test data files. opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with the test code. * Add new C interface of cvCalibrateCamera4() With this new added C interface, the extended calibration method with CALIB_RELEASE_OBJECT can be called by C API. * Add regression test of extended calibration method It has been tested with new added test data in xoox:calib-release-object branch of opencv_extra. * Fix assertion in test_cameracalibration.cpp The total number of refined 3D object coordinates is checked. * Add checker for iFixedPoint in cvCalibrateCamera4 If iFixedPoint is out of rational range, fall back to standard method. * Fix documentation for overloaded calibrateCamera() * Remove calibration flag of CALIB_RELEASE_OBJECT The method selection is based on the range of the index of fixed point. For minus values, standard calibration method will be chosen. Values in a rational range will make the object-releasing calibration method selected. * Use new interfaces instead of function overload Existing interfaces are preserved and new interfaces are added. Since most part of the code base are shared, calibrateCamera() is now a wrapper function of calibrateCameraRO(). * Fix exported name of calibrateCameraRO() * Update documentation for calibrateCameraRO() The circumstances where this method is mostly helpful are described. * Add note on the rigidity of the calibration target * Update documentation for calibrateCameraRO() It is clarified that iFixedPoint is used as a switch to select calibration method. If input data are not qualified, exceptions will be thrown instead of fallback scheme. * Clarify iFixedPoint as switch and remove fallback iFixedPoint is now used as a switch for calibration method selection. No fallback scheme is utilized anymore. If the input data are not qualified, exceptions will be thrown. * Add badarg test for object-releasing method * Fix document format of sample list List items of same level should be indented the same way. Otherwise they will be formatted as nested lists by Doxygen. * Add brief intro for objectPoints and imagePoints * Sync tutorial to sample calibration code * Update tutorial compatibility version to 4.0
2018-10-26 00:38:55 +08:00
{
for( j = 0; j < 3; j++ )
{
values_read = fscanf(file, "%lf", &goodObjPoints[i].x + j);
Merge pull request #12772 from xoox:calib-release-object More accurate pinhole camera calibration with imperfect planar target (#12772) 43 commits: * Add derivatives with respect to object points Add an output parameter to calculate derivatives of image points with respect to 3D coordinates of object points. The output jacobian matrix is a 2Nx3N matrix where N is the number of points. This commit introduces incompatibility to old function signature. * Set zero for dpdo matrix before using dpdo is a sparse matrix with only non-zero value close to major diagonal. Set it to zero because only elements near major diagonal are computed. * Add jacobian columns to projectPoints() The output jacobian matrix of derivatives with respect to coordinates of 3D object points are added. This might break callers who assume the columns of jacobian matrix. * Adapt test code to updated project functions The test cases for projectPoints() and cvProjectPoints2() are updated to fit new function signatures. * Add accuracy test code for dpdo * Add badarg test for dpdo * Add new enum item for new calibration method CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of object points. The method was proposed in: K. H. Strobl and G. Hirzinger. "More Accurate Pinhole Camera Calibration with Imperfect Planar Target". In Proceedings of the IEEE International Conference on Computer Vision (ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, Barcelona, Spain, pp. 1068-1075, November 2011. * Add releasing object method into internal function It's a simple extension of the standard calibration scheme. We choose to fix the first and last object point and a user-selected fixed point. * Add interfaces for extended calibration method * Refine document for calibrateCamera() When releasing object points, only the z coordinates of the objectPoints[0].back is fixed. * Add link to strobl2011iccv paper * Improve documentation for calibrateCamera() * Add implementations of wrapping calibrateCamera() * Add checking for params of new calibration method If input parameters are not qualified, then fall back to standard calibration method. * Add camera calibration method of releasing object The current implementation is equal to or better than https://github.com/xoox/calibrel * Update doc for CALIB_RELEASE_OBJECT CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases. * Add RELEASE_OBJECT calibration to tutorial code To select the calibration method of releasing object points, a command line parameter `-d=<number>` should be provided. * Update tutorial doc for camera_calibration If the method of releasing object points is merged into OpenCV. It will be expected to be firstly released in 4.1, I think. * Reduce epsilon for cornerSubPix() Epsilon of 0.1 is a bigger one. Preciser corner positions are required with calibration method of releasing object. * Refine camera calibration tutorial The hypothesis coordinates are used to indicate which distance must be measured between two specified object points. * Update sample calibration code method selection Similar to camera_calibration tutorial application, a command line argument `-dt=<number>` is used to select the calibration method. * Add guard to flags of cvCalibrateCamera2() cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload interface is added in the future. * Simplify fallback when iFixedPoint is out of range * Refactor projectPoints() to keep compatibilities * Fix arg string "Bad rvecs header" * Read calibration flags from test data files Instead of being hard coded into source file, the calibration flags will be read from test data files. opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with the test code. * Add new C interface of cvCalibrateCamera4() With this new added C interface, the extended calibration method with CALIB_RELEASE_OBJECT can be called by C API. * Add regression test of extended calibration method It has been tested with new added test data in xoox:calib-release-object branch of opencv_extra. * Fix assertion in test_cameracalibration.cpp The total number of refined 3D object coordinates is checked. * Add checker for iFixedPoint in cvCalibrateCamera4 If iFixedPoint is out of rational range, fall back to standard method. * Fix documentation for overloaded calibrateCamera() * Remove calibration flag of CALIB_RELEASE_OBJECT The method selection is based on the range of the index of fixed point. For minus values, standard calibration method will be chosen. Values in a rational range will make the object-releasing calibration method selected. * Use new interfaces instead of function overload Existing interfaces are preserved and new interfaces are added. Since most part of the code base are shared, calibrateCamera() is now a wrapper function of calibrateCameraRO(). * Fix exported name of calibrateCameraRO() * Update documentation for calibrateCameraRO() The circumstances where this method is mostly helpful are described. * Add note on the rigidity of the calibration target * Update documentation for calibrateCameraRO() It is clarified that iFixedPoint is used as a switch to select calibration method. If input data are not qualified, exceptions will be thrown instead of fallback scheme. * Clarify iFixedPoint as switch and remove fallback iFixedPoint is now used as a switch for calibration method selection. No fallback scheme is utilized anymore. If the input data are not qualified, exceptions will be thrown. * Add badarg test for object-releasing method * Fix document format of sample list List items of same level should be indented the same way. Otherwise they will be formatted as nested lists by Doxygen. * Add brief intro for objectPoints and imagePoints * Sync tutorial to sample calibration code * Update tutorial compatibility version to 4.0
2018-10-26 00:38:55 +08:00
CV_Assert(values_read == 1);
}
}
}
/* Read good stdDeviations */
for (i = 0; i < CALIB_NINTRINSIC + numImages*6; i++)
{
values_read = fscanf(file, "%lf", &goodStdDevs[i]);
CV_Assert(values_read == 1);
}
for( ; i < nstddev; i++ )
Merge pull request #12772 from xoox:calib-release-object More accurate pinhole camera calibration with imperfect planar target (#12772) 43 commits: * Add derivatives with respect to object points Add an output parameter to calculate derivatives of image points with respect to 3D coordinates of object points. The output jacobian matrix is a 2Nx3N matrix where N is the number of points. This commit introduces incompatibility to old function signature. * Set zero for dpdo matrix before using dpdo is a sparse matrix with only non-zero value close to major diagonal. Set it to zero because only elements near major diagonal are computed. * Add jacobian columns to projectPoints() The output jacobian matrix of derivatives with respect to coordinates of 3D object points are added. This might break callers who assume the columns of jacobian matrix. * Adapt test code to updated project functions The test cases for projectPoints() and cvProjectPoints2() are updated to fit new function signatures. * Add accuracy test code for dpdo * Add badarg test for dpdo * Add new enum item for new calibration method CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of object points. The method was proposed in: K. H. Strobl and G. Hirzinger. "More Accurate Pinhole Camera Calibration with Imperfect Planar Target". In Proceedings of the IEEE International Conference on Computer Vision (ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, Barcelona, Spain, pp. 1068-1075, November 2011. * Add releasing object method into internal function It's a simple extension of the standard calibration scheme. We choose to fix the first and last object point and a user-selected fixed point. * Add interfaces for extended calibration method * Refine document for calibrateCamera() When releasing object points, only the z coordinates of the objectPoints[0].back is fixed. * Add link to strobl2011iccv paper * Improve documentation for calibrateCamera() * Add implementations of wrapping calibrateCamera() * Add checking for params of new calibration method If input parameters are not qualified, then fall back to standard calibration method. * Add camera calibration method of releasing object The current implementation is equal to or better than https://github.com/xoox/calibrel * Update doc for CALIB_RELEASE_OBJECT CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases. * Add RELEASE_OBJECT calibration to tutorial code To select the calibration method of releasing object points, a command line parameter `-d=<number>` should be provided. * Update tutorial doc for camera_calibration If the method of releasing object points is merged into OpenCV. It will be expected to be firstly released in 4.1, I think. * Reduce epsilon for cornerSubPix() Epsilon of 0.1 is a bigger one. Preciser corner positions are required with calibration method of releasing object. * Refine camera calibration tutorial The hypothesis coordinates are used to indicate which distance must be measured between two specified object points. * Update sample calibration code method selection Similar to camera_calibration tutorial application, a command line argument `-dt=<number>` is used to select the calibration method. * Add guard to flags of cvCalibrateCamera2() cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload interface is added in the future. * Simplify fallback when iFixedPoint is out of range * Refactor projectPoints() to keep compatibilities * Fix arg string "Bad rvecs header" * Read calibration flags from test data files Instead of being hard coded into source file, the calibration flags will be read from test data files. opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with the test code. * Add new C interface of cvCalibrateCamera4() With this new added C interface, the extended calibration method with CALIB_RELEASE_OBJECT can be called by C API. * Add regression test of extended calibration method It has been tested with new added test data in xoox:calib-release-object branch of opencv_extra. * Fix assertion in test_cameracalibration.cpp The total number of refined 3D object coordinates is checked. * Add checker for iFixedPoint in cvCalibrateCamera4 If iFixedPoint is out of rational range, fall back to standard method. * Fix documentation for overloaded calibrateCamera() * Remove calibration flag of CALIB_RELEASE_OBJECT The method selection is based on the range of the index of fixed point. For minus values, standard calibration method will be chosen. Values in a rational range will make the object-releasing calibration method selected. * Use new interfaces instead of function overload Existing interfaces are preserved and new interfaces are added. Since most part of the code base are shared, calibrateCamera() is now a wrapper function of calibrateCameraRO(). * Fix exported name of calibrateCameraRO() * Update documentation for calibrateCameraRO() The circumstances where this method is mostly helpful are described. * Add note on the rigidity of the calibration target * Update documentation for calibrateCameraRO() It is clarified that iFixedPoint is used as a switch to select calibration method. If input data are not qualified, exceptions will be thrown instead of fallback scheme. * Clarify iFixedPoint as switch and remove fallback iFixedPoint is now used as a switch for calibration method selection. No fallback scheme is utilized anymore. If the input data are not qualified, exceptions will be thrown. * Add badarg test for object-releasing method * Fix document format of sample list List items of same level should be indented the same way. Otherwise they will be formatted as nested lists by Doxygen. * Add brief intro for objectPoints and imagePoints * Sync tutorial to sample calibration code * Update tutorial compatibility version to 4.0
2018-10-26 00:38:55 +08:00
{
if( releaseObject )
Merge pull request #12772 from xoox:calib-release-object More accurate pinhole camera calibration with imperfect planar target (#12772) 43 commits: * Add derivatives with respect to object points Add an output parameter to calculate derivatives of image points with respect to 3D coordinates of object points. The output jacobian matrix is a 2Nx3N matrix where N is the number of points. This commit introduces incompatibility to old function signature. * Set zero for dpdo matrix before using dpdo is a sparse matrix with only non-zero value close to major diagonal. Set it to zero because only elements near major diagonal are computed. * Add jacobian columns to projectPoints() The output jacobian matrix of derivatives with respect to coordinates of 3D object points are added. This might break callers who assume the columns of jacobian matrix. * Adapt test code to updated project functions The test cases for projectPoints() and cvProjectPoints2() are updated to fit new function signatures. * Add accuracy test code for dpdo * Add badarg test for dpdo * Add new enum item for new calibration method CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of object points. The method was proposed in: K. H. Strobl and G. Hirzinger. "More Accurate Pinhole Camera Calibration with Imperfect Planar Target". In Proceedings of the IEEE International Conference on Computer Vision (ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, Barcelona, Spain, pp. 1068-1075, November 2011. * Add releasing object method into internal function It's a simple extension of the standard calibration scheme. We choose to fix the first and last object point and a user-selected fixed point. * Add interfaces for extended calibration method * Refine document for calibrateCamera() When releasing object points, only the z coordinates of the objectPoints[0].back is fixed. * Add link to strobl2011iccv paper * Improve documentation for calibrateCamera() * Add implementations of wrapping calibrateCamera() * Add checking for params of new calibration method If input parameters are not qualified, then fall back to standard calibration method. * Add camera calibration method of releasing object The current implementation is equal to or better than https://github.com/xoox/calibrel * Update doc for CALIB_RELEASE_OBJECT CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases. * Add RELEASE_OBJECT calibration to tutorial code To select the calibration method of releasing object points, a command line parameter `-d=<number>` should be provided. * Update tutorial doc for camera_calibration If the method of releasing object points is merged into OpenCV. It will be expected to be firstly released in 4.1, I think. * Reduce epsilon for cornerSubPix() Epsilon of 0.1 is a bigger one. Preciser corner positions are required with calibration method of releasing object. * Refine camera calibration tutorial The hypothesis coordinates are used to indicate which distance must be measured between two specified object points. * Update sample calibration code method selection Similar to camera_calibration tutorial application, a command line argument `-dt=<number>` is used to select the calibration method. * Add guard to flags of cvCalibrateCamera2() cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload interface is added in the future. * Simplify fallback when iFixedPoint is out of range * Refactor projectPoints() to keep compatibilities * Fix arg string "Bad rvecs header" * Read calibration flags from test data files Instead of being hard coded into source file, the calibration flags will be read from test data files. opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with the test code. * Add new C interface of cvCalibrateCamera4() With this new added C interface, the extended calibration method with CALIB_RELEASE_OBJECT can be called by C API. * Add regression test of extended calibration method It has been tested with new added test data in xoox:calib-release-object branch of opencv_extra. * Fix assertion in test_cameracalibration.cpp The total number of refined 3D object coordinates is checked. * Add checker for iFixedPoint in cvCalibrateCamera4 If iFixedPoint is out of rational range, fall back to standard method. * Fix documentation for overloaded calibrateCamera() * Remove calibration flag of CALIB_RELEASE_OBJECT The method selection is based on the range of the index of fixed point. For minus values, standard calibration method will be chosen. Values in a rational range will make the object-releasing calibration method selected. * Use new interfaces instead of function overload Existing interfaces are preserved and new interfaces are added. Since most part of the code base are shared, calibrateCamera() is now a wrapper function of calibrateCameraRO(). * Fix exported name of calibrateCameraRO() * Update documentation for calibrateCameraRO() The circumstances where this method is mostly helpful are described. * Add note on the rigidity of the calibration target * Update documentation for calibrateCameraRO() It is clarified that iFixedPoint is used as a switch to select calibration method. If input data are not qualified, exceptions will be thrown instead of fallback scheme. * Clarify iFixedPoint as switch and remove fallback iFixedPoint is now used as a switch for calibration method selection. No fallback scheme is utilized anymore. If the input data are not qualified, exceptions will be thrown. * Add badarg test for object-releasing method * Fix document format of sample list List items of same level should be indented the same way. Otherwise they will be formatted as nested lists by Doxygen. * Add brief intro for objectPoints and imagePoints * Sync tutorial to sample calibration code * Update tutorial compatibility version to 4.0
2018-10-26 00:38:55 +08:00
{
values_read = fscanf(file, "%lf", &goodStdDevs[i]);
