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Added a test for correctMatches (#1350)

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This commit is contained in:
Ilya Lysenkov 2012-03-29 13:22:22 +00:00
parent f29912b501
commit 1e1d7496ee
1 changed files with 53 additions and 1 deletions
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54
modules/calib3d/test/test_cameracalibration.cpp
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@ -1285,6 +1285,9 @@ protected:
virtual void triangulate( const Mat& P1, const Mat& P2,
const Mat &points1, const Mat &points2,
Mat &points4D ) = 0;
virtual void correct( const Mat& F,
const Mat &points1, const Mat &points2,
Mat &newPoints1, Mat &newPoints2 ) = 0;
void run(int);
};
@ -1539,7 +1542,32 @@ void CV_StereoCalibrationTest::run( int )
ts->printf( cvtest::TS::LOG, "Points reprojected with a matrix Q and points reconstructed by triangulation are different, testcase %d\n", testcase);
ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
}
//check correctMatches
const float constraintAccuracy = 1e-5;
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 (norm(error) > 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 );
}
}
// rectifyUncalibrated
CV_Assert( imgpt1.size() == imgpt2.size() );
@ -1636,6 +1664,9 @@ protected:
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_C::calibrateStereoCamera( const vector<vector<Point3f> >& objectPoints,
@ -1729,6 +1760,17 @@ void CV_StereoCalibrationTest_C::triangulate( const Mat& P1, const Mat& P2,
cvTriangulatePoints(&_P1, &_P2, &_points1, &_points2, &_points4D);
}
void CV_StereoCalibrationTest_C::correct( const Mat& F,
const Mat &points1, const Mat &points2,
Mat &newPoints1, Mat &newPoints2 )
{
CvMat _F = F, _points1 = points1, _points2 = points2;
newPoints1.create(1, points1.cols, points1.type());
newPoints2.create(1, points2.cols, points2.type());
CvMat _newPoints1 = newPoints1, _newPoints2 = _newPoints2;
cvCorrectMatches(&_F, &_points1, &_points2, &_newPoints1, &_newPoints2);
}
//-------------------------------- CV_StereoCalibrationTest_CPP ------------------------------
class CV_StereoCalibrationTest_CPP : public CV_StereoCalibrationTest
@ -1755,6 +1797,9 @@ protected:
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,
@ -1794,6 +1839,13 @@ void CV_StereoCalibrationTest_CPP::triangulate( const Mat& P1, const Mat& P2,
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_C, regression) { CV_CameraCalibrationTest_C test; test.safe_run(); }