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Add use of R and P parameters to cv::undistortPoints test

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This commit is contained in:
Kataev Victor 2022-04-28 21:46:52 +03:00
parent 2bf4135afc
commit 6d0f1275c2
1 changed files with 25 additions and 10 deletions
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35
modules/calib3d/test/test_undistort_points.cpp
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@ -14,6 +14,7 @@ protected:
-1, 5), Point3f pmax = Point3f(1, 1, 10)); -1, 5), Point3f pmax = Point3f(1, 1, 10));
void generateCameraMatrix(Mat& cameraMatrix); void generateCameraMatrix(Mat& cameraMatrix);
void generateDistCoeffs(Mat& distCoeffs, int count); void generateDistCoeffs(Mat& distCoeffs, int count);
cv::Mat generateRotationVector();
double thresh = 1.0e-2; double thresh = 1.0e-2;
}; };
@ -50,6 +51,14 @@ void UndistortPointsTest::generateDistCoeffs(Mat& distCoeffs, int count)
distCoeffs.at<double>(i,0) = theRNG().uniform(-0.1, 0.1); distCoeffs.at<double>(i,0) = theRNG().uniform(-0.1, 0.1);
} }
cv::Mat UndistortPointsTest::generateRotationVector()
{
Mat rvec(1, 3, CV_64F);
theRNG().fill(rvec, RNG::UNIFORM, -0.2, 0.2);
return rvec;
}
TEST_F(UndistortPointsTest, accuracy) TEST_F(UndistortPointsTest, accuracy)
{ {
Mat intrinsics, distCoeffs; Mat intrinsics, distCoeffs;
@ -58,29 +67,31 @@ TEST_F(UndistortPointsTest, accuracy)
vector<Point3f> points(500); vector<Point3f> points(500);
generate3DPointCloud(points); generate3DPointCloud(points);
vector<Point2f> projectedPoints; Mat rvec = generateRotationVector();
projectedPoints.resize(points.size()); Mat R;
cv::Rodrigues(rvec, R);
int modelMembersCount[] = {4,5,8}; int modelMembersCount[] = {4,5,8};
for (int idx = 0; idx < 3; idx++) for (int idx = 0; idx < 3; idx++)
{ {
generateDistCoeffs(distCoeffs, modelMembersCount[idx]); generateDistCoeffs(distCoeffs, modelMembersCount[idx]);
/* Project points with distortion */
vector<Point2f> projectedPoints;
projectPoints(Mat(points), Mat::zeros(3,1,CV_64FC1), projectPoints(Mat(points), Mat::zeros(3,1,CV_64FC1),
Mat::zeros(3,1,CV_64FC1), intrinsics, Mat::zeros(3,1,CV_64FC1), intrinsics,
distCoeffs, projectedPoints); distCoeffs, projectedPoints);
/* Project points without distortion */
vector<Point2f> realUndistortedPoints; vector<Point2f> realUndistortedPoints;
projectPoints(Mat(points), Mat::zeros(3,1,CV_64FC1), projectPoints(Mat(points), rvec,
Mat::zeros(3,1,CV_64FC1), intrinsics, Mat::zeros(3,1,CV_64FC1), intrinsics,
Mat::zeros(4,1,CV_64FC1), realUndistortedPoints); Mat::zeros(4,1,CV_64FC1), realUndistortedPoints);
/* Undistort points */
Mat undistortedPoints; Mat undistortedPoints;
undistortPoints(Mat(projectedPoints), undistortedPoints, intrinsics, distCoeffs); undistortPoints(Mat(projectedPoints), undistortedPoints, intrinsics, distCoeffs, R, intrinsics);
Mat p;
perspectiveTransform(undistortedPoints, p, intrinsics);
undistortedPoints = p;
EXPECT_MAT_NEAR(realUndistortedPoints, undistortedPoints.t(), thresh); EXPECT_MAT_NEAR(realUndistortedPoints, undistortedPoints.t(), thresh);
} }
@ -103,13 +114,17 @@ TEST_F(UndistortPointsTest, stop_criteria)
TermCriteria criteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 100, maxError); TermCriteria criteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 100, maxError);
std::vector<Point2d> pt_undist_vec; std::vector<Point2d> pt_undist_vec;
undistortPoints(pt_distorted_vec, pt_undist_vec, cameraMatrix, distCoeffs, noArray(), noArray(), criteria); Mat rVec = Mat(Matx31d(0.1, -0.2, 0.2));
Mat R;
cv::Rodrigues(rVec, R);
undistortPoints(pt_distorted_vec, pt_undist_vec, cameraMatrix, distCoeffs, R, noArray(), criteria);
std::vector<Point3d> pt_undist_vec_homogeneous; std::vector<Point3d> pt_undist_vec_homogeneous;
pt_undist_vec_homogeneous.emplace_back(pt_undist_vec[0].x, pt_undist_vec[0].y, 1.0 ); pt_undist_vec_homogeneous.emplace_back(pt_undist_vec[0].x, pt_undist_vec[0].y, 1.0 );
std::vector<Point2d> pt_redistorted_vec; std::vector<Point2d> pt_redistorted_vec;
projectPoints(pt_undist_vec_homogeneous, Mat::zeros(3,1,CV_64F), projectPoints(pt_undist_vec_homogeneous, -rVec,
Mat::zeros(3,1,CV_64F), cameraMatrix, distCoeffs, pt_redistorted_vec); Mat::zeros(3,1,CV_64F), cameraMatrix, distCoeffs, pt_redistorted_vec);
const double obtainedError = sqrt( pow(pt_distorted.x - pt_redistorted_vec[0].x, 2) + pow(pt_distorted.y - pt_redistorted_vec[0].y, 2) ); const double obtainedError = sqrt( pow(pt_distorted.x - pt_redistorted_vec[0].x, 2) + pow(pt_distorted.y - pt_redistorted_vec[0].y, 2) );