Merge pull request #12772 from xoox:calib-release-object More accurate pinhole camera calibration with imperfect planar target (#12772) 43 commits: * Add derivatives with respect to object points Add an output parameter to calculate derivatives of image points with respect to 3D coordinates of object points. The output jacobian matrix is a 2Nx3N matrix where N is the number of points. This commit introduces incompatibility to old function signature. * Set zero for dpdo matrix before using dpdo is a sparse matrix with only non-zero value close to major diagonal. Set it to zero because only elements near major diagonal are computed. * Add jacobian columns to projectPoints() The output jacobian matrix of derivatives with respect to coordinates of 3D object points are added. This might break callers who assume the columns of jacobian matrix. * Adapt test code to updated project functions The test cases for projectPoints() and cvProjectPoints2() are updated to fit new function signatures. * Add accuracy test code for dpdo * Add badarg test for dpdo * Add new enum item for new calibration method CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of object points. The method was proposed in: K. H. Strobl and G. Hirzinger. "More Accurate Pinhole Camera Calibration with Imperfect Planar Target". In Proceedings of the IEEE International Conference on Computer Vision (ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, Barcelona, Spain, pp. 1068-1075, November 2011. * Add releasing object method into internal function It's a simple extension of the standard calibration scheme. We choose to fix the first and last object point and a user-selected fixed point. * Add interfaces for extended calibration method * Refine document for calibrateCamera() When releasing object points, only the z coordinates of the objectPoints[0].back is fixed. * Add link to strobl2011iccv paper * Improve documentation for calibrateCamera() * Add implementations of wrapping calibrateCamera() * Add checking for params of new calibration method If input parameters are not qualified, then fall back to standard calibration method. * Add camera calibration method of releasing object The current implementation is equal to or better than https://github.com/xoox/calibrel * Update doc for CALIB_RELEASE_OBJECT CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases. * Add RELEASE_OBJECT calibration to tutorial code To select the calibration method of releasing object points, a command line parameter `-d=<number>` should be provided. * Update tutorial doc for camera_calibration If the method of releasing object points is merged into OpenCV. It will be expected to be firstly released in 4.1, I think. * Reduce epsilon for cornerSubPix() Epsilon of 0.1 is a bigger one. Preciser corner positions are required with calibration method of releasing object. * Refine camera calibration tutorial The hypothesis coordinates are used to indicate which distance must be measured between two specified object points. * Update sample calibration code method selection Similar to camera_calibration tutorial application, a command line argument `-dt=<number>` is used to select the calibration method. * Add guard to flags of cvCalibrateCamera2() cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload interface is added in the future. * Simplify fallback when iFixedPoint is out of range * Refactor projectPoints() to keep compatibilities * Fix arg string "Bad rvecs header" * Read calibration flags from test data files Instead of being hard coded into source file, the calibration flags will be read from test data files. opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with the test code. * Add new C interface of cvCalibrateCamera4() With this new added C interface, the extended calibration method with CALIB_RELEASE_OBJECT can be called by C API. * Add regression test of extended calibration method It has been tested with new added test data in xoox:calib-release-object branch of opencv_extra. * Fix assertion in test_cameracalibration.cpp The total number of refined 3D object coordinates is checked. * Add checker for iFixedPoint in cvCalibrateCamera4 If iFixedPoint is out of rational range, fall back to standard method. * Fix documentation for overloaded calibrateCamera() * Remove calibration flag of CALIB_RELEASE_OBJECT The method selection is based on the range of the index of fixed point. For minus values, standard calibration method will be chosen. Values in a rational range will make the object-releasing calibration method selected. * Use new interfaces instead of function overload Existing interfaces are preserved and new interfaces are added. Since most part of the code base are shared, calibrateCamera() is now a wrapper function of calibrateCameraRO(). * Fix exported name of calibrateCameraRO() * Update documentation for calibrateCameraRO() The circumstances where this method is mostly helpful are described. * Add note on the rigidity of the calibration target * Update documentation for calibrateCameraRO() It is clarified that iFixedPoint is used as a switch to select calibration method. If input data are not qualified, exceptions will be thrown instead of fallback scheme. * Clarify iFixedPoint as switch and remove fallback iFixedPoint is now used as a switch for calibration method selection. No fallback scheme is utilized anymore. If the input data are not qualified, exceptions will be thrown. * Add badarg test for object-releasing method * Fix document format of sample list List items of same level should be indented the same way. Otherwise they will be formatted as nested lists by Doxygen. * Add brief intro for objectPoints and imagePoints * Sync tutorial to sample calibration code * Update tutorial compatibility version to 4.0
2018-10-26 00:38:55 +08:00
CV_Assert(values_read == 1);
}
else
goodStdDevs[i] = 0.0;
Merge pull request #12772 from xoox:calib-release-object More accurate pinhole camera calibration with imperfect planar target (#12772) 43 commits: * Add derivatives with respect to object points Add an output parameter to calculate derivatives of image points with respect to 3D coordinates of object points. The output jacobian matrix is a 2Nx3N matrix where N is the number of points. This commit introduces incompatibility to old function signature. * Set zero for dpdo matrix before using dpdo is a sparse matrix with only non-zero value close to major diagonal. Set it to zero because only elements near major diagonal are computed. * Add jacobian columns to projectPoints() The output jacobian matrix of derivatives with respect to coordinates of 3D object points are added. This might break callers who assume the columns of jacobian matrix. * Adapt test code to updated project functions The test cases for projectPoints() and cvProjectPoints2() are updated to fit new function signatures. * Add accuracy test code for dpdo * Add badarg test for dpdo * Add new enum item for new calibration method CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of object points. The method was proposed in: K. H. Strobl and G. Hirzinger. "More Accurate Pinhole Camera Calibration with Imperfect Planar Target". In Proceedings of the IEEE International Conference on Computer Vision (ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, Barcelona, Spain, pp. 1068-1075, November 2011. * Add releasing object method into internal function It's a simple extension of the standard calibration scheme. We choose to fix the first and last object point and a user-selected fixed point. * Add interfaces for extended calibration method * Refine document for calibrateCamera() When releasing object points, only the z coordinates of the objectPoints[0].back is fixed. * Add link to strobl2011iccv paper * Improve documentation for calibrateCamera() * Add implementations of wrapping calibrateCamera() * Add checking for params of new calibration method If input parameters are not qualified, then fall back to standard calibration method. * Add camera calibration method of releasing object The current implementation is equal to or better than https://github.com/xoox/calibrel * Update doc for CALIB_RELEASE_OBJECT CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases. * Add RELEASE_OBJECT calibration to tutorial code To select the calibration method of releasing object points, a command line parameter `-d=<number>` should be provided. * Update tutorial doc for camera_calibration If the method of releasing object points is merged into OpenCV. It will be expected to be firstly released in 4.1, I think. * Reduce epsilon for cornerSubPix() Epsilon of 0.1 is a bigger one. Preciser corner positions are required with calibration method of releasing object. * Refine camera calibration tutorial The hypothesis coordinates are used to indicate which distance must be measured between two specified object points. * Update sample calibration code method selection Similar to camera_calibration tutorial application, a command line argument `-dt=<number>` is used to select the calibration method. * Add guard to flags of cvCalibrateCamera2() cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload interface is added in the future. * Simplify fallback when iFixedPoint is out of range * Refactor projectPoints() to keep compatibilities * Fix arg string "Bad rvecs header" * Read calibration flags from test data files Instead of being hard coded into source file, the calibration flags will be read from test data files. opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with the test code. * Add new C interface of cvCalibrateCamera4() With this new added C interface, the extended calibration method with CALIB_RELEASE_OBJECT can be called by C API. * Add regression test of extended calibration method It has been tested with new added test data in xoox:calib-release-object branch of opencv_extra. * Fix assertion in test_cameracalibration.cpp The total number of refined 3D object coordinates is checked. * Add checker for iFixedPoint in cvCalibrateCamera4 If iFixedPoint is out of rational range, fall back to standard method. * Fix documentation for overloaded calibrateCamera() * Remove calibration flag of CALIB_RELEASE_OBJECT The method selection is based on the range of the index of fixed point. For minus values, standard calibration method will be chosen. Values in a rational range will make the object-releasing calibration method selected. * Use new interfaces instead of function overload Existing interfaces are preserved and new interfaces are added. Since most part of the code base are shared, calibrateCamera() is now a wrapper function of calibrateCameraRO(). * Fix exported name of calibrateCameraRO() * Update documentation for calibrateCameraRO() The circumstances where this method is mostly helpful are described. * Add note on the rigidity of the calibration target * Update documentation for calibrateCameraRO() It is clarified that iFixedPoint is used as a switch to select calibration method. If input data are not qualified, exceptions will be thrown instead of fallback scheme. * Clarify iFixedPoint as switch and remove fallback iFixedPoint is now used as a switch for calibration method selection. No fallback scheme is utilized anymore. If the input data are not qualified, exceptions will be thrown. * Add badarg test for object-releasing method * Fix document format of sample list List items of same level should be indented the same way. Otherwise they will be formatted as nested lists by Doxygen. * Add brief intro for objectPoints and imagePoints * Sync tutorial to sample calibration code * Update tutorial compatibility version to 4.0
2018-10-26 00:38:55 +08:00
}
cameraMatrix = Mat::zeros(3, 3, CV_64F);
cameraMatrix.at<double>(0, 0) = cameraMatrix.at<double>(1, 1) = 807.;
cameraMatrix.at<double>(0, 2) = (imageSize.width - 1)*0.5;
cameraMatrix.at<double>(1, 2) = (imageSize.height - 1)*0.5;
cameraMatrix.at<double>(2, 2) = 1.;
/* Now we can calibrate camera */
calibrate( imageSize,
imagePoints,
objectPoints,
Merge pull request #12772 from xoox:calib-release-object More accurate pinhole camera calibration with imperfect planar target (#12772) 43 commits: * Add derivatives with respect to object points Add an output parameter to calculate derivatives of image points with respect to 3D coordinates of object points. The output jacobian matrix is a 2Nx3N matrix where N is the number of points. This commit introduces incompatibility to old function signature. * Set zero for dpdo matrix before using dpdo is a sparse matrix with only non-zero value close to major diagonal. Set it to zero because only elements near major diagonal are computed. * Add jacobian columns to projectPoints() The output jacobian matrix of derivatives with respect to coordinates of 3D object points are added. This might break callers who assume the columns of jacobian matrix. * Adapt test code to updated project functions The test cases for projectPoints() and cvProjectPoints2() are updated to fit new function signatures. * Add accuracy test code for dpdo * Add badarg test for dpdo * Add new enum item for new calibration method CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of object points. The method was proposed in: K. H. Strobl and G. Hirzinger. "More Accurate Pinhole Camera Calibration with Imperfect Planar Target". In Proceedings of the IEEE International Conference on Computer Vision (ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, Barcelona, Spain, pp. 1068-1075, November 2011. * Add releasing object method into internal function It's a simple extension of the standard calibration scheme. We choose to fix the first and last object point and a user-selected fixed point. * Add interfaces for extended calibration method * Refine document for calibrateCamera() When releasing object points, only the z coordinates of the objectPoints[0].back is fixed. * Add link to strobl2011iccv paper * Improve documentation for calibrateCamera() * Add implementations of wrapping calibrateCamera() * Add checking for params of new calibration method If input parameters are not qualified, then fall back to standard calibration method. * Add camera calibration method of releasing object The current implementation is equal to or better than https://github.com/xoox/calibrel * Update doc for CALIB_RELEASE_OBJECT CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases. * Add RELEASE_OBJECT calibration to tutorial code To select the calibration method of releasing object points, a command line parameter `-d=<number>` should be provided. * Update tutorial doc for camera_calibration If the method of releasing object points is merged into OpenCV. It will be expected to be firstly released in 4.1, I think. * Reduce epsilon for cornerSubPix() Epsilon of 0.1 is a bigger one. Preciser corner positions are required with calibration method of releasing object. * Refine camera calibration tutorial The hypothesis coordinates are used to indicate which distance must be measured between two specified object points. * Update sample calibration code method selection Similar to camera_calibration tutorial application, a command line argument `-dt=<number>` is used to select the calibration method. * Add guard to flags of cvCalibrateCamera2() cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload interface is added in the future. * Simplify fallback when iFixedPoint is out of range * Refactor projectPoints() to keep compatibilities * Fix arg string "Bad rvecs header" * Read calibration flags from test data files Instead of being hard coded into source file, the calibration flags will be read from test data files. opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with the test code. * Add new C interface of cvCalibrateCamera4() With this new added C interface, the extended calibration method with CALIB_RELEASE_OBJECT can be called by C API. * Add regression test of extended calibration method It has been tested with new added test data in xoox:calib-release-object branch of opencv_extra. * Fix assertion in test_cameracalibration.cpp The total number of refined 3D object coordinates is checked. * Add checker for iFixedPoint in cvCalibrateCamera4 If iFixedPoint is out of rational range, fall back to standard method. * Fix documentation for overloaded calibrateCamera() * Remove calibration flag of CALIB_RELEASE_OBJECT The method selection is based on the range of the index of fixed point. For minus values, standard calibration method will be chosen. Values in a rational range will make the object-releasing calibration method selected. * Use new interfaces instead of function overload Existing interfaces are preserved and new interfaces are added. Since most part of the code base are shared, calibrateCamera() is now a wrapper function of calibrateCameraRO(). * Fix exported name of calibrateCameraRO() * Update documentation for calibrateCameraRO() The circumstances where this method is mostly helpful are described. * Add note on the rigidity of the calibration target * Update documentation for calibrateCameraRO() It is clarified that iFixedPoint is used as a switch to select calibration method. If input data are not qualified, exceptions will be thrown instead of fallback scheme. * Clarify iFixedPoint as switch and remove fallback iFixedPoint is now used as a switch for calibration method selection. No fallback scheme is utilized anymore. If the input data are not qualified, exceptions will be thrown. * Add badarg test for object-releasing method * Fix document format of sample list List items of same level should be indented the same way. Otherwise they will be formatted as nested lists by Doxygen. * Add brief intro for objectPoints and imagePoints * Sync tutorial to sample calibration code * Update tutorial compatibility version to 4.0
2018-10-26 00:38:55 +08:00
iFixedPoint,
distortion,
cameraMatrix,
transVects,
rotMatrs,
Merge pull request #12772 from xoox:calib-release-object More accurate pinhole camera calibration with imperfect planar target (#12772) 43 commits: * Add derivatives with respect to object points Add an output parameter to calculate derivatives of image points with respect to 3D coordinates of object points. The output jacobian matrix is a 2Nx3N matrix where N is the number of points. This commit introduces incompatibility to old function signature. * Set zero for dpdo matrix before using dpdo is a sparse matrix with only non-zero value close to major diagonal. Set it to zero because only elements near major diagonal are computed. * Add jacobian columns to projectPoints() The output jacobian matrix of derivatives with respect to coordinates of 3D object points are added. This might break callers who assume the columns of jacobian matrix. * Adapt test code to updated project functions The test cases for projectPoints() and cvProjectPoints2() are updated to fit new function signatures. * Add accuracy test code for dpdo * Add badarg test for dpdo * Add new enum item for new calibration method CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of object points. The method was proposed in: K. H. Strobl and G. Hirzinger. "More Accurate Pinhole Camera Calibration with Imperfect Planar Target". In Proceedings of the IEEE International Conference on Computer Vision (ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, Barcelona, Spain, pp. 1068-1075, November 2011. * Add releasing object method into internal function It's a simple extension of the standard calibration scheme. We choose to fix the first and last object point and a user-selected fixed point. * Add interfaces for extended calibration method * Refine document for calibrateCamera() When releasing object points, only the z coordinates of the objectPoints[0].back is fixed. * Add link to strobl2011iccv paper * Improve documentation for calibrateCamera() * Add implementations of wrapping calibrateCamera() * Add checking for params of new calibration method If input parameters are not qualified, then fall back to standard calibration method. * Add camera calibration method of releasing object The current implementation is equal to or better than https://github.com/xoox/calibrel * Update doc for CALIB_RELEASE_OBJECT CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases. * Add RELEASE_OBJECT calibration to tutorial code To select the calibration method of releasing object points, a command line parameter `-d=<number>` should be provided. * Update tutorial doc for camera_calibration If the method of releasing object points is merged into OpenCV. It will be expected to be firstly released in 4.1, I think. * Reduce epsilon for cornerSubPix() Epsilon of 0.1 is a bigger one. Preciser corner positions are required with calibration method of releasing object. * Refine camera calibration tutorial The hypothesis coordinates are used to indicate which distance must be measured between two specified object points. * Update sample calibration code method selection Similar to camera_calibration tutorial application, a command line argument `-dt=<number>` is used to select the calibration method. * Add guard to flags of cvCalibrateCamera2() cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload interface is added in the future. * Simplify fallback when iFixedPoint is out of range * Refactor projectPoints() to keep compatibilities * Fix arg string "Bad rvecs header" * Read calibration flags from test data files Instead of being hard coded into source file, the calibration flags will be read from test data files. opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with the test code. * Add new C interface of cvCalibrateCamera4() With this new added C interface, the extended calibration method with CALIB_RELEASE_OBJECT can be called by C API. * Add regression test of extended calibration method It has been tested with new added test data in xoox:calib-release-object branch of opencv_extra. * Fix assertion in test_cameracalibration.cpp The total number of refined 3D object coordinates is checked. * Add checker for iFixedPoint in cvCalibrateCamera4 If iFixedPoint is out of rational range, fall back to standard method. * Fix documentation for overloaded calibrateCamera() * Remove calibration flag of CALIB_RELEASE_OBJECT The method selection is based on the range of the index of fixed point. For minus values, standard calibration method will be chosen. Values in a rational range will make the object-releasing calibration method selected. * Use new interfaces instead of function overload Existing interfaces are preserved and new interfaces are added. Since most part of the code base are shared, calibrateCamera() is now a wrapper function of calibrateCameraRO(). * Fix exported name of calibrateCameraRO() * Update documentation for calibrateCameraRO() The circumstances where this method is mostly helpful are described. * Add note on the rigidity of the calibration target * Update documentation for calibrateCameraRO() It is clarified that iFixedPoint is used as a switch to select calibration method. If input data are not qualified, exceptions will be thrown instead of fallback scheme. * Clarify iFixedPoint as switch and remove fallback iFixedPoint is now used as a switch for calibration method selection. No fallback scheme is utilized anymore. If the input data are not qualified, exceptions will be thrown. * Add badarg test for object-releasing method * Fix document format of sample list List items of same level should be indented the same way. Otherwise they will be formatted as nested lists by Doxygen. * Add brief intro for objectPoints and imagePoints * Sync tutorial to sample calibration code * Update tutorial compatibility version to 4.0
