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Extended tests for stereoCalibrate function of pinhole camera model.

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This commit is contained in:
Stefan Spiss 2022-09-15 11:54:31 +02:00
parent 6fb465cb4e
commit 9ca3a3139a
1 changed files with 155 additions and 10 deletions
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163
modules/calib3d/test/test_cameracalibration.cpp
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@ -1237,7 +1237,10 @@ protected:
Mat& cameraMatrix1, Mat& distCoeffs1,
Mat& cameraMatrix2, Mat& distCoeffs2,
Size imageSize, Mat& R, Mat& T,
Mat& E, Mat& F, TermCriteria criteria, int flags ) = 0;
Mat& E, Mat& F,
std::vector<RotMat>& rotationMatrices, std::vector<Vec3d>& translationVectors,
vector<double>& perViewErrors1, vector<double>& perViewErrors2,
TermCriteria criteria, int flags ) = 0;
virtual void rectify( const Mat& cameraMatrix1, const Mat& distCoeffs1,
const Mat& cameraMatrix2, const Mat& distCoeffs2,
Size imageSize, const Mat& R, const Mat& T,
@ -1253,6 +1256,8 @@ protected:
virtual void correct( const Mat& F,
const Mat &points1, const Mat &points2,
Mat &newPoints1, Mat &newPoints2 ) = 0;
int compare(double* val, double* refVal, int len,
double eps, const char* paramName);
void run(int);
};
@ -1319,12 +1324,19 @@ bool CV_StereoCalibrationTest::checkPandROI( int test_case_idx, const Mat& M, co
return true;
}
int CV_StereoCalibrationTest::compare(double* val, double* ref_val, int len,
double eps, const char* param_name )
{
return cvtest::cmpEps2_64f( ts, val, ref_val, len, eps, param_name );
}
void CV_StereoCalibrationTest::run( int )
{
const int ntests = 1;
const double maxReprojErr = 2;
const double maxScanlineDistErr_c = 3;
const double maxScanlineDistErr_uc = 4;
const double maxDiffBtwRmsErrors = 1e-4;
FILE* f = 0;
for(int testcase = 1; testcase <= ntests; testcase++)
@ -1401,13 +1413,23 @@ void CV_StereoCalibrationTest::run( int )
objpt[i].push_back(Point3f((float)(j%patternSize.width), (float)(j/patternSize.width), 0.f));
}
vector<RotMat> rotMats1(nframes);
vector<Vec3d> transVecs1(nframes);
vector<RotMat> rotMats2(nframes);
vector<Vec3d> transVecs2(nframes);
vector<double> rmsErrorPerView1(nframes);
vector<double> rmsErrorPerView2(nframes);
vector<double> rmsErrorPerViewFromReprojectedImgPts1(nframes);
vector<double> rmsErrorPerViewFromReprojectedImgPts2(nframes);
// rectify (calibrated)
Mat M1 = Mat::eye(3,3,CV_64F), M2 = Mat::eye(3,3,CV_64F), D1(5,1,CV_64F), D2(5,1,CV_64F), R, T, E, F;
M1.at<double>(0,2) = M2.at<double>(0,2)=(imgsize.width-1)*0.5;
M1.at<double>(1,2) = M2.at<double>(1,2)=(imgsize.height-1)*0.5;
D1 = Scalar::all(0);
D2 = Scalar::all(0);
double err = calibrateStereoCamera(objpt, imgpt1, imgpt2, M1, D1, M2, D2, imgsize, R, T, E, F,
double rmsErrorFromStereoCalib = calibrateStereoCamera(objpt, imgpt1, imgpt2, M1, D1, M2, D2, imgsize, R, T, E, F,
rotMats1, transVecs1, rmsErrorPerView1, rmsErrorPerView2,
TermCriteria(TermCriteria::MAX_ITER+TermCriteria::EPS, 30, 1e-6),
CV_CALIB_SAME_FOCAL_LENGTH
//+ CV_CALIB_FIX_ASPECT_RATIO
@ -1416,14 +1438,92 @@ void CV_StereoCalibrationTest::run( int )
