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calib3d: fix fisheye stereoRectify test

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- don't write into testdata directory
- check matrices instead of result images
This commit is contained in:
Alexander Alekhin 2017-11-29 19:20:55 +03:00
parent 7c0193bb75
commit 00cc4aa230
1 changed files with 75 additions and 31 deletions
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106
modules/calib3d/test/test_fisheye.cpp
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@ -60,7 +60,7 @@ protected:
protected:
std::string combine(const std::string& _item1, const std::string& _item2);
cv::Mat mergeRectification(const cv::Mat& l, const cv::Mat& r);
static void merge4(const cv::Mat& tl, const cv::Mat& tr, const cv::Mat& bl, const cv::Mat& br, cv::Mat& merged);
};
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
@ -385,11 +385,7 @@ TEST_F(fisheyeTest, EstimateUncertainties)
CV_Assert(errors.alpha == 0);
}
#ifdef HAVE_TEGRA_OPTIMIZATION
TEST_F(fisheyeTest, DISABLED_rectify)
#else
TEST_F(fisheyeTest, rectify)
#endif
TEST_F(fisheyeTest, stereoRectify)
{
const std::string folder =combine(datasets_repository_path, "calib-3_stereo_from_JY");
@ -405,20 +401,65 @@ TEST_F(fisheyeTest, rectify)
cv::fisheye::stereoRectify(K1, D1, K2, D2, calibration_size, theR, theT, R1, R2, P1, P2, Q,
cv::CALIB_ZERO_DISPARITY, requested_size, balance, fov_scale);
// Collected with these CMake flags: -DWITH_IPP=OFF -DCMAKE_BUILD_TYPE=Debug
cv::Matx33d R1_ref(
0.9992853269091279, 0.03779164101000276, -0.0007920188690205426,
-0.03778569762983931, 0.9992646472015868, 0.006511981857667881,
0.001037534936357442, -0.006477400933964018, 0.9999784831677112
);
cv::Matx33d R2_ref(
0.9994868963898833, -0.03197579751378937, -0.001868774538573449,
0.03196298186616116, 0.9994677442608699, -0.0065265589947392,
0.002076471801477729, 0.006463478587068991, 0.9999769555891836
);
cv::Matx34d P1_ref(
420.8551870450913, 0, 586.501617798451, 0,
0, 420.8551870450913, 374.7667511986098, 0,
0, 0, 1, 0
);
cv::Matx34d P2_ref(
420.8551870450913, 0, 586.501617798451, -41.77758076597302,
0, 420.8551870450913, 374.7667511986098, 0,
0, 0, 1, 0
);
cv::Matx44d Q_ref(
1, 0, 0, -586.501617798451,
0, 1, 0, -374.7667511986098,
0, 0, 0, 420.8551870450913,
0, 0, 10.07370889670733, -0
);
const double eps = 1e-10;
EXPECT_MAT_NEAR(R1_ref, R1, eps);
EXPECT_MAT_NEAR(R2_ref, R2, eps);
EXPECT_MAT_NEAR(P1_ref, P1, eps);
EXPECT_MAT_NEAR(P2_ref, P2, eps);
EXPECT_MAT_NEAR(Q_ref, Q, eps);
if (::testing::Test::HasFailure())
{
std::cout << "Actual values are:" << std::endl
<< "R1 =" << std::endl << R1 << std::endl
<< "R2 =" << std::endl << R2 << std::endl
<< "P1 =" << std::endl << P1 << std::endl
<< "P2 =" << std::endl << P2 << std::endl
<< "Q =" << std::endl << Q << std::endl;
}
#if 1 // Debug code
cv::Mat lmapx, lmapy, rmapx, rmapy;
//rewrite for fisheye
cv::fisheye::initUndistortRectifyMap(K1, D1, R1, P1, requested_size, CV_32F, lmapx, lmapy);