2018-10-26 00:38:55 +08:00
newObjPoints,
stdDevs,
perViewErrors,
calibFlags );
/* ---- Reproject points to the image ---- */
for( currImage = 0; currImage < numImages; currImage++ )
{
Merge pull request #12772 from xoox:calib-release-object More accurate pinhole camera calibration with imperfect planar target (#12772) 43 commits: * Add derivatives with respect to object points Add an output parameter to calculate derivatives of image points with respect to 3D coordinates of object points. The output jacobian matrix is a 2Nx3N matrix where N is the number of points. This commit introduces incompatibility to old function signature. * Set zero for dpdo matrix before using dpdo is a sparse matrix with only non-zero value close to major diagonal. Set it to zero because only elements near major diagonal are computed. * Add jacobian columns to projectPoints() The output jacobian matrix of derivatives with respect to coordinates of 3D object points are added. This might break callers who assume the columns of jacobian matrix. * Adapt test code to updated project functions The test cases for projectPoints() and cvProjectPoints2() are updated to fit new function signatures. * Add accuracy test code for dpdo * Add badarg test for dpdo * Add new enum item for new calibration method CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of object points. The method was proposed in: K. H. Strobl and G. Hirzinger. "More Accurate Pinhole Camera Calibration with Imperfect Planar Target". In Proceedings of the IEEE International Conference on Computer Vision (ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, Barcelona, Spain, pp. 1068-1075, November 2011. * Add releasing object method into internal function It's a simple extension of the standard calibration scheme. We choose to fix the first and last object point and a user-selected fixed point. * Add interfaces for extended calibration method * Refine document for calibrateCamera() When releasing object points, only the z coordinates of the objectPoints[0].back is fixed. * Add link to strobl2011iccv paper * Improve documentation for calibrateCamera() * Add implementations of wrapping calibrateCamera() * Add checking for params of new calibration method If input parameters are not qualified, then fall back to standard calibration method. * Add camera calibration method of releasing object The current implementation is equal to or better than https://github.com/xoox/calibrel * Update doc for CALIB_RELEASE_OBJECT CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases. * Add RELEASE_OBJECT calibration to tutorial code To select the calibration method of releasing object points, a command line parameter `-d=<number>` should be provided. * Update tutorial doc for camera_calibration If the method of releasing object points is merged into OpenCV. It will be expected to be firstly released in 4.1, I think. * Reduce epsilon for cornerSubPix() Epsilon of 0.1 is a bigger one. Preciser corner positions are required with calibration method of releasing object. * Refine camera calibration tutorial The hypothesis coordinates are used to indicate which distance must be measured between two specified object points. * Update sample calibration code method selection Similar to camera_calibration tutorial application, a command line argument `-dt=<number>` is used to select the calibration method. * Add guard to flags of cvCalibrateCamera2() cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload interface is added in the future. * Simplify fallback when iFixedPoint is out of range * Refactor projectPoints() to keep compatibilities * Fix arg string "Bad rvecs header" * Read calibration flags from test data files Instead of being hard coded into source file, the calibration flags will be read from test data files. opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with the test code. * Add new C interface of cvCalibrateCamera4() With this new added C interface, the extended calibration method with CALIB_RELEASE_OBJECT can be called by C API. * Add regression test of extended calibration method It has been tested with new added test data in xoox:calib-release-object branch of opencv_extra. * Fix assertion in test_cameracalibration.cpp The total number of refined 3D object coordinates is checked. * Add checker for iFixedPoint in cvCalibrateCamera4 If iFixedPoint is out of rational range, fall back to standard method. * Fix documentation for overloaded calibrateCamera() * Remove calibration flag of CALIB_RELEASE_OBJECT The method selection is based on the range of the index of fixed point. For minus values, standard calibration method will be chosen. Values in a rational range will make the object-releasing calibration method selected. * Use new interfaces instead of function overload Existing interfaces are preserved and new interfaces are added. Since most part of the code base are shared, calibrateCamera() is now a wrapper function of calibrateCameraRO(). * Fix exported name of calibrateCameraRO() * Update documentation for calibrateCameraRO() The circumstances where this method is mostly helpful are described. * Add note on the rigidity of the calibration target * Update documentation for calibrateCameraRO() It is clarified that iFixedPoint is used as a switch to select calibration method. If input data are not qualified, exceptions will be thrown instead of fallback scheme. * Clarify iFixedPoint as switch and remove fallback iFixedPoint is now used as a switch for calibration method selection. No fallback scheme is utilized anymore. If the input data are not qualified, exceptions will be thrown. * Add badarg test for object-releasing method * Fix document format of sample list List items of same level should be indented the same way. Otherwise they will be formatted as nested lists by Doxygen. * Add brief intro for objectPoints and imagePoints * Sync tutorial to sample calibration code * Update tutorial compatibility version to 4.0
2018-10-26 00:38:55 +08:00
if( releaseObject )
{
objectPoints[currImage] = newObjPoints;
Merge pull request #12772 from xoox:calib-release-object More accurate pinhole camera calibration with imperfect planar target (#12772) 43 commits: * Add derivatives with respect to object points Add an output parameter to calculate derivatives of image points with respect to 3D coordinates of object points. The output jacobian matrix is a 2Nx3N matrix where N is the number of points. This commit introduces incompatibility to old function signature. * Set zero for dpdo matrix before using dpdo is a sparse matrix with only non-zero value close to major diagonal. Set it to zero because only elements near major diagonal are computed. * Add jacobian columns to projectPoints() The output jacobian matrix of derivatives with respect to coordinates of 3D object points are added. This might break callers who assume the columns of jacobian matrix. * Adapt test code to updated project functions The test cases for projectPoints() and cvProjectPoints2() are updated to fit new function signatures. * Add accuracy test code for dpdo * Add badarg test for dpdo * Add new enum item for new calibration method CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of object points. The method was proposed in: K. H. Strobl and G. Hirzinger. "More Accurate Pinhole Camera Calibration with Imperfect Planar Target". In Proceedings of the IEEE International Conference on Computer Vision (ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, Barcelona, Spain, pp. 1068-1075, November 2011. * Add releasing object method into internal function It's a simple extension of the standard calibration scheme. We choose to fix the first and last object point and a user-selected fixed point. * Add interfaces for extended calibration method * Refine document for calibrateCamera() When releasing object points, only the z coordinates of the objectPoints[0].back is fixed. * Add link to strobl2011iccv paper * Improve documentation for calibrateCamera() * Add implementations of wrapping calibrateCamera() * Add checking for params of new calibration method If input parameters are not qualified, then fall back to standard calibration method. * Add camera calibration method of releasing object The current implementation is equal to or better than https://github.com/xoox/calibrel * Update doc for CALIB_RELEASE_OBJECT CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases. * Add RELEASE_OBJECT calibration to tutorial code To select the calibration method of releasing object points, a command line parameter `-d=<number>` should be provided. * Update tutorial doc for camera_calibration If the method of releasing object points is merged into OpenCV. It will be expected to be firstly released in 4.1, I think. * Reduce epsilon for cornerSubPix() Epsilon of 0.1 is a bigger one. Preciser corner positions are required with calibration method of releasing object. * Refine camera calibration tutorial The hypothesis coordinates are used to indicate which distance must be measured between two specified object points. * Update sample calibration code method selection Similar to camera_calibration tutorial application, a command line argument `-dt=<number>` is used to select the calibration method. * Add guard to flags of cvCalibrateCamera2() cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload interface is added in the future. * Simplify fallback when iFixedPoint is out of range * Refactor projectPoints() to keep compatibilities * Fix arg string "Bad rvecs header" * Read calibration flags from test data files Instead of being hard coded into source file, the calibration flags will be read from test data files. opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with the test code. * Add new C interface of cvCalibrateCamera4() With this new added C interface, the extended calibration method with CALIB_RELEASE_OBJECT can be called by C API. * Add regression test of extended calibration method It has been tested with new added test data in xoox:calib-release-object branch of opencv_extra. * Fix assertion in test_cameracalibration.cpp The total number of refined 3D object coordinates is checked. * Add checker for iFixedPoint in cvCalibrateCamera4 If iFixedPoint is out of rational range, fall back to standard method. * Fix documentation for overloaded calibrateCamera() * Remove calibration flag of CALIB_RELEASE_OBJECT The method selection is based on the range of the index of fixed point. For minus values, standard calibration method will be chosen. Values in a rational range will make the object-releasing calibration method selected. * Use new interfaces instead of function overload Existing interfaces are preserved and new interfaces are added. Since most part of the code base are shared, calibrateCamera() is now a wrapper function of calibrateCameraRO(). * Fix exported name of calibrateCameraRO() * Update documentation for calibrateCameraRO() The circumstances where this method is mostly helpful are described. * Add note on the rigidity of the calibration target * Update documentation for calibrateCameraRO() It is clarified that iFixedPoint is used as a switch to select calibration method. If input data are not qualified, exceptions will be thrown instead of fallback scheme. * Clarify iFixedPoint as switch and remove fallback iFixedPoint is now used as a switch for calibration method selection. No fallback scheme is utilized anymore. If the input data are not qualified, exceptions will be thrown. * Add badarg test for object-releasing method * Fix document format of sample list List items of same level should be indented the same way. Otherwise they will be formatted as nested lists by Doxygen. * Add brief intro for objectPoints and imagePoints * Sync tutorial to sample calibration code * Update tutorial compatibility version to 4.0
2018-10-26 00:38:55 +08:00
}
project( objectPoints[currImage],
rotMatrs[currImage],
transVects[currImage],
cameraMatrix,
distortion,
reprojectPoints[currImage]);
}
/* ----- Compute reprojection error ----- */
double dx,dy;
double rx,ry;
for( currImage = 0; currImage < numImages; currImage++ )
{
double imageMeanDx = 0;
double imageMeanDy = 0;
for( currPoint = 0; currPoint < etalonSize.width * etalonSize.height; currPoint++ )
{
rx = reprojectPoints[currImage][currPoint].x;
ry = reprojectPoints[currImage][currPoint].y;
dx = rx - imagePoints[currImage][currPoint].x;
dy = ry - imagePoints[currImage][currPoint].y;
imageMeanDx += dx*dx;
imageMeanDy += dy*dy;
}
goodPerViewErrors[currImage] = sqrt( (imageMeanDx + imageMeanDy) /
(etalonSize.width * etalonSize.height));
//only for c-version of test (it does not provides evaluation of perViewErrors
//and returns zeros)
if(perViewErrors[currImage] == 0.0)
perViewErrors[currImage] = goodPerViewErrors[currImage];
}
/* ========= Compare parameters ========= */
CV_Assert(cameraMatrix.type() == CV_64F && cameraMatrix.size() == Size(3, 3));
CV_Assert(distortion.type() == CV_64F);
Size dsz = distortion.size();
CV_Assert(dsz == Size(4, 1) || dsz == Size(1, 4) || dsz == Size(5, 1) || dsz == Size(1, 5));
/*std::cout << "cameraMatrix: " << cameraMatrix << "\n";
std::cout << "curr distCoeffs: " << distortion << "\n";
std::cout << "good distCoeffs: " << goodDistortion << "\n";*/
/* ----- Compare focal lengths ----- */
code = compare(&cameraMatrix.at<double>(0, 0), &goodFcx, 1, 0.1, "fx");
if( code < 0 )
break;
code = compare(&cameraMatrix.at<double>(1, 1),&goodFcy, 1, 0.1, "fy");
if( code < 0 )
break;
/* ----- Compare principal points ----- */
code = compare(&cameraMatrix.at<double>(0,2), &goodCx, 1, 0.1, "cx");
if( code < 0 )
break;
code = compare(&cameraMatrix.at<double>(1,2), &goodCy, 1, 0.1, "cy");
if( code < 0 )
break;
/* ----- Compare distortion ----- */
code = compare(&distortion.at<double>(0), &goodDistortion.at<double>(0), 4, 0.1, "[k1,k2,p1,p2]");
if( code < 0 )
break;
/* ----- Compare rot matrixs ----- */
CV_Assert(rotMatrs.size() == (size_t)numImages);
CV_Assert(transVects.size() == (size_t)numImages);
//code = compare(rotMatrs[0].val, goodRotMatrs[0].val, 9*numImages, 0.05, "rotation matrices");
for( i = 0; i < numImages; i++ )
{
if( cv::norm(rotMatrs[i], goodRotMatrs[i], NORM_INF) > 0.05 )
{
printf("rot mats for frame #%d are very different\n", i);
std::cout << "curr:\n" << rotMatrs[i] << std::endl;
std::cout << "good:\n" << goodRotMatrs[i] << std::endl;
code = TS::FAIL_BAD_ACCURACY;
break;
}
}
if( code < 0 )
break;
/* ----- Compare rot matrixs ----- */
code = compare(transVects[0].val, goodTransVects[0].val, 3*numImages, 0.1, "translation vectors");
if( code < 0 )
break;
Merge pull request #12772 from xoox:calib-release-object More accurate pinhole camera calibration with imperfect planar target (#12772) 43 commits: * Add derivatives with respect to object points Add an output parameter to calculate derivatives of image points with respect to 3D coordinates of object points. The output jacobian matrix is a 2Nx3N matrix where N is the number of points. This commit introduces incompatibility to old function signature. * Set zero for dpdo matrix before using dpdo is a sparse matrix with only non-zero value close to major diagonal. Set it to zero because only elements near major diagonal are computed. * Add jacobian columns to projectPoints() The output jacobian matrix of derivatives with respect to coordinates of 3D object points are added. This might break callers who assume the columns of jacobian matrix. * Adapt test code to updated project functions The test cases for projectPoints() and cvProjectPoints2() are updated to fit new function signatures. * Add accuracy test code for dpdo * Add badarg test for dpdo * Add new enum item for new calibration method CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of object points. The method was proposed in: K. H. Strobl and G. Hirzinger. "More Accurate Pinhole Camera Calibration with Imperfect Planar Target". In Proceedings of the IEEE International Conference on Computer Vision (ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, Barcelona, Spain, pp. 1068-1075, November 2011. * Add releasing object method into internal function It's a simple extension of the standard calibration scheme. We choose to fix the first and last object point and a user-selected fixed point. * Add interfaces for extended calibration method * Refine document for calibrateCamera() When releasing object points, only the z coordinates of the objectPoints[0].back is fixed. * Add link to strobl2011iccv paper * Improve documentation for calibrateCamera() * Add implementations of wrapping calibrateCamera() * Add checking for params of new calibration method If input parameters are not qualified, then fall back to standard calibration method. * Add camera calibration method of releasing object The current implementation is equal to or better than https://github.com/xoox/calibrel * Update doc for CALIB_RELEASE_OBJECT CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases. * Add RELEASE_OBJECT calibration to tutorial code To select the calibration method of releasing object points, a command line parameter `-d=<number>` should be provided. * Update tutorial doc for camera_calibration If the method of releasing object points is merged into OpenCV. It will be expected to be firstly released in 4.1, I think. * Reduce epsilon for cornerSubPix() Epsilon of 0.1 is a bigger one. Preciser corner positions are required with calibration method of releasing object. * Refine camera calibration tutorial The hypothesis coordinates are used to indicate which distance must be measured between two specified object points. * Update sample calibration code method selection Similar to camera_calibration tutorial application, a command line argument `-dt=<number>` is used to select the calibration method. * Add guard to flags of cvCalibrateCamera2() cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload interface is added in the future. * Simplify fallback when iFixedPoint is out of range * Refactor projectPoints() to keep compatibilities * Fix arg string "Bad rvecs header" * Read calibration flags from test data files Instead of being hard coded into source file, the calibration flags will be read from test data files. opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with the test code. * Add new C interface of cvCalibrateCamera4() With this new added C interface, the extended calibration method with CALIB_RELEASE_OBJECT can be called by C API. * Add regression test of extended calibration method It has been tested with new added test data in xoox:calib-release-object branch of opencv_extra. * Fix assertion in test_cameracalibration.cpp The total number of refined 3D object coordinates is checked. * Add checker for iFixedPoint in cvCalibrateCamera4 If iFixedPoint is out of rational range, fall back to standard method. * Fix documentation for overloaded calibrateCamera() * Remove calibration flag of CALIB_RELEASE_OBJECT The method selection is based on the range of the index of fixed point. For minus values, standard calibration method will be chosen. Values in a rational range will make the object-releasing calibration method selected. * Use new interfaces instead of function overload Existing interfaces are preserved and new interfaces are added. Since most part of the code base are shared, calibrateCamera() is now a wrapper function of calibrateCameraRO(). * Fix exported name of calibrateCameraRO() * Update documentation for calibrateCameraRO() The circumstances where this method is mostly helpful are described. * Add note on the rigidity of the calibration target * Update documentation for calibrateCameraRO() It is clarified that iFixedPoint is used as a switch to select calibration method. If input data are not qualified, exceptions will be thrown instead of fallback scheme. * Clarify iFixedPoint as switch and remove fallback iFixedPoint is now used as a switch for calibration method selection. No fallback scheme is utilized anymore. If the input data are not qualified, exceptions will be thrown. * Add badarg test for object-releasing method * Fix document format of sample list List items of same level should be indented the same way. Otherwise they will be formatted as nested lists by Doxygen. * Add brief intro for objectPoints and imagePoints * Sync tutorial to sample calibration code * Update tutorial compatibility version to 4.0
2018-10-26 00:38:55 +08:00
/* ----- Compare refined 3D object points ----- */
if( releaseObject )
{
code = compare(&newObjPoints[0].x, &goodObjPoints[0].x, 3*numPoints, 0.1, "refined 3D object points");
