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Merge pull request #17230 from asmorkalov:as/issue_17171

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Alexander Alekhin 2020-05-12 10:53:23 +00:00
commit 1bf353b876
2 changed files with 72 additions and 0 deletions
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27
modules/calib3d/misc/java/test/Calib3dTest.java
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@ -682,4 +682,31 @@ public class Calib3dTest extends OpenCVTestCase {
assertMatEqual(truth_rvec, rvecs.get(0), 10 * EPS);
assertMatEqual(truth_tvec, tvecs.get(0), 1000 * EPS);
}
public void testEstimateNewCameraMatrixForUndistortRectify() {
Mat K = new Mat().eye(3, 3, CvType.CV_64FC1);
Mat K_new = new Mat().eye(3, 3, CvType.CV_64FC1);
Mat K_new_truth = new Mat().eye(3, 3, CvType.CV_64FC1);
Mat D = new Mat().zeros(4, 1, CvType.CV_64FC1);
K.put(0,0,600.4447738238429);
K.put(1,1,578.9929805505851);
K.put(0,2,992.0642578801213);
K.put(1,2,549.2682624212172);
D.put(0,0,-0.05090103223466704);
D.put(1,0,0.030944413642173308);
D.put(2,0,-0.021509225493198905);
D.put(3,0,0.0043378096628297145);
K_new_truth.put(0,0, 387.4809086880343);
K_new_truth.put(0,2, 1036.669802754649);
K_new_truth.put(1,1, 373.6375700303157);
K_new_truth.put(1,2, 538.8373261247601);
Calib3d.fisheye_estimateNewCameraMatrixForUndistortRectify(K,D,new Size(1920,1080),
new Mat().eye(3, 3, CvType.CV_64F), K_new, 0.0, new Size(1920,1080));
assertMatEqual(K_new, K_new_truth, EPS);
}
}

45
modules/calib3d/test/test_fisheye.cpp
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@ -656,6 +656,51 @@ TEST_F(fisheyeTest, CalibrationWithDifferentPointsNumber)
cv::noArray(), cv::noArray(), flag, cv::TermCriteria(3, 20, 1e-6));
}
TEST_F(fisheyeTest, estimateNewCameraMatrixForUndistortRectify)
{
cv::Size size(1920, 1080);
cv::Mat K_fullhd(3, 3, cv::DataType<double>::type);
K_fullhd.at<double>(0, 0) = 600.44477382;
K_fullhd.at<double>(0, 1) = 0.0;
K_fullhd.at<double>(0, 2) = 992.06425788;
K_fullhd.at<double>(1, 0) = 0.0;
K_fullhd.at<double>(1, 1) = 578.99298055;
K_fullhd.at<double>(1, 2) = 549.26826242;
K_fullhd.at<double>(2, 0) = 0.0;
K_fullhd.at<double>(2, 1) = 0.0;
K_fullhd.at<double>(2, 2) = 1.0;
cv::Mat K_new_truth(3, 3, cv::DataType<double>::type);
K_new_truth.at<double>(0, 0) = 387.4809086880343;
K_new_truth.at<double>(0, 1) = 0.0;
K_new_truth.at<double>(0, 2) = 1036.669802754649;
K_new_truth.at<double>(1, 0) = 0.0;
K_new_truth.at<double>(1, 1) = 373.6375700303157;
K_new_truth.at<double>(1, 2) = 538.8373261247601;
K_new_truth.at<double>(2, 0) = 0.0;
K_new_truth.at<double>(2, 1) = 0.0;
K_new_truth.at<double>(2, 2) = 1.0;
cv::Mat D_fullhd(4, 1, cv::DataType<double>::type);
D_fullhd.at<double>(0, 0) = -0.05090103223466704;
D_fullhd.at<double>(1, 0) = 0.030944413642173308;
D_fullhd.at<double>(2, 0) = -0.021509225493198905;
D_fullhd.at<double>(3, 0) = 0.0043378096628297145;
cv::Mat E = cv::Mat::eye(3, 3, cv::DataType<double>::type);
cv::Mat K_new(3, 3, cv::DataType<double>::type);
cv::fisheye::estimateNewCameraMatrixForUndistortRectify(K_fullhd, D_fullhd, size, E, K_new, 0.0, size);
EXPECT_MAT_NEAR(K_new, K_new_truth, 1e-6);
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/// fisheyeTest::