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Multi-camera calibration tests with real cameras.
This commit is contained in:
Alexander Smorkalov
parent
f9a297e52c
commit
0fa4b0ead2
@ -148,4 +148,209 @@ TEST(multiview_calibration, accuracy) {
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EXPECT_MAT_NEAR(Ts_gt[c], Ts[c], T_tol);
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}
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}
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struct MultiViewTest : public ::testing::Test
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{
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std::vector<cv::Vec3f> genAsymmetricObjectPoints(cv::Size board_size = cv::Size(8, 11), float square_size = 0.04)
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{
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std::vector<cv::Vec3f> objectPoints;
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objectPoints.reserve(board_size.height*board_size.width);
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for( int i = 0; i < board_size.height; i++ )
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{
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for( int j = 0; j < board_size.width; j++ )
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{
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objectPoints.push_back(cv::Point3f((2*j + i % 2)*square_size, i*square_size, 0));
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}
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}
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return objectPoints;
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}
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void loadImagePoints(const std::string& base_dir, const std::vector<std::string> cameras, int frameCount,
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std::vector<std::vector<cv::Mat>>& image_points_all, cv::Mat& visibility)
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{
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image_points_all.clear();
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visibility.create(static_cast<int>(cameras.size()), frameCount, CV_8UC1);
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for (int c = 0; c < static_cast<int>(cameras.size()); c++)
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{
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std::vector<cv::Mat> camera_image_points;
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std::string fname = base_dir + cameras[c] + ".json";
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FileStorage fs(fname, cv::FileStorage::READ);
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ASSERT_TRUE(fs.isOpened()) << "Cannot open points file " << fname;
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for (int i = 0; i < frameCount; i++)
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{
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std::string nodeName = cv::format("frame_%d", i);
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FileNode node = fs[nodeName];
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if (!node.empty())
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{
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camera_image_points.push_back(node.mat().reshape(2, 1));
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visibility.at<uchar>(c, i) = 255;
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}
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else
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{
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camera_image_points.push_back(cv::Mat());
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visibility.at<uchar>(c, i) = 0;
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}
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}
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fs.release();
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image_points_all.push_back(camera_image_points);
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}
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}
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void validateCamerasPose(const std::vector<cv::Mat>& Rs_gt,
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const std::vector<cv::Mat>& Ts_gt,
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const std::vector<cv::Mat>& Rs,
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const std::vector<cv::Mat>& Ts,
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double angle_tol = 1.*M_PI/180.,
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double pos_tol = 0.01)
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{
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ASSERT_EQ(Rs_gt.size(), Ts_gt.size());
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ASSERT_EQ(Rs.size(), Ts.size());
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ASSERT_EQ(Rs_gt.size(), Rs.size());
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const int num_cameras = static_cast<int>(Rs_gt.size());
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for (int c = 0; c < num_cameras; c++)
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{
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// compare the calculated R, T
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double cos_r = (cv::trace(Rs_gt[c].t() * Rs[c])[0] - 1) / 2.;
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double angle = std::acos(std::max(std::min(cos_r, 1.), -1.));
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cv::Mat dist_mat;
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double distance = cv::norm(Rs[c].t() * Ts[c]);
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printf("Distance from camera %d to camera #0: %lf\n", c, distance);
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subtract(Rs_gt[c].t() * Ts_gt[c], Rs[c].t() * Ts[c], dist_mat);
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double dist = cv::norm(dist_mat);
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CV_LOG_INFO(NULL, "rotation error: " << angle);
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CV_LOG_INFO(NULL, "position error: " << dist);
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EXPECT_NEAR(angle, 0., angle_tol);
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EXPECT_NEAR(dist, 0., pos_tol);
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}
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}
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};
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TEST_F(MultiViewTest, OneLine)
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{
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const string root = cvtest::TS::ptr()->get_data_path() + "cv/cameracalibration/multiview/3cams-one-line/";
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const std::vector<std::string> cam_names = {"cam_0", "cam_1", "cam_3"};
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const std::vector<cv::Size> image_sizes = {{1920, 1080}, {1920, 1080}, {1920, 1080} };
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std::vector<bool> is_fisheye(3, false);
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double rs_1_gt_data[9] = {
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0.9996914489704484, -0.01160060078752197, -0.02196435559568884,
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0.012283315339906, 0.9994374509454836, 0.03120739995344806,
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0.02158997497973892, -0.03146756598408248, 0.9992715673286274
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};
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double rs_2_gt_data[9] = {
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0.9988848194142131, -0.0255827884561986, -0.03968171466355882,
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0.0261796234191418, 0.999550713317242, 0.0145944792515729,
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0.03929051872229011, -0.0156170561181697, 0.9991057815350362
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};