Merge pull request #12772 from xoox:calib-release-object More accurate pinhole camera calibration with imperfect planar target (#12772) 43 commits: * Add derivatives with respect to object points Add an output parameter to calculate derivatives of image points with respect to 3D coordinates of object points. The output jacobian matrix is a 2Nx3N matrix where N is the number of points. This commit introduces incompatibility to old function signature. * Set zero for dpdo matrix before using dpdo is a sparse matrix with only non-zero value close to major diagonal. Set it to zero because only elements near major diagonal are computed. * Add jacobian columns to projectPoints() The output jacobian matrix of derivatives with respect to coordinates of 3D object points are added. This might break callers who assume the columns of jacobian matrix. * Adapt test code to updated project functions The test cases for projectPoints() and cvProjectPoints2() are updated to fit new function signatures. * Add accuracy test code for dpdo * Add badarg test for dpdo * Add new enum item for new calibration method CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of object points. The method was proposed in: K. H. Strobl and G. Hirzinger. "More Accurate Pinhole Camera Calibration with Imperfect Planar Target". In Proceedings of the IEEE International Conference on Computer Vision (ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, Barcelona, Spain, pp. 1068-1075, November 2011. * Add releasing object method into internal function It's a simple extension of the standard calibration scheme. We choose to fix the first and last object point and a user-selected fixed point. * Add interfaces for extended calibration method * Refine document for calibrateCamera() When releasing object points, only the z coordinates of the objectPoints[0].back is fixed. * Add link to strobl2011iccv paper * Improve documentation for calibrateCamera() * Add implementations of wrapping calibrateCamera() * Add checking for params of new calibration method If input parameters are not qualified, then fall back to standard calibration method. * Add camera calibration method of releasing object The current implementation is equal to or better than https://github.com/xoox/calibrel * Update doc for CALIB_RELEASE_OBJECT CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases. * Add RELEASE_OBJECT calibration to tutorial code To select the calibration method of releasing object points, a command line parameter `-d=<number>` should be provided. * Update tutorial doc for camera_calibration If the method of releasing object points is merged into OpenCV. It will be expected to be firstly released in 4.1, I think. * Reduce epsilon for cornerSubPix() Epsilon of 0.1 is a bigger one. Preciser corner positions are required with calibration method of releasing object. * Refine camera calibration tutorial The hypothesis coordinates are used to indicate which distance must be measured between two specified object points. * Update sample calibration code method selection Similar to camera_calibration tutorial application, a command line argument `-dt=<number>` is used to select the calibration method. * Add guard to flags of cvCalibrateCamera2() cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload interface is added in the future. * Simplify fallback when iFixedPoint is out of range * Refactor projectPoints() to keep compatibilities * Fix arg string "Bad rvecs header" * Read calibration flags from test data files Instead of being hard coded into source file, the calibration flags will be read from test data files. opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with the test code. * Add new C interface of cvCalibrateCamera4() With this new added C interface, the extended calibration method with CALIB_RELEASE_OBJECT can be called by C API. * Add regression test of extended calibration method It has been tested with new added test data in xoox:calib-release-object branch of opencv_extra. * Fix assertion in test_cameracalibration.cpp The total number of refined 3D object coordinates is checked. * Add checker for iFixedPoint in cvCalibrateCamera4 If iFixedPoint is out of rational range, fall back to standard method. * Fix documentation for overloaded calibrateCamera() * Remove calibration flag of CALIB_RELEASE_OBJECT The method selection is based on the range of the index of fixed point. For minus values, standard calibration method will be chosen. Values in a rational range will make the object-releasing calibration method selected. * Use new interfaces instead of function overload Existing interfaces are preserved and new interfaces are added. Since most part of the code base are shared, calibrateCamera() is now a wrapper function of calibrateCameraRO(). * Fix exported name of calibrateCameraRO() * Update documentation for calibrateCameraRO() The circumstances where this method is mostly helpful are described. * Add note on the rigidity of the calibration target * Update documentation for calibrateCameraRO() It is clarified that iFixedPoint is used as a switch to select calibration method. If input data are not qualified, exceptions will be thrown instead of fallback scheme. * Clarify iFixedPoint as switch and remove fallback iFixedPoint is now used as a switch for calibration method selection. No fallback scheme is utilized anymore. If the input data are not qualified, exceptions will be thrown. * Add badarg test for object-releasing method * Fix document format of sample list List items of same level should be indented the same way. Otherwise they will be formatted as nested lists by Doxygen. * Add brief intro for objectPoints and imagePoints * Sync tutorial to sample calibration code * Update tutorial compatibility version to 4.0
2018-10-26 00:38:55 +08:00
if( code < 0 )
break;
Merge pull request #12772 from xoox:calib-release-object More accurate pinhole camera calibration with imperfect planar target (#12772) 43 commits: * Add derivatives with respect to object points Add an output parameter to calculate derivatives of image points with respect to 3D coordinates of object points. The output jacobian matrix is a 2Nx3N matrix where N is the number of points. This commit introduces incompatibility to old function signature. * Set zero for dpdo matrix before using dpdo is a sparse matrix with only non-zero value close to major diagonal. Set it to zero because only elements near major diagonal are computed. * Add jacobian columns to projectPoints() The output jacobian matrix of derivatives with respect to coordinates of 3D object points are added. This might break callers who assume the columns of jacobian matrix. * Adapt test code to updated project functions The test cases for projectPoints() and cvProjectPoints2() are updated to fit new function signatures. * Add accuracy test code for dpdo * Add badarg test for dpdo * Add new enum item for new calibration method CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of object points. The method was proposed in: K. H. Strobl and G. Hirzinger. "More Accurate Pinhole Camera Calibration with Imperfect Planar Target". In Proceedings of the IEEE International Conference on Computer Vision (ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, Barcelona, Spain, pp. 1068-1075, November 2011. * Add releasing object method into internal function It's a simple extension of the standard calibration scheme. We choose to fix the first and last object point and a user-selected fixed point. * Add interfaces for extended calibration method * Refine document for calibrateCamera() When releasing object points, only the z coordinates of the objectPoints[0].back is fixed. * Add link to strobl2011iccv paper * Improve documentation for calibrateCamera() * Add implementations of wrapping calibrateCamera() * Add checking for params of new calibration method If input parameters are not qualified, then fall back to standard calibration method. * Add camera calibration method of releasing object The current implementation is equal to or better than https://github.com/xoox/calibrel * Update doc for CALIB_RELEASE_OBJECT CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases. * Add RELEASE_OBJECT calibration to tutorial code To select the calibration method of releasing object points, a command line parameter `-d=<number>` should be provided. * Update tutorial doc for camera_calibration If the method of releasing object points is merged into OpenCV. It will be expected to be firstly released in 4.1, I think. * Reduce epsilon for cornerSubPix() Epsilon of 0.1 is a bigger one. Preciser corner positions are required with calibration method of releasing object. * Refine camera calibration tutorial The hypothesis coordinates are used to indicate which distance must be measured between two specified object points. * Update sample calibration code method selection Similar to camera_calibration tutorial application, a command line argument `-dt=<number>` is used to select the calibration method. * Add guard to flags of cvCalibrateCamera2() cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload interface is added in the future. * Simplify fallback when iFixedPoint is out of range * Refactor projectPoints() to keep compatibilities * Fix arg string "Bad rvecs header" * Read calibration flags from test data files Instead of being hard coded into source file, the calibration flags will be read from test data files. opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with the test code. * Add new C interface of cvCalibrateCamera4() With this new added C interface, the extended calibration method with CALIB_RELEASE_OBJECT can be called by C API. * Add regression test of extended calibration method It has been tested with new added test data in xoox:calib-release-object branch of opencv_extra. * Fix assertion in test_cameracalibration.cpp The total number of refined 3D object coordinates is checked. * Add checker for iFixedPoint in cvCalibrateCamera4 If iFixedPoint is out of rational range, fall back to standard method. * Fix documentation for overloaded calibrateCamera() * Remove calibration flag of CALIB_RELEASE_OBJECT The method selection is based on the range of the index of fixed point. For minus values, standard calibration method will be chosen. Values in a rational range will make the object-releasing calibration method selected. * Use new interfaces instead of function overload Existing interfaces are preserved and new interfaces are added. Since most part of the code base are shared, calibrateCamera() is now a wrapper function of calibrateCameraRO(). * Fix exported name of calibrateCameraRO() * Update documentation for calibrateCameraRO() The circumstances where this method is mostly helpful are described. * Add note on the rigidity of the calibration target * Update documentation for calibrateCameraRO() It is clarified that iFixedPoint is used as a switch to select calibration method. If input data are not qualified, exceptions will be thrown instead of fallback scheme. * Clarify iFixedPoint as switch and remove fallback iFixedPoint is now used as a switch for calibration method selection. No fallback scheme is utilized anymore. If the input data are not qualified, exceptions will be thrown. * Add badarg test for object-releasing method * Fix document format of sample list List items of same level should be indented the same way. Otherwise they will be formatted as nested lists by Doxygen. * Add brief intro for objectPoints and imagePoints * Sync tutorial to sample calibration code * Update tutorial compatibility version to 4.0
2018-10-26 00:38:55 +08:00
}
/* ----- Compare per view re-projection errors ----- */
CV_Assert(perViewErrors.size() == (size_t)numImages);
code = compare(&perViewErrors[0], &goodPerViewErrors[0], numImages, 0.1, "per view errors vector");
if( code < 0 )
break;
/* ----- Compare standard deviations of parameters ----- */
if( stdDevs.size() < (size_t)nstddev )
stdDevs.resize(nstddev);
for ( i = 0; i < nstddev; i++)
{
if(stdDevs[i] == 0.0)
stdDevs[i] = goodStdDevs[i];
}
code = compare(&stdDevs[0], &goodStdDevs[0], nstddev, .5,
Merge pull request #12772 from xoox:calib-release-object More accurate pinhole camera calibration with imperfect planar target (#12772) 43 commits: * Add derivatives with respect to object points Add an output parameter to calculate derivatives of image points with respect to 3D coordinates of object points. The output jacobian matrix is a 2Nx3N matrix where N is the number of points. This commit introduces incompatibility to old function signature. * Set zero for dpdo matrix before using dpdo is a sparse matrix with only non-zero value close to major diagonal. Set it to zero because only elements near major diagonal are computed. * Add jacobian columns to projectPoints() The output jacobian matrix of derivatives with respect to coordinates of 3D object points are added. This might break callers who assume the columns of jacobian matrix. * Adapt test code to updated project functions The test cases for projectPoints() and cvProjectPoints2() are updated to fit new function signatures. * Add accuracy test code for dpdo * Add badarg test for dpdo * Add new enum item for new calibration method CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of object points. The method was proposed in: K. H. Strobl and G. Hirzinger. "More Accurate Pinhole Camera Calibration with Imperfect Planar Target". In Proceedings of the IEEE International Conference on Computer Vision (ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, Barcelona, Spain, pp. 1068-1075, November 2011. * Add releasing object method into internal function It's a simple extension of the standard calibration scheme. We choose to fix the first and last object point and a user-selected fixed point. * Add interfaces for extended calibration method * Refine document for calibrateCamera() When releasing object points, only the z coordinates of the objectPoints[0].back is fixed. * Add link to strobl2011iccv paper * Improve documentation for calibrateCamera() * Add implementations of wrapping calibrateCamera() * Add checking for params of new calibration method If input parameters are not qualified, then fall back to standard calibration method. * Add camera calibration method of releasing object The current implementation is equal to or better than https://github.com/xoox/calibrel * Update doc for CALIB_RELEASE_OBJECT CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases. * Add RELEASE_OBJECT calibration to tutorial code To select the calibration method of releasing object points, a command line parameter `-d=<number>` should be provided. * Update tutorial doc for camera_calibration If the method of releasing object points is merged into OpenCV. It will be expected to be firstly released in 4.1, I think. * Reduce epsilon for cornerSubPix() Epsilon of 0.1 is a bigger one. Preciser corner positions are required with calibration method of releasing object. * Refine camera calibration tutorial The hypothesis coordinates are used to indicate which distance must be measured between two specified object points. * Update sample calibration code method selection Similar to camera_calibration tutorial application, a command line argument `-dt=<number>` is used to select the calibration method. * Add guard to flags of cvCalibrateCamera2() cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload interface is added in the future. * Simplify fallback when iFixedPoint is out of range * Refactor projectPoints() to keep compatibilities * Fix arg string "Bad rvecs header" * Read calibration flags from test data files Instead of being hard coded into source file, the calibration flags will be read from test data files. opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with the test code. * Add new C interface of cvCalibrateCamera4() With this new added C interface, the extended calibration method with CALIB_RELEASE_OBJECT can be called by C API. * Add regression test of extended calibration method It has been tested with new added test data in xoox:calib-release-object branch of opencv_extra. * Fix assertion in test_cameracalibration.cpp The total number of refined 3D object coordinates is checked. * Add checker for iFixedPoint in cvCalibrateCamera4 If iFixedPoint is out of rational range, fall back to standard method. * Fix documentation for overloaded calibrateCamera() * Remove calibration flag of CALIB_RELEASE_OBJECT The method selection is based on the range of the index of fixed point. For minus values, standard calibration method will be chosen. Values in a rational range will make the object-releasing calibration method selected. * Use new interfaces instead of function overload Existing interfaces are preserved and new interfaces are added. Since most part of the code base are shared, calibrateCamera() is now a wrapper function of calibrateCameraRO(). * Fix exported name of calibrateCameraRO() * Update documentation for calibrateCameraRO() The circumstances where this method is mostly helpful are described. * Add note on the rigidity of the calibration target * Update documentation for calibrateCameraRO() It is clarified that iFixedPoint is used as a switch to select calibration method. If input data are not qualified, exceptions will be thrown instead of fallback scheme. * Clarify iFixedPoint as switch and remove fallback iFixedPoint is now used as a switch for calibration method selection. No fallback scheme is utilized anymore. If the input data are not qualified, exceptions will be thrown. * Add badarg test for object-releasing method * Fix document format of sample list List items of same level should be indented the same way. Otherwise they will be formatted as nested lists by Doxygen. * Add brief intro for objectPoints and imagePoints * Sync tutorial to sample calibration code * Update tutorial compatibility version to 4.0
2018-10-26 00:38:55 +08:00
"stdDevs vector");
if( code < 0 )
break;
/*if( maxDx > 1.0 )
{
ts->printf( cvtest::TS::LOG,
"Error in reprojection maxDx=%f > 1.0\n",maxDx);
code = cvtest::TS::FAIL_BAD_ACCURACY; break;
}
if( maxDy > 1.0 )
{
ts->printf( cvtest::TS::LOG,
"Error in reprojection maxDy=%f > 1.0\n",maxDy);
code = cvtest::TS::FAIL_BAD_ACCURACY; break;
}*/
progress = update_progress( progress, currTest, numTests, 0 );
fclose(file);
file = 0;
}
if( file )
fclose(file);
if( datafile )
fclose(datafile);
if( code < 0 )
ts->set_failed_test_info( code );
}
// --------------------------------- CV_CameraCalibrationTest_CPP --------------------------------------------
class CV_CameraCalibrationTest_CPP : public CV_CameraCalibrationTest
{
public:
2012-06-09 23:00:04 +08:00
CV_CameraCalibrationTest_CPP(){}
protected:
virtual void calibrate(Size imageSize,
const std::vector<std::vector<Point2d> >& imagePoints,
const std::vector<std::vector<Point3d> >& objectPoints,
int iFixedPoint, Mat& distortionCoeffs, Mat& cameraMatrix, std::vector<Vec3d>& translationVectors,
std::vector<RotMat>& rotationMatrices, std::vector<Point3d>& newObjPoints,
std::vector<double>& stdDevs, std::vector<double>& perViewErrors,
int flags );
virtual void project( const std::vector<Point3d>& objectPoints,
const RotMat& rotationMatrix, const Vec3d& translationVector,
const Mat& cameraMatrix, const Mat& distortion,
std::vector<Point2d>& imagePoints );
};
void CV_CameraCalibrationTest_CPP::calibrate(Size imageSize,
const std::vector<std::vector<Point2d> >& _imagePoints,
const std::vector<std::vector<Point3d> >& _objectPoints,
int iFixedPoint, Mat& _distCoeffs, Mat& _cameraMatrix, std::vector<Vec3d>& translationVectors,
std::vector<RotMat>& rotationMatrices, std::vector<Point3d>& newObjPoints,
std::vector<double>& stdDevs, std::vector<double>& perViewErrors,
int flags )
{
int pointCount = (int)_imagePoints[0].size();
size_t i, imageCount = _imagePoints.size();
2012-06-09 23:00:04 +08:00
vector<vector<Point3f> > objectPoints( imageCount );
vector<vector<Point2f> > imagePoints( imageCount );
Mat cameraMatrix, distCoeffs(1,4,CV_64F,Scalar::all(0));
vector<Mat> rvecs, tvecs;