cv::fisheye::initUndistortRectifyMap(K2, D2, R2, P2, requested_size, CV_32F, rmapx, rmapy);
cv::Mat l, r, lundist, rundist;
cv::VideoCapture lcap(combine(folder, "left/stereo_pair_%03d.jpg")),
rcap(combine(folder, "right/stereo_pair_%03d.jpg"));
for(int i = 0;; ++i)
for (int i = 0; i < 34; ++i)
{
lcap >> l; rcap >> r;
if (l.empty() || r.empty())
break;
SCOPED_TRACE(cv::format("image %d", i));
l = imread(combine(folder, cv::format("left/stereo_pair_%03d.jpg", i)), cv::IMREAD_COLOR);
r = imread(combine(folder, cv::format("right/stereo_pair_%03d.jpg", i)), cv::IMREAD_COLOR);
ASSERT_FALSE(l.empty());
ASSERT_FALSE(r.empty());
int ndisp = 128;
cv::rectangle(l, cv::Rect(255, 0, 829, l.rows-1), CV_RGB(255, 0, 0));
@ -427,15 +468,18 @@ TEST_F(fisheyeTest, rectify)
cv::remap(l, lundist, lmapx, lmapy, cv::INTER_LINEAR);
cv::remap(r, rundist, rmapx, rmapy, cv::INTER_LINEAR);
cv::Mat rectification = mergeRectification(lundist, rundist);
for (int ii = 0; ii < lundist.rows; ii += 20)
{
cv::line(lundist, cv::Point(0, ii), cv::Point(lundist.cols, ii), cv::Scalar(0, 255, 0));
cv::line(rundist, cv::Point(0, ii), cv::Point(lundist.cols, ii), cv::Scalar(0, 255, 0));
}
cv::Mat correct = cv::imread(combine(datasets_repository_path, cv::format("rectification_AB_%03d.png", i)));
cv::Mat rectification;
merge4(l, r, lundist, rundist, rectification);
if (correct.empty())
cv::imwrite(combine(datasets_repository_path, cv::format("rectification_AB_%03d.png", i)), rectification);
else
EXPECT_MAT_NEAR(correct, rectification, 1e-10);
}
cv::imwrite(cv::format("fisheye_rectification_AB_%03d.png", i), rectification);
}
#endif
}
TEST_F(fisheyeTest, stereoCalibrate)
@ -601,17 +645,17 @@ std::string fisheyeTest::combine(const std::string& _item1, const std::string& _
return item1 + (last != '/' ? "/" : "") + item2;
}
cv::Mat fisheyeTest::mergeRectification(const cv::Mat& l, const cv::Mat& r)
void fisheyeTest::merge4(const cv::Mat& tl, const cv::Mat& tr, const cv::Mat& bl, const cv::Mat& br, cv::Mat& merged)
{
CV_Assert(l.type() == r.type() && l.size() == r.size());
cv::Mat merged(l.rows, l.cols * 2, l.type());
cv::Mat lpart = merged.colRange(0, l.cols);
cv::Mat rpart = merged.colRange(l.cols, merged.cols);
l.copyTo(lpart);
r.copyTo(rpart);
int type = tl.type();
cv::Size sz = tl.size();
ASSERT_EQ(type, tr.type()); ASSERT_EQ(type, bl.type()); ASSERT_EQ(type, br.type());
ASSERT_EQ(sz.width, tr.cols); ASSERT_EQ(sz.width, bl.cols); ASSERT_EQ(sz.width, br.cols);
ASSERT_EQ(sz.height, tr.rows); ASSERT_EQ(sz.height, bl.rows); ASSERT_EQ(sz.height, br.rows);
for(int i = 0; i < l.rows; i+=20)
cv::line(merged, cv::Point(0, i), cv::Point(merged.cols, i), CV_RGB(0, 255, 0));
return merged;
merged.create(cv::Size(sz.width * 2, sz.height * 2), type);
tl.copyTo(merged(cv::Rect(0, 0, sz.width, sz.height)));
tr.copyTo(merged(cv::Rect(sz.width, 0, sz.width, sz.height)));
bl.copyTo(merged(cv::Rect(0, sz.height, sz.width, sz.height)));
bl.copyTo(merged(cv::Rect(sz.width, sz.height, sz.width, sz.height)));
}