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double ts_1_gt_data[3] = {0.5078811293323259, 0.002753469433719865, 0.02413521839310227};
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double ts_2_gt_data[3] = {1.007213763725429, 0.01645068247976361, 0.05394643957910365};
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std::vector<cv::Mat> Rs_gt = {
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cv::Mat::eye(3, 3, CV_64FC1),
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cv::Mat(3, 3, CV_64FC1, rs_1_gt_data),
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cv::Mat(3, 3, CV_64FC1, rs_2_gt_data)
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};
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std::vector<cv::Mat> Ts_gt = {
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cv::Mat::zeros(3, 1, CV_64FC1),
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cv::Mat(3, 1, CV_64FC1, ts_1_gt_data),
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cv::Mat(3, 1, CV_64FC1, ts_2_gt_data)
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};
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const int num_frames = 96;
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std::vector<std::vector<cv::Mat>> image_points_all;
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cv::Mat visibility;
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loadImagePoints(root, cam_names, num_frames, image_points_all, visibility);
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std::vector<cv::Vec3f> board_pattern = genAsymmetricObjectPoints();
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std::vector<std::vector<cv::Vec3f>> objPoints(num_frames, board_pattern);
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std::vector<int> flagsForIntrinsics(3, CALIB_RATIONAL_MODEL);
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std::vector<cv::Mat> Ks, distortions, Rs, Rs_rvec, Ts;
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cv::Mat errors_mat, output_pairs, rvecs0, tvecs0;
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double rms = calibrateMultiview(objPoints, image_points_all, image_sizes, visibility,
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Rs_rvec, Ts, Ks, distortions, rvecs0, tvecs0, is_fisheye, errors_mat, output_pairs,
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false, flagsForIntrinsics);
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CV_LOG_INFO(NULL, "RMS: " << rms);
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EXPECT_LE(rms, .3);
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Rs.resize(Rs_rvec.size());
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for(int c = 0; c < 3; c++)
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{
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cv::Rodrigues(Rs_rvec[c], Rs[c]);
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CV_LOG_INFO(NULL, "R" << c << ":" << Rs[c]);
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CV_LOG_INFO(NULL, "T" << c << ":" << Ts[c]);
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}
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validateCamerasPose(Rs_gt, Ts_gt, Rs, Ts);
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}
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TEST_F(MultiViewTest, CamsToFloor)
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{
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const string root = cvtest::TS::ptr()->get_data_path() + "cv/cameracalibration/multiview/3cams-to-floor/";
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const std::vector<std::string> cam_names = {"cam_0", "cam_1", "cam_2"};
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std::vector<cv::Size> image_sizes = {{1920, 1080}, {1920, 1080}, {1280, 720}};
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std::vector<bool> is_fisheye(3, false);
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double rs_1_gt_data[9] = {
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-0.05217184989559624, 0.6470741242690249, -0.7606399777686852,
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-0.526982982144755, 0.6291523784496631, 0.5713634755748329,
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0.8482729717539585, 0.4306534133065782, 0.3081730082260634
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};
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double rs_2_gt_data[9] = {
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0.001580678474783847, -0.62542080411436, 0.7802860496231537,
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0.4843796328138114, 0.683118871472744, 0.5465573883435866,
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-0.8748564869569847, 0.3770907387072139, 0.304020890746888
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};
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double ts_1_gt_data[3] = {1.064278166833888, -0.7727142268275895, 1.140555926119704};
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double ts_2_gt_data[3] = {-0.9391478506021244, -1.048084838193036, 1.3973875466639};
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std::vector<cv::Mat> Rs_gt = {
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cv::Mat::eye(3, 3, CV_64FC1),
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cv::Mat(3, 3, CV_64FC1, rs_1_gt_data),
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cv::Mat(3, 3, CV_64FC1, rs_2_gt_data)
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};
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std::vector<cv::Mat> Ts_gt = {
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cv::Mat::zeros(3, 1, CV_64FC1),
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cv::Mat(3, 1, CV_64FC1, ts_1_gt_data),
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cv::Mat(3, 1, CV_64FC1, ts_2_gt_data)
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};
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const int num_frames = 125;
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std::vector<std::vector<cv::Mat>> image_points_all;
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cv::Mat visibility;
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loadImagePoints(root, cam_names, num_frames, image_points_all, visibility);
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std::vector<cv::Vec3f> board_pattern = genAsymmetricObjectPoints();
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std::vector<std::vector<cv::Vec3f>> objPoints(num_frames, board_pattern);
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std::vector<int> flagsForIntrinsics(3, cv::CALIB_RATIONAL_MODEL);
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std::vector<cv::Mat> Ks, distortions, Rs, Rs_rvec, Ts;
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cv::Mat errors_mat, output_pairs, rvecs0, tvecs0;
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double rms = calibrateMultiview(objPoints, image_points_all, image_sizes, visibility,
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Rs_rvec, Ts, Ks, distortions, rvecs0, tvecs0, is_fisheye, errors_mat, output_pairs,
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false, flagsForIntrinsics);
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CV_LOG_INFO(NULL, "RMS: " << rms);
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EXPECT_LE(rms, 1.);
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Rs.resize(Rs_rvec.size());
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for(int c = 0; c < 3; c++)
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{
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cv::Rodrigues(Rs_rvec[c], Rs[c]);
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CV_LOG_INFO(NULL, "R" << c << ":" << Rs[c]);
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CV_LOG_INFO(NULL, "T" << c << ":" << Ts[c]);
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}
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validateCamerasPose(Rs_gt, Ts_gt, Rs, Ts);
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}
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}}
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