Merge pull request #12772 from xoox:calib-release-object More accurate pinhole camera calibration with imperfect planar target (#12772) 43 commits: * Add derivatives with respect to object points Add an output parameter to calculate derivatives of image points with respect to 3D coordinates of object points. The output jacobian matrix is a 2Nx3N matrix where N is the number of points. This commit introduces incompatibility to old function signature. * Set zero for dpdo matrix before using dpdo is a sparse matrix with only non-zero value close to major diagonal. Set it to zero because only elements near major diagonal are computed. * Add jacobian columns to projectPoints() The output jacobian matrix of derivatives with respect to coordinates of 3D object points are added. This might break callers who assume the columns of jacobian matrix. * Adapt test code to updated project functions The test cases for projectPoints() and cvProjectPoints2() are updated to fit new function signatures. * Add accuracy test code for dpdo * Add badarg test for dpdo * Add new enum item for new calibration method CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of object points. The method was proposed in: K. H. Strobl and G. Hirzinger. "More Accurate Pinhole Camera Calibration with Imperfect Planar Target". In Proceedings of the IEEE International Conference on Computer Vision (ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, Barcelona, Spain, pp. 1068-1075, November 2011. * Add releasing object method into internal function It's a simple extension of the standard calibration scheme. We choose to fix the first and last object point and a user-selected fixed point. * Add interfaces for extended calibration method * Refine document for calibrateCamera() When releasing object points, only the z coordinates of the objectPoints[0].back is fixed. * Add link to strobl2011iccv paper * Improve documentation for calibrateCamera() * Add implementations of wrapping calibrateCamera() * Add checking for params of new calibration method If input parameters are not qualified, then fall back to standard calibration method. * Add camera calibration method of releasing object The current implementation is equal to or better than https://github.com/xoox/calibrel * Update doc for CALIB_RELEASE_OBJECT CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases. * Add RELEASE_OBJECT calibration to tutorial code To select the calibration method of releasing object points, a command line parameter `-d=<number>` should be provided. * Update tutorial doc for camera_calibration If the method of releasing object points is merged into OpenCV. It will be expected to be firstly released in 4.1, I think. * Reduce epsilon for cornerSubPix() Epsilon of 0.1 is a bigger one. Preciser corner positions are required with calibration method of releasing object. * Refine camera calibration tutorial The hypothesis coordinates are used to indicate which distance must be measured between two specified object points. * Update sample calibration code method selection Similar to camera_calibration tutorial application, a command line argument `-dt=<number>` is used to select the calibration method. * Add guard to flags of cvCalibrateCamera2() cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload interface is added in the future. * Simplify fallback when iFixedPoint is out of range * Refactor projectPoints() to keep compatibilities * Fix arg string "Bad rvecs header" * Read calibration flags from test data files Instead of being hard coded into source file, the calibration flags will be read from test data files. opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with the test code. * Add new C interface of cvCalibrateCamera4() With this new added C interface, the extended calibration method with CALIB_RELEASE_OBJECT can be called by C API. * Add regression test of extended calibration method It has been tested with new added test data in xoox:calib-release-object branch of opencv_extra. * Fix assertion in test_cameracalibration.cpp The total number of refined 3D object coordinates is checked. * Add checker for iFixedPoint in cvCalibrateCamera4 If iFixedPoint is out of rational range, fall back to standard method. * Fix documentation for overloaded calibrateCamera() * Remove calibration flag of CALIB_RELEASE_OBJECT The method selection is based on the range of the index of fixed point. For minus values, standard calibration method will be chosen. Values in a rational range will make the object-releasing calibration method selected. * Use new interfaces instead of function overload Existing interfaces are preserved and new interfaces are added. Since most part of the code base are shared, calibrateCamera() is now a wrapper function of calibrateCameraRO(). * Fix exported name of calibrateCameraRO() * Update documentation for calibrateCameraRO() The circumstances where this method is mostly helpful are described. * Add note on the rigidity of the calibration target * Update documentation for calibrateCameraRO() It is clarified that iFixedPoint is used as a switch to select calibration method. If input data are not qualified, exceptions will be thrown instead of fallback scheme. * Clarify iFixedPoint as switch and remove fallback iFixedPoint is now used as a switch for calibration method selection. No fallback scheme is utilized anymore. If the input data are not qualified, exceptions will be thrown. * Add badarg test for object-releasing method * Fix document format of sample list List items of same level should be indented the same way. Otherwise they will be formatted as nested lists by Doxygen. * Add brief intro for objectPoints and imagePoints * Sync tutorial to sample calibration code * Update tutorial compatibility version to 4.0
2018-10-26 00:38:55 +08:00
Mat newObjMat;
Mat stdDevsMatInt, stdDevsMatExt;
Merge pull request #12772 from xoox:calib-release-object More accurate pinhole camera calibration with imperfect planar target (#12772) 43 commits: * Add derivatives with respect to object points Add an output parameter to calculate derivatives of image points with respect to 3D coordinates of object points. The output jacobian matrix is a 2Nx3N matrix where N is the number of points. This commit introduces incompatibility to old function signature. * Set zero for dpdo matrix before using dpdo is a sparse matrix with only non-zero value close to major diagonal. Set it to zero because only elements near major diagonal are computed. * Add jacobian columns to projectPoints() The output jacobian matrix of derivatives with respect to coordinates of 3D object points are added. This might break callers who assume the columns of jacobian matrix. * Adapt test code to updated project functions The test cases for projectPoints() and cvProjectPoints2() are updated to fit new function signatures. * Add accuracy test code for dpdo * Add badarg test for dpdo * Add new enum item for new calibration method CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of object points. The method was proposed in: K. H. Strobl and G. Hirzinger. "More Accurate Pinhole Camera Calibration with Imperfect Planar Target". In Proceedings of the IEEE International Conference on Computer Vision (ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, Barcelona, Spain, pp. 1068-1075, November 2011. * Add releasing object method into internal function It's a simple extension of the standard calibration scheme. We choose to fix the first and last object point and a user-selected fixed point. * Add interfaces for extended calibration method * Refine document for calibrateCamera() When releasing object points, only the z coordinates of the objectPoints[0].back is fixed. * Add link to strobl2011iccv paper * Improve documentation for calibrateCamera() * Add implementations of wrapping calibrateCamera() * Add checking for params of new calibration method If input parameters are not qualified, then fall back to standard calibration method. * Add camera calibration method of releasing object The current implementation is equal to or better than https://github.com/xoox/calibrel * Update doc for CALIB_RELEASE_OBJECT CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases. * Add RELEASE_OBJECT calibration to tutorial code To select the calibration method of releasing object points, a command line parameter `-d=<number>` should be provided. * Update tutorial doc for camera_calibration If the method of releasing object points is merged into OpenCV. It will be expected to be firstly released in 4.1, I think. * Reduce epsilon for cornerSubPix() Epsilon of 0.1 is a bigger one. Preciser corner positions are required with calibration method of releasing object. * Refine camera calibration tutorial The hypothesis coordinates are used to indicate which distance must be measured between two specified object points. * Update sample calibration code method selection Similar to camera_calibration tutorial application, a command line argument `-dt=<number>` is used to select the calibration method. * Add guard to flags of cvCalibrateCamera2() cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload interface is added in the future. * Simplify fallback when iFixedPoint is out of range * Refactor projectPoints() to keep compatibilities * Fix arg string "Bad rvecs header" * Read calibration flags from test data files Instead of being hard coded into source file, the calibration flags will be read from test data files. opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with the test code. * Add new C interface of cvCalibrateCamera4() With this new added C interface, the extended calibration method with CALIB_RELEASE_OBJECT can be called by C API. * Add regression test of extended calibration method It has been tested with new added test data in xoox:calib-release-object branch of opencv_extra. * Fix assertion in test_cameracalibration.cpp The total number of refined 3D object coordinates is checked. * Add checker for iFixedPoint in cvCalibrateCamera4 If iFixedPoint is out of rational range, fall back to standard method. * Fix documentation for overloaded calibrateCamera() * Remove calibration flag of CALIB_RELEASE_OBJECT The method selection is based on the range of the index of fixed point. For minus values, standard calibration method will be chosen. Values in a rational range will make the object-releasing calibration method selected. * Use new interfaces instead of function overload Existing interfaces are preserved and new interfaces are added. Since most part of the code base are shared, calibrateCamera() is now a wrapper function of calibrateCameraRO(). * Fix exported name of calibrateCameraRO() * Update documentation for calibrateCameraRO() The circumstances where this method is mostly helpful are described. * Add note on the rigidity of the calibration target * Update documentation for calibrateCameraRO() It is clarified that iFixedPoint is used as a switch to select calibration method. If input data are not qualified, exceptions will be thrown instead of fallback scheme. * Clarify iFixedPoint as switch and remove fallback iFixedPoint is now used as a switch for calibration method selection. No fallback scheme is utilized anymore. If the input data are not qualified, exceptions will be thrown. * Add badarg test for object-releasing method * Fix document format of sample list List items of same level should be indented the same way. Otherwise they will be formatted as nested lists by Doxygen. * Add brief intro for objectPoints and imagePoints * Sync tutorial to sample calibration code * Update tutorial compatibility version to 4.0
2018-10-26 00:38:55 +08:00
Mat stdDevsMatObj;
Mat perViewErrorsMat;
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for( i = 0; i < imageCount; i++ )
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{
Mat(_imagePoints[i]).convertTo(imagePoints[i], CV_32F);
Mat(_objectPoints[i]).convertTo(objectPoints[i], CV_32F);
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}
size_t nstddev0 = CALIB_NINTRINSIC + imageCount*6, nstddev1 = nstddev0 + _imagePoints[0].size()*3;
for( i = nstddev0; i < nstddev1; i++ )
Merge pull request #12772 from xoox:calib-release-object More accurate pinhole camera calibration with imperfect planar target (#12772) 43 commits: * Add derivatives with respect to object points Add an output parameter to calculate derivatives of image points with respect to 3D coordinates of object points. The output jacobian matrix is a 2Nx3N matrix where N is the number of points. This commit introduces incompatibility to old function signature. * Set zero for dpdo matrix before using dpdo is a sparse matrix with only non-zero value close to major diagonal. Set it to zero because only elements near major diagonal are computed. * Add jacobian columns to projectPoints() The output jacobian matrix of derivatives with respect to coordinates of 3D object points are added. This might break callers who assume the columns of jacobian matrix. * Adapt test code to updated project functions The test cases for projectPoints() and cvProjectPoints2() are updated to fit new function signatures. * Add accuracy test code for dpdo * Add badarg test for dpdo * Add new enum item for new calibration method CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of object points. The method was proposed in: K. H. Strobl and G. Hirzinger. "More Accurate Pinhole Camera Calibration with Imperfect Planar Target". In Proceedings of the IEEE International Conference on Computer Vision (ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, Barcelona, Spain, pp. 1068-1075, November 2011. * Add releasing object method into internal function It's a simple extension of the standard calibration scheme. We choose to fix the first and last object point and a user-selected fixed point. * Add interfaces for extended calibration method * Refine document for calibrateCamera() When releasing object points, only the z coordinates of the objectPoints[0].back is fixed. * Add link to strobl2011iccv paper * Improve documentation for calibrateCamera() * Add implementations of wrapping calibrateCamera() * Add checking for params of new calibration method If input parameters are not qualified, then fall back to standard calibration method. * Add camera calibration method of releasing object The current implementation is equal to or better than https://github.com/xoox/calibrel * Update doc for CALIB_RELEASE_OBJECT CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases. * Add RELEASE_OBJECT calibration to tutorial code To select the calibration method of releasing object points, a command line parameter `-d=<number>` should be provided. * Update tutorial doc for camera_calibration If the method of releasing object points is merged into OpenCV. It will be expected to be firstly released in 4.1, I think. * Reduce epsilon for cornerSubPix() Epsilon of 0.1 is a bigger one. Preciser corner positions are required with calibration method of releasing object. * Refine camera calibration tutorial The hypothesis coordinates are used to indicate which distance must be measured between two specified object points. * Update sample calibration code method selection Similar to camera_calibration tutorial application, a command line argument `-dt=<number>` is used to select the calibration method. * Add guard to flags of cvCalibrateCamera2() cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload interface is added in the future. * Simplify fallback when iFixedPoint is out of range * Refactor projectPoints() to keep compatibilities * Fix arg string "Bad rvecs header" * Read calibration flags from test data files Instead of being hard coded into source file, the calibration flags will be read from test data files. opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with the test code. * Add new C interface of cvCalibrateCamera4() With this new added C interface, the extended calibration method with CALIB_RELEASE_OBJECT can be called by C API. * Add regression test of extended calibration method It has been tested with new added test data in xoox:calib-release-object branch of opencv_extra. * Fix assertion in test_cameracalibration.cpp The total number of refined 3D object coordinates is checked. * Add checker for iFixedPoint in cvCalibrateCamera4 If iFixedPoint is out of rational range, fall back to standard method. * Fix documentation for overloaded calibrateCamera() * Remove calibration flag of CALIB_RELEASE_OBJECT The method selection is based on the range of the index of fixed point. For minus values, standard calibration method will be chosen. Values in a rational range will make the object-releasing calibration method selected. * Use new interfaces instead of function overload Existing interfaces are preserved and new interfaces are added. Since most part of the code base are shared, calibrateCamera() is now a wrapper function of calibrateCameraRO(). * Fix exported name of calibrateCameraRO() * Update documentation for calibrateCameraRO() The circumstances where this method is mostly helpful are described. * Add note on the rigidity of the calibration target * Update documentation for calibrateCameraRO() It is clarified that iFixedPoint is used as a switch to select calibration method. If input data are not qualified, exceptions will be thrown instead of fallback scheme. * Clarify iFixedPoint as switch and remove fallback iFixedPoint is now used as a switch for calibration method selection. No fallback scheme is utilized anymore. If the input data are not qualified, exceptions will be thrown. * Add badarg test for object-releasing method * Fix document format of sample list List items of same level should be indented the same way. Otherwise they will be formatted as nested lists by Doxygen. * Add brief intro for objectPoints and imagePoints * Sync tutorial to sample calibration code * Update tutorial compatibility version to 4.0
2018-10-26 00:38:55 +08:00
{
stdDevs[i] = 0.0;
}
calibrateCameraRO( objectPoints,
imagePoints,
imageSize,
iFixedPoint,
cameraMatrix,
distCoeffs,
rvecs,
tvecs,
newObjMat,
stdDevsMatInt,
stdDevsMatExt,
stdDevsMatObj,
perViewErrorsMat,
flags );
bool releaseObject = iFixedPoint > 0 && iFixedPoint < pointCount - 1;
Merge pull request #12772 from xoox:calib-release-object More accurate pinhole camera calibration with imperfect planar target (#12772) 43 commits: * Add derivatives with respect to object points Add an output parameter to calculate derivatives of image points with respect to 3D coordinates of object points. The output jacobian matrix is a 2Nx3N matrix where N is the number of points. This commit introduces incompatibility to old function signature. * Set zero for dpdo matrix before using dpdo is a sparse matrix with only non-zero value close to major diagonal. Set it to zero because only elements near major diagonal are computed. * Add jacobian columns to projectPoints() The output jacobian matrix of derivatives with respect to coordinates of 3D object points are added. This might break callers who assume the columns of jacobian matrix. * Adapt test code to updated project functions The test cases for projectPoints() and cvProjectPoints2() are updated to fit new function signatures. * Add accuracy test code for dpdo * Add badarg test for dpdo * Add new enum item for new calibration method CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of object points. The method was proposed in: K. H. Strobl and G. Hirzinger. "More Accurate Pinhole Camera Calibration with Imperfect Planar Target". In Proceedings of the IEEE International Conference on Computer Vision (ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, Barcelona, Spain, pp. 1068-1075, November 2011. * Add releasing object method into internal function It's a simple extension of the standard calibration scheme. We choose to fix the first and last object point and a user-selected fixed point. * Add interfaces for extended calibration method * Refine document for calibrateCamera() When releasing object points, only the z coordinates of the objectPoints[0].back is fixed. * Add link to strobl2011iccv paper * Improve documentation for calibrateCamera() * Add implementations of wrapping calibrateCamera() * Add checking for params of new calibration method If input parameters are not qualified, then fall back to standard calibration method. * Add camera calibration method of releasing object The current implementation is equal to or better than https://github.com/xoox/calibrel * Update doc for CALIB_RELEASE_OBJECT CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases. * Add RELEASE_OBJECT calibration to tutorial code To select the calibration method of releasing object points, a command line parameter `-d=<number>` should be provided. * Update tutorial doc for camera_calibration If the method of releasing object points is merged into OpenCV. It will be expected to be firstly released in 4.1, I think. * Reduce epsilon for cornerSubPix() Epsilon of 0.1 is a bigger one. Preciser corner positions are required with calibration method of releasing object. * Refine camera calibration tutorial The hypothesis coordinates are used to indicate which distance must be measured between two specified object points. * Update sample calibration code method selection Similar to camera_calibration tutorial application, a command line argument `-dt=<number>` is used to select the calibration method. * Add guard to flags of cvCalibrateCamera2() cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload interface is added in the future. * Simplify fallback when iFixedPoint is out of range * Refactor projectPoints() to keep compatibilities * Fix arg string "Bad rvecs header" * Read calibration flags from test data files Instead of being hard coded into source file, the calibration flags will be read from test data files. opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with the test code. * Add new C interface of cvCalibrateCamera4() With this new added C interface, the extended calibration method with CALIB_RELEASE_OBJECT can be called by C API. * Add regression test of extended calibration method It has been tested with new added test data in xoox:calib-release-object branch of opencv_extra. * Fix assertion in test_cameracalibration.cpp The total number of refined 3D object coordinates is checked. * Add checker for iFixedPoint in cvCalibrateCamera4 If iFixedPoint is out of rational range, fall back to standard method. * Fix documentation for overloaded calibrateCamera() * Remove calibration flag of CALIB_RELEASE_OBJECT The method selection is based on the range of the index of fixed point. For minus values, standard calibration method will be chosen. Values in a rational range will make the object-releasing calibration method selected. * Use new interfaces instead of function overload Existing interfaces are preserved and new interfaces are added. Since most part of the code base are shared, calibrateCamera() is now a wrapper function of calibrateCameraRO(). * Fix exported name of calibrateCameraRO() * Update documentation for calibrateCameraRO() The circumstances where this method is mostly helpful are described. * Add note on the rigidity of the calibration target * Update documentation for calibrateCameraRO() It is clarified that iFixedPoint is used as a switch to select calibration method. If input data are not qualified, exceptions will be thrown instead of fallback scheme. * Clarify iFixedPoint as switch and remove fallback iFixedPoint is now used as a switch for calibration method selection. No fallback scheme is utilized anymore. If the input data are not qualified, exceptions will be thrown. * Add badarg test for object-releasing method * Fix document format of sample list List items of same level should be indented the same way. Otherwise they will be formatted as nested lists by Doxygen. * Add brief intro for objectPoints and imagePoints * Sync tutorial to sample calibration code * Update tutorial compatibility version to 4.0
2018-10-26 00:38:55 +08:00
if( releaseObject )
{
newObjMat.convertTo( newObjPoints, CV_64F );
Merge pull request #12772 from xoox:calib-release-object More accurate pinhole camera calibration with imperfect planar target (#12772) 43 commits: * Add derivatives with respect to object points Add an output parameter to calculate derivatives of image points with respect to 3D coordinates of object points. The output jacobian matrix is a 2Nx3N matrix where N is the number of points. This commit introduces incompatibility to old function signature. * Set zero for dpdo matrix before using dpdo is a sparse matrix with only non-zero value close to major diagonal. Set it to zero because only elements near major diagonal are computed. * Add jacobian columns to projectPoints() The output jacobian matrix of derivatives with respect to coordinates of 3D object points are added. This might break callers who assume the columns of jacobian matrix. * Adapt test code to updated project functions The test cases for projectPoints() and cvProjectPoints2() are updated to fit new function signatures. * Add accuracy test code for dpdo * Add badarg test for dpdo * Add new enum item for new calibration method CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of object points. The method was proposed in: K. H. Strobl and G. Hirzinger. "More Accurate Pinhole Camera Calibration with Imperfect Planar Target". In Proceedings of the IEEE International Conference on Computer Vision (ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, Barcelona, Spain, pp. 1068-1075, November 2011. * Add releasing object method into internal function It's a simple extension of the standard calibration scheme. We choose to fix the first and last object point and a user-selected fixed point. * Add interfaces for extended calibration method * Refine document for calibrateCamera() When releasing object points, only the z coordinates of the objectPoints[0].back is fixed. * Add link to strobl2011iccv paper * Improve documentation for calibrateCamera() * Add implementations of wrapping calibrateCamera() * Add checking for params of new calibration method If input parameters are not qualified, then fall back to standard calibration method. * Add camera calibration method of releasing object The current implementation is equal to or better than https://github.com/xoox/calibrel * Update doc for CALIB_RELEASE_OBJECT CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases. * Add RELEASE_OBJECT calibration to tutorial code To select the calibration method of releasing object points, a command line parameter `-d=<number>` should be provided. * Update tutorial doc for camera_calibration If the method of releasing object points is merged into OpenCV. It will be expected to be firstly released in 4.1, I think. * Reduce epsilon for cornerSubPix() Epsilon of 0.1 is a bigger one. Preciser corner positions are required with calibration method of releasing object. * Refine camera calibration tutorial The hypothesis coordinates are used to indicate which distance must be measured between two specified object points. * Update sample calibration code method selection Similar to camera_calibration tutorial application, a command line argument `-dt=<number>` is used to select the calibration method. * Add guard to flags of cvCalibrateCamera2() cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload interface is added in the future. * Simplify fallback when iFixedPoint is out of range * Refactor projectPoints() to keep compatibilities * Fix arg string "Bad rvecs header" * Read calibration flags from test data files Instead of being hard coded into source file, the calibration flags will be read from test data files. opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with the test code. * Add new C interface of cvCalibrateCamera4() With this new added C interface, the extended calibration method with CALIB_RELEASE_OBJECT can be called by C API. * Add regression test of extended calibration method It has been tested with new added test data in xoox:calib-release-object branch of opencv_extra. * Fix assertion in test_cameracalibration.cpp The total number of refined 3D object coordinates is checked. * Add checker for iFixedPoint in cvCalibrateCamera4 If iFixedPoint is out of rational range, fall back to standard method. * Fix documentation for overloaded calibrateCamera() * Remove calibration flag of CALIB_RELEASE_OBJECT The method selection is based on the range of the index of fixed point. For minus values, standard calibration method will be chosen. Values in a rational range will make the object-releasing calibration method selected. * Use new interfaces instead of function overload Existing interfaces are preserved and new interfaces are added. Since most part of the code base are shared, calibrateCamera() is now a wrapper function of calibrateCameraRO(). * Fix exported name of calibrateCameraRO() * Update documentation for calibrateCameraRO() The circumstances where this method is mostly helpful are described. * Add note on the rigidity of the calibration target * Update documentation for calibrateCameraRO() It is clarified that iFixedPoint is used as a switch to select calibration method. If input data are not qualified, exceptions will be thrown instead of fallback scheme. * Clarify iFixedPoint as switch and remove fallback iFixedPoint is now used as a switch for calibration method selection. No fallback scheme is utilized anymore. If the input data are not qualified, exceptions will be thrown. * Add badarg test for object-releasing method * Fix document format of sample list List items of same level should be indented the same way. Otherwise they will be formatted as nested lists by Doxygen. * Add brief intro for objectPoints and imagePoints * Sync tutorial to sample calibration code * Update tutorial compatibility version to 4.0
2018-10-26 00:38:55 +08:00
}
Mat stdDevMats[] = {stdDevsMatInt, stdDevsMatExt, stdDevsMatObj}, stdDevsMat;
vconcat(stdDevMats, releaseObject ? 3 : 2, stdDevsMat);
stdDevsMat.convertTo(stdDevs, CV_64F);
perViewErrorsMat.convertTo(perViewErrors, CV_64F);
cameraMatrix.convertTo(_cameraMatrix, CV_64F);
distCoeffs.convertTo(_distCoeffs, CV_64F);
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for( i = 0; i < imageCount; i++ )
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{
Mat r9;
Rodrigues( rvecs[i], r9 );
r9.convertTo(rotationMatrices[i], CV_64F);
tvecs[i].convertTo(translationVectors[i], CV_64F);
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}
}
void CV_CameraCalibrationTest_CPP::project( const std::vector<Point3d>& objectPoints,
const RotMat& rotationMatrix, const Vec3d& translationVector,
const Mat& cameraMatrix, const Mat& distortion,
std::vector<Point2d>& imagePoints )
{
projectPoints(objectPoints, rotationMatrix, translationVector, cameraMatrix, distortion, imagePoints );
/*Mat objectPoints( pointCount, 3, CV_64FC1, _objectPoints );
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Mat rmat( 3, 3, CV_64FC1, rotationMatrix ),
rvec( 1, 3, CV_64FC1 ),
tvec( 1, 3, CV_64FC1, translationVector );
Mat cameraMatrix( 3, 3, CV_64FC1, _cameraMatrix );
Mat distCoeffs( 1, 4, CV_64FC1, distortion );
vector<Point2f> imagePoints;
cvtest::Rodrigues( rmat, rvec );
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objectPoints.convertTo( objectPoints, CV_32FC1 );
projectPoints( objectPoints, rvec, tvec,
cameraMatrix, distCoeffs, imagePoints );
vector<Point2f>::const_iterator it = imagePoints.begin();
for( int i = 0; it != imagePoints.end(); ++it, i++ )
{
_imagePoints[i] = cvPoint2D64f( it->x, it->y );
}*/
}
//----------------------------------------- CV_CalibrationMatrixValuesTest --------------------------------
class CV_CalibrationMatrixValuesTest : public cvtest::BaseTest
{
public:
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CV_CalibrationMatrixValuesTest() {}
protected:
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void run(int);
virtual void calibMatrixValues( const Mat& cameraMatrix, Size imageSize,
double apertureWidth, double apertureHeight, double& fovx, double& fovy, double& focalLength,
Point2d& principalPoint, double& aspectRatio ) = 0;
};
void CV_CalibrationMatrixValuesTest::run(int)
{
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int code = cvtest::TS::OK;
const double fcMinVal = 1e-5;
const double fcMaxVal = 1000;
const double apertureMaxVal = 0.01;
RNG rng = ts->get_rng();
double fx, fy, cx, cy, nx, ny;
Mat cameraMatrix( 3, 3, CV_64FC1 );
cameraMatrix.setTo( Scalar(0) );
fx = cameraMatrix.at<double>(0,0) = rng.uniform( fcMinVal, fcMaxVal );
fy = cameraMatrix.at<double>(1,1) = rng.uniform( fcMinVal, fcMaxVal );
cx = cameraMatrix.at<double>(0,2) = rng.uniform( fcMinVal, fcMaxVal );
cy = cameraMatrix.at<double>(1,2) = rng.uniform( fcMinVal, fcMaxVal );
cameraMatrix.at<double>(2,2) = 1;
Size imageSize( 600, 400 );
double apertureWidth = (double)rng * apertureMaxVal,
apertureHeight = (double)rng * apertureMaxVal;
double fovx, fovy, focalLength, aspectRatio,
goodFovx, goodFovy, goodFocalLength, goodAspectRatio;
Point2d principalPoint, goodPrincipalPoint;
calibMatrixValues( cameraMatrix, imageSize, apertureWidth, apertureHeight,
fovx, fovy, focalLength, principalPoint, aspectRatio );
// calculate calibration matrix values
goodAspectRatio = fy / fx;
if( apertureWidth != 0.0 && apertureHeight != 0.0 )
{
nx = imageSize.width / apertureWidth;
ny = imageSize.height / apertureHeight;
}
else
{
nx = 1.0;
ny = goodAspectRatio;
}
goodFovx = (atan2(cx, fx) + atan2(imageSize.width - cx, fx)) * 180.0 / CV_PI;
goodFovy = (atan2(cy, fy) + atan2(imageSize.height - cy, fy)) * 180.0 / CV_PI;
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goodFocalLength = fx / nx;
goodPrincipalPoint.x = cx / nx;
goodPrincipalPoint.y = cy / ny;
// check results
if( fabs(fovx - goodFovx) > FLT_EPSILON )
{
ts->printf( cvtest::TS::LOG, "bad fovx (real=%f, good = %f\n", fovx, goodFovx );
code = cvtest::TS::FAIL_BAD_ACCURACY;
goto _exit_;
}
if( fabs(fovy - goodFovy) > FLT_EPSILON )
{
ts->printf( cvtest::TS::LOG, "bad fovy (real=%f, good = %f\n", fovy, goodFovy );
code = cvtest::TS::FAIL_BAD_ACCURACY;
goto _exit_;
}
if( fabs(focalLength - goodFocalLength) > FLT_EPSILON )
{
ts->printf( cvtest::TS::LOG, "bad focalLength (real=%f, good = %f\n", focalLength, goodFocalLength );
code = cvtest::TS::FAIL_BAD_ACCURACY;
goto _exit_;
}
if( fabs(aspectRatio - goodAspectRatio) > FLT_EPSILON )
{
ts->printf( cvtest::TS::LOG, "bad aspectRatio (real=%f, good = %f\n", aspectRatio, goodAspectRatio );
code = cvtest::TS::FAIL_BAD_ACCURACY;
goto _exit_;
}
if( cv::norm(principalPoint - goodPrincipalPoint) > FLT_EPSILON ) // Point2d
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{
ts->printf( cvtest::TS::LOG, "bad principalPoint\n" );
code = cvtest::TS::FAIL_BAD_ACCURACY;
goto _exit_;
}
_exit_:
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RNG& _rng = ts->get_rng();
_rng = rng;
ts->set_failed_test_info( code );
}
//----------------------------------------- CV_CalibrationMatrixValuesTest_CPP --------------------------------
class CV_CalibrationMatrixValuesTest_CPP : public CV_CalibrationMatrixValuesTest
{
public:
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CV_CalibrationMatrixValuesTest_CPP() {}
protected:
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virtual void calibMatrixValues( const Mat& cameraMatrix, Size imageSize,
double apertureWidth, double apertureHeight, double& fovx, double& fovy, double& focalLength,
Point2d& principalPoint, double& aspectRatio );
};
void CV_CalibrationMatrixValuesTest_CPP::calibMatrixValues( const Mat& cameraMatrix, Size imageSize,
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double apertureWidth, double apertureHeight,
double& fovx, double& fovy, double& focalLength,
Point2d& principalPoint, double& aspectRatio )
{
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calibrationMatrixValues( cameraMatrix, imageSize, apertureWidth, apertureHeight,
fovx, fovy, focalLength, principalPoint, aspectRatio );
}
//----------------------------------------- CV_ProjectPointsTest --------------------------------
void calcdfdx( const vector<vector<Point2f> >& leftF, const vector<vector<Point2f> >& rightF, double eps, Mat& dfdx )
{
const int fdim = 2;
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CV_Assert( !leftF.empty() && !rightF.empty() && !leftF[0].empty() && !rightF[0].empty() );
CV_Assert( leftF[0].size() == rightF[0].size() );
CV_Assert( fabs(eps) > std::numeric_limits<double>::epsilon() );
int fcount = (int)leftF[0].size(), xdim = (int)leftF.size();
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dfdx.create( fcount*fdim, xdim, CV_64FC1 );
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vector<vector<Point2f> >::const_iterator arrLeftIt = leftF.begin();
vector<vector<Point2f> >::const_iterator arrRightIt = rightF.begin();
for( int xi = 0; xi < xdim; xi++, ++arrLeftIt, ++arrRightIt )
{
CV_Assert( (int)arrLeftIt->size() == fcount );
CV_Assert( (int)arrRightIt->size() == fcount );
vector<Point2f>::const_iterator lIt = arrLeftIt->begin();
vector<Point2f>::const_iterator rIt = arrRightIt->begin();
for( int fi = 0; fi < dfdx.rows; fi+=fdim, ++lIt, ++rIt )
{
dfdx.at<double>(fi, xi ) = 0.5 * ((double)(rIt->x - lIt->x)) / eps;
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dfdx.at<double>(fi+1, xi ) = 0.5 * ((double)(rIt->y - lIt->y)) / eps;
}
}
}
class CV_ProjectPointsTest : public cvtest::BaseTest
{
public:
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CV_ProjectPointsTest() {}
protected:
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void run(int);
virtual void project( const Mat& objectPoints,
const Mat& rvec, const Mat& tvec,
const Mat& cameraMatrix,
const Mat& distCoeffs,
vector<Point2f>& imagePoints,
Mat& dpdrot, Mat& dpdt, Mat& dpdf,
Mat& dpdc, Mat& dpddist,
double aspectRatio=0 ) = 0;
};
void CV_ProjectPointsTest::run(int)
{
//typedef float matType;
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int code = cvtest::TS::OK;
const int pointCount = 100;
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const float zMinVal = 10.0f, zMaxVal = 100.0f,
rMinVal = -0.3f, rMaxVal = 0.3f,
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tMinVal = -2.0f, tMaxVal = 2.0f;
const float imgPointErr = 1e-3f,
dEps = 1e-3f;
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double err;
Size imgSize( 600, 800 );
Mat_<float> objPoints( pointCount, 3), rvec( 1, 3), rmat, tvec( 1, 3 ), cameraMatrix( 3, 3 ), distCoeffs( 1, 4 ),
leftRvec, rightRvec, leftTvec, rightTvec, leftCameraMatrix, rightCameraMatrix, leftDistCoeffs, rightDistCoeffs;
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RNG rng = ts->get_rng();
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// generate data
cameraMatrix << 300.f, 0.f, imgSize.width/2.f,
0.f, 300.f, imgSize.height/2.f,
0.f, 0.f, 1.f;
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distCoeffs << 0.1, 0.01, 0.001, 0.001;
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rvec(0,0) = rng.uniform( rMinVal, rMaxVal );
rvec(0,1) = rng.uniform( rMinVal, rMaxVal );
rvec(0,2) = rng.uniform( rMinVal, rMaxVal );
rmat = cv::Mat_<float>::zeros(3, 3);
Rodrigues( rvec, rmat );
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tvec(0,0) = rng.uniform( tMinVal, tMaxVal );
tvec(0,1) = rng.uniform( tMinVal, tMaxVal );
tvec(0,2) = rng.uniform( tMinVal, tMaxVal );
for( int y = 0; y < objPoints.rows; y++ )
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{
Mat point(1, 3, CV_32FC1, objPoints.ptr(y) );
float z = rng.uniform( zMinVal, zMaxVal );
point.at<float>(0,2) = z;
point.at<float>(0,0) = (rng.uniform(2.f,(float)(imgSize.width-2)) - cameraMatrix(0,2)) / cameraMatrix(0,0) * z;
point.at<float>(0,1) = (rng.uniform(2.f,(float)(imgSize.height-2)) - cameraMatrix(1,2)) / cameraMatrix(1,1) * z;
point = (point - tvec) * rmat;
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}
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vector<Point2f> imgPoints;
vector<vector<Point2f> > leftImgPoints;
vector<vector<Point2f> > rightImgPoints;
Mat dpdrot, dpdt, dpdf, dpdc, dpddist,
valDpdrot, valDpdt, valDpdf, valDpdc, valDpddist;
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project( objPoints, rvec, tvec, cameraMatrix, distCoeffs,
imgPoints, dpdrot, dpdt, dpdf, dpdc, dpddist, 0 );
// calculate and check image points
CV_Assert( (int)imgPoints.size() == pointCount );
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vector<Point2f>::const_iterator it = imgPoints.begin();
for( int i = 0; i < pointCount; i++, ++it )
{
Point3d p( objPoints(i,0), objPoints(i,1), objPoints(i,2) );
double z = p.x*rmat(2,0) + p.y*rmat(2,1) + p.z*rmat(2,2) + tvec(0,2),
x = (p.x*rmat(0,0) + p.y*rmat(0,1) + p.z*rmat(0,2) + tvec(0,0)) / z,
y = (p.x*rmat(1,0) + p.y*rmat(1,1) + p.z*rmat(1,2) + tvec(0,1)) / z,
r2 = x*x + y*y,
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r4 = r2*r2;
Point2f validImgPoint;
double a1 = 2*x*y,
a2 = r2 + 2*x*x,
a3 = r2 + 2*y*y,
cdist = 1+distCoeffs(0,0)*r2+distCoeffs(0,1)*r4;
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validImgPoint.x = static_cast<float>((double)cameraMatrix(0,0)*(x*cdist + (double)distCoeffs(0,2)*a1 + (double)distCoeffs(0,3)*a2)
+ (double)cameraMatrix(0,2));
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validImgPoint.y = static_cast<float>((double)cameraMatrix(1,1)*(y*cdist + (double)distCoeffs(0,2)*a3 + distCoeffs(0,3)*a1)
+ (double)cameraMatrix(1,2));
if( fabs(it->x - validImgPoint.x) > imgPointErr ||
fabs(it->y - validImgPoint.y) > imgPointErr )
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{
ts->printf( cvtest::TS::LOG, "bad image point\n" );
code = cvtest::TS::FAIL_BAD_ACCURACY;
goto _exit_;
}
}
// check derivatives
// 1. rotation
leftImgPoints.resize(3);
rightImgPoints.resize(3);
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for( int i = 0; i < 3; i++ )
{
rvec.copyTo( leftRvec ); leftRvec(0,i) -= dEps;
project( objPoints, leftRvec, tvec, cameraMatrix, distCoeffs,
leftImgPoints[i], valDpdrot, valDpdt, valDpdf, valDpdc, valDpddist, 0 );
rvec.copyTo( rightRvec ); rightRvec(0,i) += dEps;
project( objPoints, rightRvec, tvec, cameraMatrix, distCoeffs,
rightImgPoints[i], valDpdrot, valDpdt, valDpdf, valDpdc, valDpddist, 0 );
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}
calcdfdx( leftImgPoints, rightImgPoints, dEps, valDpdrot );
err = cvtest::norm( dpdrot, valDpdrot, NORM_INF );
if( err > 3 )
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{
ts->printf( cvtest::TS::LOG, "bad dpdrot: too big difference = %g\n", err );
code = cvtest::TS::FAIL_BAD_ACCURACY;
}
// 2. translation
for( int i = 0; i < 3; i++ )
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{
tvec.copyTo( leftTvec ); leftTvec(0,i) -= dEps;
project( objPoints, rvec, leftTvec, cameraMatrix, distCoeffs,
leftImgPoints[i], valDpdrot, valDpdt, valDpdf, valDpdc, valDpddist, 0 );
tvec.copyTo( rightTvec ); rightTvec(0,i) += dEps;
project( objPoints, rvec, rightTvec, cameraMatrix, distCoeffs,
rightImgPoints[i], valDpdrot, valDpdt, valDpdf, valDpdc, valDpddist, 0 );
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}
calcdfdx( leftImgPoints, rightImgPoints, dEps, valDpdt );
if( cvtest::norm( dpdt, valDpdt, NORM_INF ) > 0.2 )
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{
ts->printf( cvtest::TS::LOG, "bad dpdtvec\n" );
code = cvtest::TS::FAIL_BAD_ACCURACY;
}
// 3. camera matrix
// 3.1. focus
leftImgPoints.resize(2);
rightImgPoints.resize(2);
cameraMatrix.copyTo( leftCameraMatrix ); leftCameraMatrix(0,0) -= dEps;
project( objPoints, rvec, tvec, leftCameraMatrix, distCoeffs,
leftImgPoints[0], valDpdrot, valDpdt, valDpdf, valDpdc, valDpddist, 0 );
cameraMatrix.copyTo( leftCameraMatrix ); leftCameraMatrix(1,1) -= dEps;
project( objPoints, rvec, tvec, leftCameraMatrix, distCoeffs,
leftImgPoints[1], valDpdrot, valDpdt, valDpdf, valDpdc, valDpddist, 0 );
cameraMatrix.copyTo( rightCameraMatrix ); rightCameraMatrix(0,0) += dEps;
project( objPoints, rvec, tvec, rightCameraMatrix, distCoeffs,
rightImgPoints[0], valDpdrot, valDpdt, valDpdf, valDpdc, valDpddist, 0 );
cameraMatrix.copyTo( rightCameraMatrix ); rightCameraMatrix(1,1) += dEps;
project( objPoints, rvec, tvec, rightCameraMatrix, distCoeffs,
rightImgPoints[1], valDpdrot, valDpdt, valDpdf, valDpdc, valDpddist, 0 );
calcdfdx( leftImgPoints, rightImgPoints, dEps, valDpdf );
if ( cvtest::norm( dpdf, valDpdf, NORM_L2 ) > 0.2 )
{
ts->printf( cvtest::TS::LOG, "bad dpdf\n" );
code = cvtest::TS::FAIL_BAD_ACCURACY;
}
// 3.2. principal point
leftImgPoints.resize(2);
rightImgPoints.resize(2);
cameraMatrix.copyTo( leftCameraMatrix ); leftCameraMatrix(0,2) -= dEps;
project( objPoints, rvec, tvec, leftCameraMatrix, distCoeffs,
leftImgPoints[0], valDpdrot, valDpdt, valDpdf, valDpdc, valDpddist, 0 );
cameraMatrix.copyTo( leftCameraMatrix ); leftCameraMatrix(1,2) -= dEps;
project( objPoints, rvec, tvec, leftCameraMatrix, distCoeffs,
leftImgPoints[1], valDpdrot, valDpdt, valDpdf, valDpdc, valDpddist, 0 );
cameraMatrix.copyTo( rightCameraMatrix ); rightCameraMatrix(0,2) += dEps;
project( objPoints, rvec, tvec, rightCameraMatrix, distCoeffs,
rightImgPoints[0], valDpdrot, valDpdt, valDpdf, valDpdc, valDpddist, 0 );
cameraMatrix.copyTo( rightCameraMatrix ); rightCameraMatrix(1,2) += dEps;
project( objPoints, rvec, tvec, rightCameraMatrix, distCoeffs,
rightImgPoints[1], valDpdrot, valDpdt, valDpdf, valDpdc, valDpddist, 0 );
calcdfdx( leftImgPoints, rightImgPoints, dEps, valDpdc );
if ( cvtest::norm( dpdc, valDpdc, NORM_L2 ) > 0.2 )
{
ts->printf( cvtest::TS::LOG, "bad dpdc\n" );
code = cvtest::TS::FAIL_BAD_ACCURACY;
}
// 4. distortion
leftImgPoints.resize(distCoeffs.cols);
rightImgPoints.resize(distCoeffs.cols);
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for( int i = 0; i < distCoeffs.cols; i++ )
{
distCoeffs.copyTo( leftDistCoeffs ); leftDistCoeffs(0,i) -= dEps;
project( objPoints, rvec, tvec, cameraMatrix, leftDistCoeffs,
leftImgPoints[i], valDpdrot, valDpdt, valDpdf, valDpdc, valDpddist, 0 );
distCoeffs.copyTo( rightDistCoeffs ); rightDistCoeffs(0,i) += dEps;
project( objPoints, rvec, tvec, cameraMatrix, rightDistCoeffs,
rightImgPoints[i], valDpdrot, valDpdt, valDpdf, valDpdc, valDpddist, 0 );
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}
calcdfdx( leftImgPoints, rightImgPoints, dEps, valDpddist );
if( cvtest::norm( dpddist, valDpddist, NORM_L2 ) > 0.3 )
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{
ts->printf( cvtest::TS::LOG, "bad dpddist\n" );
code = cvtest::TS::FAIL_BAD_ACCURACY;
}
_exit_:
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RNG& _rng = ts->get_rng();
_rng = rng;
ts->set_failed_test_info( code );
}
//----------------------------------------- CV_ProjectPointsTest_CPP --------------------------------
class CV_ProjectPointsTest_CPP : public CV_ProjectPointsTest
{
public:
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CV_ProjectPointsTest_CPP() {}
protected:
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virtual void project( const Mat& objectPoints,
const Mat& rvec, const Mat& tvec,
const Mat& cameraMatrix,
const Mat& distCoeffs,
vector<Point2f>& imagePoints,
Mat& dpdrot, Mat& dpdt, Mat& dpdf,
Mat& dpdc, Mat& dpddist,
double aspectRatio=0 );
};
void CV_ProjectPointsTest_CPP::project( const Mat& objectPoints, const Mat& rvec, const Mat& tvec,
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const Mat& cameraMatrix, const Mat& distCoeffs, vector<Point2f>& imagePoints,
Mat& dpdrot, Mat& dpdt, Mat& dpdf, Mat& dpdc, Mat& dpddist, double aspectRatio)
{
Mat J;
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projectPoints( objectPoints, rvec, tvec, cameraMatrix, distCoeffs, imagePoints, J, aspectRatio);
J.colRange(0, 3).copyTo(dpdrot);
J.colRange(3, 6).copyTo(dpdt);
J.colRange(6, 8).copyTo(dpdf);
J.colRange(8, 10).copyTo(dpdc);
J.colRange(10, J.cols).copyTo(dpddist);
}
///////////////////////////////// Stereo Calibration /////////////////////////////////////
class CV_StereoCalibrationTest : public cvtest::BaseTest
{
public:
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CV_StereoCalibrationTest();
~CV_StereoCalibrationTest();
void clear();
protected:
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bool checkPandROI( int test_case_idx,
const Mat& M, const Mat& D, const Mat& R,
const Mat& P, Size imgsize, Rect roi );
// covers of tested functions
virtual double calibrateStereoCamera( const vector<vector<Point3f> >& objectPoints,
const vector<vector<Point2f> >& imagePoints1,
const vector<vector<Point2f> >& imagePoints2,
Mat& cameraMatrix1, Mat& distCoeffs1,
Mat& cameraMatrix2, Mat& distCoeffs2,
Size imageSize, Mat& R, Mat& T,
Mat& E, Mat& F, TermCriteria criteria, int flags ) = 0;
virtual void rectify( const Mat& cameraMatrix1, const Mat& distCoeffs1,
const Mat& cameraMatrix2, const Mat& distCoeffs2,
Size imageSize, const Mat& R, const Mat& T,
Mat& R1, Mat& R2, Mat& P1, Mat& P2, Mat& Q,
double alpha, Size newImageSize,
Rect* validPixROI1, Rect* validPixROI2, int flags ) = 0;
virtual bool rectifyUncalibrated( const Mat& points1,
const Mat& points2, const Mat& F, Size imgSize,
Mat& H1, Mat& H2, double threshold=5 ) = 0;
virtual void triangulate( const Mat& P1, const Mat& P2,
const Mat &points1, const Mat &points2,
Mat &points4D ) = 0;
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virtual void correct( const Mat& F,
const Mat &points1, const Mat &points2,
Mat &newPoints1, Mat &newPoints2 ) = 0;
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void run(int);
};
CV_StereoCalibrationTest::CV_StereoCalibrationTest()
{
}
CV_StereoCalibrationTest::~CV_StereoCalibrationTest()
{
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clear();
}
void CV_StereoCalibrationTest::clear()
{
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cvtest::BaseTest::clear();
}
bool CV_StereoCalibrationTest::checkPandROI( int test_case_idx, const Mat& M, const Mat& D, const Mat& R,
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const Mat& P, Size imgsize, Rect roi )
{
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const double eps = 0.05;
const int N = 21;
int x, y, k;
vector<Point2f> pts, upts;
// step 1. check that all the original points belong to the destination image
for( y = 0; y < N; y++ )
for( x = 0; x < N; x++ )
pts.push_back(Point2f((float)x*imgsize.width/(N-1), (float)y*imgsize.height/(N-1)));
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undistortPoints(pts, upts, M, D, R, P );
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for( k = 0; k < N*N; k++ )
if( upts[k].x < -imgsize.width*eps || upts[k].x > imgsize.width*(1+eps) ||
upts[k].y < -imgsize.height*eps || upts[k].y > imgsize.height*(1+eps) )
{
ts->printf(cvtest::TS::LOG, "Test #%d. The point (%g, %g) was mapped to (%g, %g) which is out of image\n",
test_case_idx, pts[k].x, pts[k].y, upts[k].x, upts[k].y);
return false;
}
// step 2. check that all the points inside ROI belong to the original source image
Mat temp(imgsize, CV_8U), utemp, map1, map2;
temp = Scalar::all(1);
initUndistortRectifyMap(M, D, R, P, imgsize, CV_16SC2, map1, map2);
remap(temp, utemp, map1, map2, INTER_LINEAR);
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if(roi.x < 0 || roi.y < 0 || roi.x + roi.width > imgsize.width || roi.y + roi.height > imgsize.height)
{
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ts->printf(cvtest::TS::LOG, "Test #%d. The ROI=(%d, %d, %d, %d) is outside of the imge rectangle\n",
test_case_idx, roi.x, roi.y, roi.width, roi.height);
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return false;
}
double s = sum(utemp(roi))[0];
if( s > roi.area() || roi.area() - s > roi.area()*(1-eps) )
{
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ts->printf(cvtest::TS::LOG, "Test #%d. The ratio of black pixels inside the valid ROI (~%g%%) is too large\n",
test_case_idx, s*100./roi.area());
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return false;
}
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return true;
}
void CV_StereoCalibrationTest::run( int )
{
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const int ntests = 1;
const double maxReprojErr = 2;
const double maxScanlineDistErr_c = 3;
const double maxScanlineDistErr_uc = 4;
FILE* f = 0;
for(int testcase = 1; testcase <= ntests; testcase++)
{
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cv::String filepath;
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char buf[1000];
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filepath = cv::format("%scv/stereo/case%d/stereo_calib.txt", ts->get_data_path().c_str(), testcase );
f = fopen(filepath.c_str(), "rt");
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Size patternSize;
vector<string> imglist;
if( !f || !fgets(buf, sizeof(buf)-3, f) || sscanf(buf, "%d%d", &patternSize.width, &patternSize.height) != 2 )
{
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ts->printf( cvtest::TS::LOG, "The file %s can not be opened or has invalid content\n", filepath.c_str() );
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ts->set_failed_test_info( f ? cvtest::TS::FAIL_INVALID_TEST_DATA : cvtest::TS::FAIL_MISSING_TEST_DATA );
if (f)
fclose(f);
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return;
}
for(;;)
{
if( !fgets( buf, sizeof(buf)-3, f ))
break;
size_t len = strlen(buf);
while( len > 0 && isspace(buf[len-1]))
buf[--len] = '\0';
if( buf[0] == '#')
continue;
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filepath = cv::format("%scv/stereo/case%d/%s", ts->get_data_path().c_str(), testcase, buf );
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imglist.push_back(string(filepath));
}
fclose(f);
if( imglist.size() == 0 || imglist.size() % 2 != 0 )
{
ts->printf( cvtest::TS::LOG, "The number of images is 0 or an odd number in the case #%d\n", testcase );
ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_TEST_DATA );
return;
}
int nframes = (int)(imglist.size()/2);
int npoints = patternSize.width*patternSize.height;
vector<vector<Point3f> > objpt(nframes);
vector<vector<Point2f> > imgpt1(nframes);
vector<vector<Point2f> > imgpt2(nframes);
Size imgsize;
int total = 0;
for( int i = 0; i < nframes; i++ )
{
Mat left = imread(imglist[i*2]);
Mat right = imread(imglist[i*2+1]);
if(left.empty() || right.empty())
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{
ts->printf( cvtest::TS::LOG, "Can not load images %s and %s, testcase %d\n",
imglist[i*2].c_str(), imglist[i*2+1].c_str(), testcase );
ts->set_failed_test_info( cvtest::TS::FAIL_MISSING_TEST_DATA );
return;
}
imgsize = left.size();
bool found1 = findChessboardCorners(left, patternSize, imgpt1[i]);
bool found2 = findChessboardCorners(right, patternSize, imgpt2[i]);
if(!found1 || !found2)
{
ts->printf( cvtest::TS::LOG, "The function could not detect boards (%d x %d) on the images %s and %s, testcase %d\n",
patternSize.width, patternSize.height,
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imglist[i*2].c_str(), imglist[i*2+1].c_str(), testcase );
ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
return;
}
total += (int)imgpt1[i].size();
for( int j = 0; j < npoints; j++ )
objpt[i].push_back(Point3f((float)(j%patternSize.width), (float)(j/patternSize.width), 0.f));
}
// rectify (calibrated)
Mat M1 = Mat::eye(3,3,CV_64F), M2 = Mat::eye(3,3,CV_64F), D1(5,1,CV_64F), D2(5,1,CV_64F), R, T, E, F;
M1.at<double>(0,2) = M2.at<double>(0,2)=(imgsize.width-1)*0.5;
M1.at<double>(1,2) = M2.at<double>(1,2)=(imgsize.height-1)*0.5;
D1 = Scalar::all(0);
D2 = Scalar::all(0);
double err = calibrateStereoCamera(objpt, imgpt1, imgpt2, M1, D1, M2, D2, imgsize, R, T, E, F,
TermCriteria(TermCriteria::MAX_ITER+TermCriteria::EPS, 30, 1e-6),
CALIB_SAME_FOCAL_LENGTH
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//+ CV_CALIB_FIX_ASPECT_RATIO
+ CALIB_FIX_PRINCIPAL_POINT
+ CALIB_ZERO_TANGENT_DIST
+ CALIB_FIX_K3
+ CALIB_FIX_K4 + CALIB_FIX_K5 //+ CV_CALIB_FIX_K6
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);
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err /= nframes*npoints;
if( err > maxReprojErr )
{
ts->printf( cvtest::TS::LOG, "The average reprojection error is too big (=%g), testcase %d\n", err, testcase);
ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
return;
}
Mat R1, R2, P1, P2, Q;
Rect roi1, roi2;
rectify(M1, D1, M2, D2, imgsize, R, T, R1, R2, P1, P2, Q, 1, imgsize, &roi1, &roi2, 0);
Mat eye33 = Mat::eye(3,3,CV_64F);
Mat R1t = R1.t(), R2t = R2.t();
if( cvtest::norm(R1t*R1 - eye33, NORM_L2) > 0.01 ||
cvtest::norm(R2t*R2 - eye33, NORM_L2) > 0.01 ||
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abs(determinant(F)) > 0.01)
{
ts->printf( cvtest::TS::LOG, "The computed (by rectify) R1 and R2 are not orthogonal,"
"or the computed (by calibrate) F is not singular, testcase %d\n", testcase);
ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
return;
}
if(!checkPandROI(testcase, M1, D1, R1, P1, imgsize, roi1))
{
ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
return;
}
if(!checkPandROI(testcase, M2, D2, R2, P2, imgsize, roi2))
{
ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
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 - cvtest::norm(T, NORM_L2)) > 1e-5)
{
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ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
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 )
{
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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 );
}
//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 = 60.0f;
const int pointsCount = 500;
const float requiredAccuracy = 1e-3f;
const float allowToFail = 0.2f; // 20%
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);
Mat points4d;
triangulate(P1, P2, projectedPoints_1, projectedPoints_2, points4d);
Mat homogeneousPoints4d = points4d.t();
const int dimension = 4;
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);
Mat diff;
absdiff(triangulatedPoints, reprojectedPoints, diff);
Mat mask = diff > requiredAccuracy;
mask = mask.reshape(1);
mask = mask.col(0) | mask.col(1) | mask.col(2);
int numFailed = countNonZero(mask);
#if 0
std::cout << "numFailed=" << numFailed << std::endl;
for (int i = 0; i < triangulatedPoints.rows; i++)
{
if (mask.at<uchar>(i))
{
// failed points usually have 'w'~0 (points4d[3])
std::cout << "i=" << i << " triangulatePoints=" << triangulatedPoints.row(i) << " reprojectedPoints=" << reprojectedPoints.row(i) << std::endl <<
" points4d=" << points4d.col(i).t() << " projectedPoints_1=" << projectedPoints_1.col(i).t() << " disparities=" << disparities.col(i).t() << std::endl;
}
}
#endif
if (numFailed >= allowToFail * pointsCount)
{
ts->printf( cvtest::TS::LOG, "Points reprojected with a matrix Q and points reconstructed by triangulation are different (tolerance=%g, failed=%d), testcase %d\n",
requiredAccuracy, numFailed, testcase);
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ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
}
//check correctMatches
const float constraintAccuracy = 1e-5f;
Mat newPoints1, newPoints2;
Mat points1 = projectedPoints_1.t();
points1 = points1.reshape(2, 1);
Mat points2 = projectedPoints_2.t();
points2 = points2.reshape(2, 1);
correctMatches(F, points1, points2, newPoints1, newPoints2);
Mat newHomogeneousPoints1, newHomogeneousPoints2;
convertPointsToHomogeneous(newPoints1, newHomogeneousPoints1);
convertPointsToHomogeneous(newPoints2, newHomogeneousPoints2);
newHomogeneousPoints1 = newHomogeneousPoints1.reshape(1);
newHomogeneousPoints2 = newHomogeneousPoints2.reshape(1);
Mat typedF;
F.convertTo(typedF, newHomogeneousPoints1.type());
for (int i = 0; i < newHomogeneousPoints1.rows; ++i)
{
Mat error = newHomogeneousPoints2.row(i) * typedF * newHomogeneousPoints1.row(i).t();
CV_Assert(error.rows == 1 && error.cols == 1);
if (cvtest::norm(error, NORM_L2) > constraintAccuracy)
{
ts->printf( cvtest::TS::LOG, "Epipolar constraint is violated after correctMatches, testcase %d\n", testcase);
ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
}
}
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// rectifyUncalibrated
CV_Assert( imgpt1.size() == imgpt2.size() );
Mat _imgpt1( total, 1, CV_32FC2 ), _imgpt2( total, 1, CV_32FC2 );
vector<vector<Point2f> >::const_iterator iit1 = imgpt1.begin();
vector<vector<Point2f> >::const_iterator iit2 = imgpt2.begin();
for( int pi = 0; iit1 != imgpt1.end(); ++iit1, ++iit2 )
{
vector<Point2f>::const_iterator pit1 = iit1->begin();
vector<Point2f>::const_iterator pit2 = iit2->begin();
CV_Assert( iit1->size() == iit2->size() );
for( ; pit1 != iit1->end(); ++pit1, ++pit2, pi++ )
{
_imgpt1.at<Point2f>(pi,0) = Point2f( pit1->x, pit1->y );
_imgpt2.at<Point2f>(pi,0) = Point2f( pit2->x, pit2->y );
}
}
Mat _M1, _M2, _D1, _D2;
vector<Mat> _R1, _R2, _T1, _T2;
calibrateCamera( objpt, imgpt1, imgsize, _M1, _D1, _R1, _T1, 0 );
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calibrateCamera( objpt, imgpt2, imgsize, _M2, _D2, _R2, _T2, 0 );
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undistortPoints( _imgpt1, _imgpt1, _M1, _D1, Mat(), _M1 );
undistortPoints( _imgpt2, _imgpt2, _M2, _D2, Mat(), _M2 );
Mat matF, _H1, _H2;
matF = findFundamentalMat( _imgpt1, _imgpt2 );
rectifyUncalibrated( _imgpt1, _imgpt2, matF, imgsize, _H1, _H2 );
Mat rectifPoints1, rectifPoints2;
perspectiveTransform( _imgpt1, rectifPoints1, _H1 );
perspectiveTransform( _imgpt2, rectifPoints2, _H2 );
bool verticalStereo = abs(P2.at<double>(0,3)) < abs(P2.at<double>(1,3));
double maxDiff_c = 0, maxDiff_uc = 0;
for( int i = 0, k = 0; i < nframes; i++ )
{
vector<Point2f> temp[2];
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undistortPoints(imgpt1[i], temp[0], M1, D1, R1, P1);
undistortPoints(imgpt2[i], temp[1], M2, D2, R2, P2);
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for( int j = 0; j < npoints; j++, k++ )
{
double diff_c = verticalStereo ? abs(temp[0][j].x - temp[1][j].x) : abs(temp[0][j].y - temp[1][j].y);
Point2f d = rectifPoints1.at<Point2f>(k,0) - rectifPoints2.at<Point2f>(k,0);
double diff_uc = verticalStereo ? abs(d.x) : abs(d.y);
maxDiff_c = max(maxDiff_c, diff_c);
maxDiff_uc = max(maxDiff_uc, diff_uc);
if( maxDiff_c > maxScanlineDistErr_c )
{
ts->printf( cvtest::TS::LOG, "The distance between %s coordinates is too big(=%g) (used calibrated stereo), testcase %d\n",
verticalStereo ? "x" : "y", diff_c, testcase);
ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
return;
}
if( maxDiff_uc > maxScanlineDistErr_uc )
{
ts->printf( cvtest::TS::LOG, "The distance between %s coordinates is too big(=%g) (used uncalibrated stereo), testcase %d\n",
verticalStereo ? "x" : "y", diff_uc, testcase);
ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
return;
}
}
}
ts->printf( cvtest::TS::LOG, "Testcase %d. Max distance (calibrated) =%g\n"
"Max distance (uncalibrated) =%g\n", testcase, maxDiff_c, maxDiff_uc );
}
}
//-------------------------------- CV_StereoCalibrationTest_CPP ------------------------------
class CV_StereoCalibrationTest_CPP : public CV_StereoCalibrationTest
{
public:
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CV_StereoCalibrationTest_CPP() {}
protected:
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virtual double calibrateStereoCamera( const vector<vector<Point3f> >& objectPoints,
const vector<vector<Point2f> >& imagePoints1,
const vector<vector<Point2f> >& imagePoints2,
Mat& cameraMatrix1, Mat& distCoeffs1,
Mat& cameraMatrix2, Mat& distCoeffs2,
Size imageSize, Mat& R, Mat& T,
Mat& E, Mat& F, TermCriteria criteria, int flags );
virtual void rectify( const Mat& cameraMatrix1, const Mat& distCoeffs1,
const Mat& cameraMatrix2, const Mat& distCoeffs2,
Size imageSize, const Mat& R, const Mat& T,
Mat& R1, Mat& R2, Mat& P1, Mat& P2, Mat& Q,
double alpha, Size newImageSize,
Rect* validPixROI1, Rect* validPixROI2, int flags );
virtual bool rectifyUncalibrated( const Mat& points1,
const Mat& points2, const Mat& F, Size imgSize,
Mat& H1, Mat& H2, double threshold=5 );
virtual void triangulate( const Mat& P1, const Mat& P2,
const Mat &points1, const Mat &points2,
Mat &points4D );
virtual void correct( const Mat& F,
const Mat &points1, const Mat &points2,
Mat &newPoints1, Mat &newPoints2 );
};
double CV_StereoCalibrationTest_CPP::calibrateStereoCamera( const vector<vector<Point3f> >& objectPoints,
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const vector<vector<Point2f> >& imagePoints1,
const vector<vector<Point2f> >& imagePoints2,
Mat& cameraMatrix1, Mat& distCoeffs1,
Mat& cameraMatrix2, Mat& distCoeffs2,
Size imageSize, Mat& R, Mat& T,
Mat& E, Mat& F, TermCriteria criteria, int flags )
{
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return stereoCalibrate( objectPoints, imagePoints1, imagePoints2,
cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2,
imageSize, R, T, E, F, flags, criteria );
}
void CV_StereoCalibrationTest_CPP::rectify( const Mat& cameraMatrix1, const Mat& distCoeffs1,
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const Mat& cameraMatrix2, const Mat& distCoeffs2,
Size imageSize, const Mat& R, const Mat& T,
Mat& R1, Mat& R2, Mat& P1, Mat& P2, Mat& Q,
double alpha, Size newImageSize,
Rect* validPixROI1, Rect* validPixROI2, int flags )
{
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stereoRectify( cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2,
imageSize, R, T, R1, R2, P1, P2, Q, flags, alpha, newImageSize,validPixROI1, validPixROI2 );
}
bool CV_StereoCalibrationTest_CPP::rectifyUncalibrated( const Mat& points1,
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const Mat& points2, const Mat& F, Size imgSize, Mat& H1, Mat& H2, double threshold )
{
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return stereoRectifyUncalibrated( points1, points2, F, imgSize, H1, H2, threshold );
}
void CV_StereoCalibrationTest_CPP::triangulate( const Mat& P1, const Mat& P2,
const Mat &points1, const Mat &points2,
Mat &points4D )
{
triangulatePoints(P1, P2, points1, points2, points4D);
}
void CV_StereoCalibrationTest_CPP::correct( const Mat& F,
const Mat &points1, const Mat &points2,
Mat &newPoints1, Mat &newPoints2 )
{
correctMatches(F, points1, points2, newPoints1, newPoints2);
}
///////////////////////////////////////////////////////////////////////////////////////////////////
TEST(Calib3d_CalibrateCamera_CPP, regression) { CV_CameraCalibrationTest_CPP test; test.safe_run(); }
TEST(Calib3d_CalibrationMatrixValues_CPP, accuracy) { CV_CalibrationMatrixValuesTest_CPP test; test.safe_run(); }
TEST(Calib3d_ProjectPoints_CPP, regression) { CV_ProjectPointsTest_CPP test; test.safe_run(); }
TEST(Calib3d_ProjectPoints_CPP, inputShape)
{
Matx31d rvec = Matx31d::zeros();
Matx31d tvec(0, 0, 1);
Matx33d cameraMatrix = Matx33d::eye();
const float L = 0.1f;
{
//3xN 1-channel
Mat objectPoints = (Mat_<float>(3, 2) << -L, L,
L, L,
0, 0);
vector<Point2f> imagePoints;
projectPoints(objectPoints, rvec, tvec, cameraMatrix, noArray(), imagePoints);
EXPECT_EQ(objectPoints.cols, static_cast<int>(imagePoints.size()));
EXPECT_NEAR(imagePoints[0].x, -L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[0].y, L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[1].x, L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[1].y, L, std::numeric_limits<float>::epsilon());
}
{
//Nx2 1-channel
Mat objectPoints = (Mat_<float>(2, 3) << -L, L, 0,
L, L, 0);
vector<Point2f> imagePoints;
projectPoints(objectPoints, rvec, tvec, cameraMatrix, noArray(), imagePoints);
EXPECT_EQ(objectPoints.rows, static_cast<int>(imagePoints.size()));
EXPECT_NEAR(imagePoints[0].x, -L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[0].y, L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[1].x, L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[1].y, L, std::numeric_limits<float>::epsilon());
}
{
//1xN 3-channel
Mat objectPoints(1, 2, CV_32FC3);
objectPoints.at<Vec3f>(0,0) = Vec3f(-L, L, 0);
objectPoints.at<Vec3f>(0,1) = Vec3f(L, L, 0);
vector<Point2f> imagePoints;
projectPoints(objectPoints, rvec, tvec, cameraMatrix, noArray(), imagePoints);
EXPECT_EQ(objectPoints.cols, static_cast<int>(imagePoints.size()));
EXPECT_NEAR(imagePoints[0].x, -L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[0].y, L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[1].x, L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[1].y, L, std::numeric_limits<float>::epsilon());
}
{
//Nx1 3-channel
Mat objectPoints(2, 1, CV_32FC3);
objectPoints.at<Vec3f>(0,0) = Vec3f(-L, L, 0);
objectPoints.at<Vec3f>(1,0) = Vec3f(L, L, 0);
vector<Point2f> imagePoints;
projectPoints(objectPoints, rvec, tvec, cameraMatrix, noArray(), imagePoints);
EXPECT_EQ(objectPoints.rows, static_cast<int>(imagePoints.size()));
EXPECT_NEAR(imagePoints[0].x, -L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[0].y, L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[1].x, L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[1].y, L, std::numeric_limits<float>::epsilon());
}
{
//vector<Point3f>
vector<Point3f> objectPoints;
objectPoints.push_back(Point3f(-L, L, 0));
objectPoints.push_back(Point3f(L, L, 0));
vector<Point2f> imagePoints;
projectPoints(objectPoints, rvec, tvec, cameraMatrix, noArray(), imagePoints);
EXPECT_EQ(objectPoints.size(), imagePoints.size());
EXPECT_NEAR(imagePoints[0].x, -L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[0].y, L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[1].x, L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[1].y, L, std::numeric_limits<float>::epsilon());
}
{
//vector<Point3d>
vector<Point3d> objectPoints;
objectPoints.push_back(Point3d(-L, L, 0));
objectPoints.push_back(Point3d(L, L, 0));
vector<Point2d> imagePoints;
projectPoints(objectPoints, rvec, tvec, cameraMatrix, noArray(), imagePoints);
EXPECT_EQ(objectPoints.size(), imagePoints.size());
EXPECT_NEAR(imagePoints[0].x, -L, std::numeric_limits<double>::epsilon());
EXPECT_NEAR(imagePoints[0].y, L, std::numeric_limits<double>::epsilon());
EXPECT_NEAR(imagePoints[1].x, L, std::numeric_limits<double>::epsilon());
EXPECT_NEAR(imagePoints[1].y, L, std::numeric_limits<double>::epsilon());
}
}
TEST(Calib3d_ProjectPoints_CPP, outputShape)
{
Matx31d rvec = Matx31d::zeros();
Matx31d tvec(0, 0, 1);
Matx33d cameraMatrix = Matx33d::eye();
const float L = 0.1f;
{
vector<Point3f> objectPoints;
objectPoints.push_back(Point3f(-L, L, 0));
objectPoints.push_back(Point3f( L, L, 0));
objectPoints.push_back(Point3f( L, -L, 0));
//Mat --> will be Nx1 2-channel
Mat imagePoints;
projectPoints(objectPoints, rvec, tvec, cameraMatrix, noArray(), imagePoints);
EXPECT_EQ(static_cast<int>(objectPoints.size()), imagePoints.rows);
EXPECT_NEAR(imagePoints.at<Vec2f>(0,0)(0), -L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(0,0)(1), L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(1,0)(0), L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(1,0)(1), L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(2,0)(0), L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(2,0)(1), -L, std::numeric_limits<float>::epsilon());
}
{
vector<Point3f> objectPoints;
objectPoints.push_back(Point3f(-L, L, 0));
objectPoints.push_back(Point3f( L, L, 0));
objectPoints.push_back(Point3f( L, -L, 0));
//Nx1 2-channel
Mat imagePoints(3,1,CV_32FC2);
projectPoints(objectPoints, rvec, tvec, cameraMatrix, noArray(), imagePoints);
EXPECT_EQ(static_cast<int>(objectPoints.size()), imagePoints.rows);
EXPECT_NEAR(imagePoints.at<Vec2f>(0,0)(0), -L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(0,0)(1), L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(1,0)(0), L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(1,0)(1), L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(2,0)(0), L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(2,0)(1), -L, std::numeric_limits<float>::epsilon());
}
{
vector<Point3f> objectPoints;
objectPoints.push_back(Point3f(-L, L, 0));
objectPoints.push_back(Point3f( L, L, 0));
objectPoints.push_back(Point3f( L, -L, 0));
//1xN 2-channel
Mat imagePoints(1,3,CV_32FC2);
projectPoints(objectPoints, rvec, tvec, cameraMatrix, noArray(), imagePoints);
EXPECT_EQ(static_cast<int>(objectPoints.size()), imagePoints.cols);
EXPECT_NEAR(imagePoints.at<Vec2f>(0,0)(0), -L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(0,0)(1), L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(0,1)(0), L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(0,1)(1), L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(0,2)(0), L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints.at<Vec2f>(0,2)(1), -L, std::numeric_limits<float>::epsilon());
}
{
vector<Point3f> objectPoints;
objectPoints.push_back(Point3f(-L, L, 0));
objectPoints.push_back(Point3f(L, L, 0));
//vector<Point2f>
vector<Point2f> imagePoints;
projectPoints(objectPoints, rvec, tvec, cameraMatrix, noArray(), imagePoints);
EXPECT_EQ(objectPoints.size(), imagePoints.size());
EXPECT_NEAR(imagePoints[0].x, -L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[0].y, L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[1].x, L, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(imagePoints[1].y, L, std::numeric_limits<float>::epsilon());
}
{
vector<Point3d> objectPoints;
objectPoints.push_back(Point3d(-L, L, 0));
objectPoints.push_back(Point3d(L, L, 0));
//vector<Point2d>
vector<Point2d> imagePoints;
projectPoints(objectPoints, rvec, tvec, cameraMatrix, noArray(), imagePoints);
EXPECT_EQ(objectPoints.size(), imagePoints.size());
EXPECT_NEAR(imagePoints[0].x, -L, std::numeric_limits<double>::epsilon());
EXPECT_NEAR(imagePoints[0].y, L, std::numeric_limits<double>::epsilon());
EXPECT_NEAR(imagePoints[1].x, L, std::numeric_limits<double>::epsilon());
EXPECT_NEAR(imagePoints[1].y, L, std::numeric_limits<double>::epsilon());
}
}
TEST(Calib3d_StereoCalibrate_CPP, regression) { CV_StereoCalibrationTest_CPP test; test.safe_run(); }
TEST(Calib3d_StereoCalibrate_CPP, extended)
{
cvtest::TS* ts = cvtest::TS::ptr();
String filepath = cv::format("%scv/stereo/case%d/", ts->get_data_path().c_str(), 1 );
Mat left = imread(filepath+"left01.png");
Mat right = imread(filepath+"right01.png");
if(left.empty() || right.empty())
{
ts->set_failed_test_info( cvtest::TS::FAIL_MISSING_TEST_DATA );
return;
}
vector<vector<Point2f> > imgpt1(1), imgpt2(1);
vector<vector<Point3f> > objpt(1);
Size patternSize(9, 6), imageSize(640, 480);
bool found1 = findChessboardCorners(left, patternSize, imgpt1[0]);
bool found2 = findChessboardCorners(right, patternSize, imgpt2[0]);
if(!found1 || !found2)
{
ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
return;
}
for( int j = 0; j < patternSize.width*patternSize.height; j++ )
objpt[0].push_back(Point3f((float)(j%patternSize.width), (float)(j/patternSize.width), 0.f));
Mat K1, K2, c1, c2, R, T, E, F, err;
int flags = 0;
double res0 = stereoCalibrate( objpt, imgpt1, imgpt2,
K1, c1, K2, c2,
imageSize, R, T, E, F, err, flags);
flags = CALIB_USE_EXTRINSIC_GUESS;
double res1 = stereoCalibrate( objpt, imgpt1, imgpt2,
K1, c1, K2, c2,
imageSize, R, T, E, F, err, flags);
Merge pull request #21018 from savuor:levmarqfromscratch New LevMarq implementation * Hash TSDF fix: apply volume pose when fetching pose * DualQuat minor fix * Pose Graph: getEdgePose(), getEdgeInfo() * debugging code for pose graph * add edge to submap * pose averaging: DualQuats instead of matrix averaging * overlapping ratio: rise it up; minor comment * remove `Submap::addEdgeToSubmap` * test_pose_graph: minor * SparseBlockMatrix: support 1xN as well as Nx1 for residual vector * small changes to old LMSolver * new LevMarq impl * Pose Graph rewritten to use new impl * solvePnP(), findHomography() and findExtrinsicCameraParams2() use new impl * estimateAffine...2D() use new impl * calibration and stereo calibration use new impl * BundleAdjusterBase::estimate() uses new impl * new LevMarq interface * PoseGraph: changing opt interface * findExtrinsicCameraParams2(): opt interface updated * HomographyRefine: opt interface updated * solvePnPRefine opt interface fixed * Affine2DRefine opt interface fixed * BundleAdjuster::estimate() opt interface fixed * calibration: opt interface fixed + code refactored a little * minor warning fixes * geodesic acceleration, Impl -> Backend rename * calcFunc() always uses probe vars * solveDecomposed, fixing negation * fixing geodesic acceleration + minors * PoseGraph exposes its optimizer now + its tests updated to check better convegence * Rosenbrock test added for LevMarq * LevMarq params upgraded * Rosenbrock can do better * fixing stereo calibration * old implementation removed (as well as debug code) * more debugging code removed * fix warnings * fixing warnings * fixing Eigen dependency * trying to fix Eigen deps * debugging code for submat is now temporary * trying to fix Eigen dependency * relax sanity check for solvePnP * relaxing sanity check even more * trying to fix Eigen dependency * warning fix * Quat<T>: fixing warnings * more warning fixes * fixed warning * fixing *KinFu OCL tests * algo params -> struct Settings * Backend moved to details * BaseLevMarq -> LevMarqBase * detail/pose_graph.hpp -> detail/optimizer.hpp * fixing include stuff for details/optimizer.hpp * doc fix * LevMarqBase rework: Settings, pImpl, Backend * Impl::settings and ::backend fix * HashTSDFGPU fix * fixing compilation * warning fix for OdometryFrameImplTMat * docs fix + compile warnings * remake: new class LevMarq with pImpl and enums, LevMarqBase => detail, no Backend class, Settings() => .cpp, Settings==() removed, Settings.set...() inlines * fixing warnings & whitespace
2021-12-28 05:51:32 +08:00
EXPECT_LE(res1, res0);
EXPECT_TRUE(err.total() == 2);
}
TEST(Calib3d_StereoCalibrate, regression_10791)
{
const Matx33d M1(
853.1387981631528, 0, 704.154907802121,
0, 853.6445089162528, 520.3600712930319,
0, 0, 1
);
const Matx33d M2(
848.6090216909176, 0, 701.6162856852185,
0, 849.7040162357157, 509.1864036137,
0, 0, 1
);
const Matx<double, 14, 1> D1(-6.463598629567206, 79.00104930508179, -0.0001006144444464403, -0.0005437499822299972,
12.56900616588467, -6.056719942752855, 76.3842481414836, 45.57460250612659,
0, 0, 0, 0, 0, 0);
const Matx<double, 14, 1> D2(0.6123436439798265, -0.4671756923224087, -0.0001261947899033442, -0.000597334584036978,
-0.05660119809538371, 1.037075740629769, -0.3076042835831711, -0.2502169324283623,
0, 0, 0, 0, 0, 0);
const Matx33d R(
0.9999926627018476, -0.0001095586963765905, 0.003829169539302921,
0.0001021735876758584, 0.9999981346680941, 0.0019287874145156,
-0.003829373712065528, -0.001928382022437616, 0.9999908085776333
);
const Matx31d T(-58.9161771697128, -0.01581306249996402, -0.8492960216760961);
const Size imageSize(1280, 960);
Mat R1, R2, P1, P2, Q;
Rect roi1, roi2;
stereoRectify(M1, D1, M2, D2, imageSize, R, T,
R1, R2, P1, P2, Q,
CALIB_ZERO_DISPARITY, 1, imageSize, &roi1, &roi2);
EXPECT_GE(roi1.area(), 400*300) << roi1;
EXPECT_GE(roi2.area(), 400*300) << roi2;
}
TEST(Calib3d_StereoCalibrate, regression_11131)
{
const Matx33d M1(
1457.572438721727, 0, 1212.945694211622,
0, 1457.522226502963, 1007.32058848921,
0, 0, 1
);
const Matx33d M2(
1460.868570835972, 0, 1215.024068023046,
0, 1460.791367088, 1011.107202932225,
0, 0, 1
);
const Matx<double, 5, 1> D1(0, 0, 0, 0, 0);
const Matx<double, 5, 1> D2(0, 0, 0, 0, 0);
const Matx33d R(
0.9985404059825475, 0.02963547172078553, -0.04515303352041626,
-0.03103795276460111, 0.9990471552537432, -0.03068268351343364,
0.04420071389006859, 0.03203935697372317, 0.9985087763742083
);
const Matx31d T(0.9995500167379527, 0.0116311595111068, 0.02764923448462666);
const Size imageSize(2456, 2058);
Mat R1, R2, P1, P2, Q;
Rect roi1, roi2;
stereoRectify(M1, D1, M2, D2, imageSize, R, T,
R1, R2, P1, P2, Q,
CALIB_ZERO_DISPARITY, 1, imageSize, &roi1, &roi2);
EXPECT_GT(P1.at<double>(0, 0), 0);
EXPECT_GT(P2.at<double>(0, 0), 0);
EXPECT_GT(R1.at<double>(0, 0), 0);
EXPECT_GT(R2.at<double>(0, 0), 0);
EXPECT_GE(roi1.area(), 400*300) << roi1;
EXPECT_GE(roi2.area(), 400*300) << roi2;
}
TEST(Calib_StereoCalibrate, regression_22421)
{
cv::Mat K1, K2, dist1, dist2;
std::vector<Mat> image_points1, image_points2;
Mat desiredR, desiredT;
std::string fname = cvtest::TS::ptr()->get_data_path() + std::string("/cv/cameracalibration/regression22421.yaml.gz");
FileStorage fs(fname, FileStorage::Mode::READ);
ASSERT_TRUE(fs.isOpened());
fs["imagePoints1"] >> image_points1;
fs["imagePoints2"] >> image_points2;
fs["K1"] >> K1;
fs["K2"] >> K2;
fs["dist1"] >> dist1;
fs["dist2"] >> dist2;
fs["desiredR"] >> desiredR;
fs["desiredT"] >> desiredT;
std::vector<float> obj_points = {0, 0, 0,
0.5f, 0, 0,
1.f, 0, 0,
1.5000001f, 0, 0,
2.0f, 0, 0,
0, 0.5f, 0,
0.5f, 0.5f, 0,
1.f, 0.5, 0,
1.5000001f, 0.5f, 0,
2.f, 0.5f, 0,
0, 1.f, 0,
0.5f, 1.f, 0,
1.f, 1.f, 0,
1.5000001f, 1.f, 0,
2.f, 1.f, 0,
0, 1.5000001f, 0,
0.5f, 1.5000001f, 0,
1.f, 1.5000001f, 0,
1.5000001f, 1.5000001f, 0,
2.f, 1.5000001f, 0};
cv::Mat obj_points_mat(obj_points, true);
obj_points_mat = obj_points_mat.reshape(1, int(obj_points.size()) / 3);
std::vector<cv::Mat> grid_points(image_points1.size(), obj_points_mat);
cv::Mat R, T;
double error = cv::stereoCalibrate(grid_points, image_points1, image_points2,
K1, dist1, K2, dist2, cv::Size(), R, T,
cv::noArray(), cv::noArray(), cv::noArray(), cv::CALIB_FIX_INTRINSIC);
EXPECT_LE(error, 0.071544);
double rerr = cv::norm(R, desiredR, NORM_INF);
double terr = cv::norm(T, desiredT, NORM_INF);
EXPECT_LE(rerr, 0.0000001);
EXPECT_LE(terr, 0.0000001);
}
TEST(Calib3d_Triangulate, accuracy)
{
// the testcase from http://code.opencv.org/issues/4334
{
double P1data[] = { 250, 0, 200, 0, 0, 250, 150, 0, 0, 0, 1, 0 };
double P2data[] = { 250, 0, 200, -250, 0, 250, 150, 0, 0, 0, 1, 0 };
Mat P1(3, 4, CV_64F, P1data), P2(3, 4, CV_64F, P2data);
float x1data[] = { 200.f, 0.f };
float x2data[] = { 170.f, 1.f };
float Xdata[] = { 0.f, -5.f, 25/3.f };
Mat x1(2, 1, CV_32F, x1data);
Mat x2(2, 1, CV_32F, x2data);
Mat res0(1, 3, CV_32F, Xdata);
Mat res_, res;
triangulatePoints(P1, P2, x1, x2, res_);
cv::transpose(res_, res_); // TODO cvtest (transpose doesn't support inplace)
convertPointsFromHomogeneous(res_, res);
res = res.reshape(1, 1);
cout << "[1]:" << endl;
cout << "\tres0: " << res0 << endl;
cout << "\tres: " << res << endl;
ASSERT_LE(cvtest::norm(res, res0, NORM_INF), 1e-1);
}
// another testcase http://code.opencv.org/issues/3461
{
Matx33d K1(6137.147949, 0.000000, 644.974609,
0.000000, 6137.147949, 573.442749,
0.000000, 0.000000, 1.000000);
Matx33d K2(6137.147949, 0.000000, 644.674438,
0.000000, 6137.147949, 573.079834,
0.000000, 0.000000, 1.000000);
Matx34d RT1(1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0);
Matx34d RT2(0.998297, 0.0064108, -0.0579766, 143.614334,
-0.0065818, 0.999975, -0.00275888, -5.160085,
0.0579574, 0.00313577, 0.998314, 96.066109);
Matx34d P1 = K1*RT1;
Matx34d P2 = K2*RT2;
float x1data[] = { 438.f, 19.f };
float x2data[] = { 452.363600f, 16.452225f };
float Xdata[] = { -81.049530f, -215.702804f, 2401.645449f };
Mat x1(2, 1, CV_32F, x1data);
Mat x2(2, 1, CV_32F, x2data);
Mat res0(1, 3, CV_32F, Xdata);
Mat res_, res;
triangulatePoints(P1, P2, x1, x2, res_);
cv::transpose(res_, res_); // TODO cvtest (transpose doesn't support inplace)
convertPointsFromHomogeneous(res_, res);
res = res.reshape(1, 1);
cout << "[2]:" << endl;
cout << "\tres0: " << res0 << endl;
cout << "\tres: " << res << endl;
ASSERT_LE(cvtest::norm(res, res0, NORM_INF), 2);
}
}
///////////////////////////////////////////////////////////////////////////////////////////////////
TEST(CV_RecoverPoseTest, regression_15341)
{
// initialize test data
const int invalid_point_count = 2;
const float _points1_[] = {
1537.7f, 166.8f,
1599.1f, 179.6f,
1288.0f, 207.5f,
1507.1f, 193.2f,
1742.7f, 210.0f,
1041.6f, 271.7f,
1591.8f, 247.2f,
1524.0f, 261.3f,
1330.3f, 285.0f,
1403.1f, 284.0f,
1506.6f, 342.9f,
1502.8f, 347.3f,
1344.9f, 364.9f,
0.0f, 0.0f // last point is initial invalid
};
const float _points2_[] = {
1533.4f, 532.9f,
1596.6f, 552.4f,
1277.0f, 556.4f,
1502.1f, 557.6f,
1744.4f, 601.3f,
1023.0f, 612.6f,
1589.2f, 621.6f,
1519.4f, 629.0f,
1320.3f, 637.3f,
1395.2f, 642.2f,
1501.5f, 710.3f,
1497.6f, 714.2f,
1335.1f, 719.61f,
1000.0f, 1000.0f // last point is initial invalid
};
vector<Point2f> _points1; Mat(14, 1, CV_32FC2, (void*)_points1_).copyTo(_points1);
vector<Point2f> _points2; Mat(14, 1, CV_32FC2, (void*)_points2_).copyTo(_points2);
const int point_count = (int) _points1.size();
CV_Assert(point_count == (int) _points2.size());
// camera matrix with both focal lengths = 1, and principal point = (0, 0)
const Mat cameraMatrix = Mat::eye(3, 3, CV_64F);
// camera matrix with focal lengths 0.5 and 0.6 respectively and principal point = (100, 200)
double cameraMatrix2Data[] = { 0.5, 0, 100,
0, 0.6, 200,
0, 0, 1 };
const Mat cameraMatrix2( 3, 3, CV_64F, cameraMatrix2Data );
// zero and nonzero distortion coefficients
double nonZeroDistCoeffsData[] = { 0.01, 0.0001, 0, 0, 1e-04, 0.2, 0.02, 0.0002 }; // k1, k2, p1, p2, k3, k4, k5, k6
vector<Mat> distCoeffsList = {Mat::zeros(1, 5, CV_64F), Mat{1, 8, CV_64F, nonZeroDistCoeffsData}};
const auto &zeroDistCoeffs = distCoeffsList[0];
int Inliers = 0;
const int ntests = 3;
for (int testcase = 1; testcase <= ntests; ++testcase)
{
if (testcase == 1) // testcase with vector input data
{
// init temporary test data
vector<unsigned char> mask(point_count);
vector<Point2f> points1(_points1);
vector<Point2f> points2(_points2);
// Estimation of fundamental matrix using the RANSAC algorithm
Mat E, E2, R, t;
// Check pose when camera matrices are different.
for (const auto &distCoeffs: distCoeffsList)
{
E = findEssentialMat(points1, points2, cameraMatrix, distCoeffs, cameraMatrix2, distCoeffs, RANSAC, 0.999, 1.0, mask);
recoverPose(points1, points2, cameraMatrix, distCoeffs, cameraMatrix2, distCoeffs, E2, R, t, RANSAC, 0.999, 1.0, mask);
EXPECT_LT(cv::norm(E, E2, NORM_INF), 1e-4) <<
"Two big difference between the same essential matrices computed using different functions with different cameras, testcase " << testcase;
EXPECT_EQ(0, (int)mask[13]) << "Detecting outliers in function failed with different cameras, testcase " << testcase;
}
// Check pose when camera matrices are the same.
E = findEssentialMat(points1, points2, cameraMatrix, RANSAC, 0.999, 1.0, 1000/*maxIters*/, mask);
E2 = findEssentialMat(points1, points2, cameraMatrix, zeroDistCoeffs, cameraMatrix, zeroDistCoeffs, RANSAC, 0.999, 1.0, mask);
EXPECT_LT(cv::norm(E, E2, NORM_INF), 1e-4) <<
"Two big difference between the same essential matrices computed using different functions with same cameras, testcase " << testcase;
EXPECT_EQ(0, (int)mask[13]) << "Detecting outliers in function findEssentialMat failed with same cameras, testcase " << testcase;
points2[12] = Point2f(0.0f, 0.0f); // provoke another outlier detection for recover Pose
Inliers = recoverPose(E, points1, points2, cameraMatrix, R, t, mask);
EXPECT_EQ(0, (int)mask[12]) << "Detecting outliers in function failed with same cameras, testcase " << testcase;
}
else // testcase with mat input data
{
Mat points1(_points1, true);
Mat points2(_points2, true);
Mat mask;
if (testcase == 2)
{
// init temporary testdata
mask = Mat::zeros(point_count, 1, CV_8UC1);
}
else // testcase == 3 - with transposed mask
{
mask = Mat::zeros(1, point_count, CV_8UC1);
}
// Estimation of fundamental matrix using the RANSAC algorithm
Mat E, E2, R, t;
// Check pose when camera matrices are different.
for (const auto &distCoeffs: distCoeffsList)
{
E = findEssentialMat(points1, points2, cameraMatrix, distCoeffs, cameraMatrix2, distCoeffs, RANSAC, 0.999, 1.0, mask);
recoverPose(points1, points2, cameraMatrix, distCoeffs, cameraMatrix2, distCoeffs, E2, R, t, RANSAC, 0.999, 1.0, mask);
EXPECT_LT(cv::norm(E, E2, NORM_INF), 1e-4) <<
"Two big difference between the same essential matrices computed using different functions with different cameras, testcase " << testcase;
EXPECT_EQ(0, (int)mask.at<unsigned char>(13)) << "Detecting outliers in function failed with different cameras, testcase " << testcase;
}
// Check pose when camera matrices are the same.
E = findEssentialMat(points1, points2, cameraMatrix, RANSAC, 0.999, 1.0, 1000/*maxIters*/, mask);
E2 = findEssentialMat(points1, points2, cameraMatrix, zeroDistCoeffs, cameraMatrix, zeroDistCoeffs, RANSAC, 0.999, 1.0, mask);
EXPECT_LT(cv::norm(E, E2, NORM_INF), 1e-4) <<
"Two big difference between the same essential matrices computed using different functions with same cameras, testcase " << testcase;
EXPECT_EQ(0, (int)mask.at<unsigned char>(13)) << "Detecting outliers in function findEssentialMat failed with same cameras, testcase " << testcase;
points2.at<Point2f>(12) = Point2f(0.0f, 0.0f); // provoke an outlier detection
Inliers = recoverPose(E, points1, points2, cameraMatrix, R, t, mask);
EXPECT_EQ(0, (int)mask.at<unsigned char>(12)) << "Detecting outliers in function failed with same cameras, testcase " << testcase;
}
EXPECT_EQ(Inliers, point_count - invalid_point_count) <<
"Number of inliers differs from expected number of inliers, testcase " << testcase;
}
}
}} // namespace