+ CV_CALIB_FIX_K3
+ CV_CALIB_FIX_K4 + CV_CALIB_FIX_K5 //+ CV_CALIB_FIX_K6
);
err /= nframes*npoints;
if( err > maxReprojErr )
/* rmsErrorFromStereoCalib /= nframes*npoints; */
if (rmsErrorFromStereoCalib > maxReprojErr)
{
ts->printf( cvtest::TS::LOG, "The average reprojection error is too big (=%g), testcase %d\n", err, testcase);
ts->printf(cvtest::TS::LOG, "The average reprojection error is too big (=%g), testcase %d\n",
rmsErrorFromStereoCalib, testcase);
ts->set_failed_test_info(cvtest::TS::FAIL_INVALID_OUTPUT);
return;
}
double rmsErrorFromReprojectedImgPts = 0.0f;
if (rotMats1.empty() || transVecs1.empty())
{
rmsErrorPerViewFromReprojectedImgPts1 = rmsErrorPerView1;
rmsErrorPerViewFromReprojectedImgPts2 = rmsErrorPerView2;
rmsErrorFromReprojectedImgPts = rmsErrorFromStereoCalib;
}
else
{
vector<Point2f > reprojectedImgPts[2] = {vector<Point2f>(nframes), vector<Point2f>(nframes)};
size_t totalPoints = 0;
double totalErr[2] = { 0, 0 }, viewErr[2];
for (size_t i = 0; i < objpt.size(); ++i) {
RotMat r1 = rotMats1[i];
Vec3d t1 = transVecs1[i];
RotMat r2 = Mat(R * r1);
Mat T2t = R * t1;
Vec3d t2 = Mat(T2t + T);
projectPoints(objpt[i], r1, t1, M1, D1, reprojectedImgPts[0]);
projectPoints(objpt[i], r2, t2, M2, D2, reprojectedImgPts[1]);
viewErr[0] = cv::norm(imgpt1[i], reprojectedImgPts[0], cv::NORM_L2SQR);
viewErr[1] = cv::norm(imgpt2[i], reprojectedImgPts[1], cv::NORM_L2SQR);
size_t n = objpt[i].size();
totalErr[0] += viewErr[0];
totalErr[1] += viewErr[1];
totalPoints += n;
rmsErrorPerViewFromReprojectedImgPts1[i] = sqrt(viewErr[0] / n);
rmsErrorPerViewFromReprojectedImgPts2[i] = sqrt(viewErr[1] / n);
}
rmsErrorFromReprojectedImgPts = std::sqrt((totalErr[0] + totalErr[1]) / (2 * totalPoints));
}
if (abs(rmsErrorFromStereoCalib - rmsErrorFromReprojectedImgPts) > maxDiffBtwRmsErrors)
{
ts->printf(cvtest::TS::LOG,
"The difference of the average reprojection error from the calibration function and from the "
"reprojected image points is too big (|%g - %g| = %g), testcase %d\n",
rmsErrorFromStereoCalib, rmsErrorFromReprojectedImgPts,
(rmsErrorFromStereoCalib - rmsErrorFromReprojectedImgPts), testcase);
ts->set_failed_test_info(cvtest::TS::FAIL_INVALID_OUTPUT);
return;
}
/* ----- Compare per view rms re-projection errors ----- */
CV_Assert(rmsErrorPerView1.size() == (size_t)nframes);
CV_Assert(rmsErrorPerViewFromReprojectedImgPts1.size() == (size_t)nframes);
CV_Assert(rmsErrorPerView2.size() == (size_t)nframes);
CV_Assert(rmsErrorPerViewFromReprojectedImgPts2.size() == (size_t)nframes);
int code1 = compare(&rmsErrorPerView1[0], &rmsErrorPerViewFromReprojectedImgPts1[0], nframes,
maxDiffBtwRmsErrors, "per view errors vector");
int code2 = compare(&rmsErrorPerView2[0], &rmsErrorPerViewFromReprojectedImgPts2[0], nframes,
maxDiffBtwRmsErrors, "per view errors vector");
if (code1 < 0)
{
ts->printf(cvtest::TS::LOG,
"Some of the per view rms reprojection errors differ between calibration function and reprojected "
"points, for the first camera, testcase %d\n",
testcase);
ts->set_failed_test_info(code1);
return;
}
if (code2 < 0)
{
ts->printf(cvtest::TS::LOG,
"Some of the per view rms reprojection errors differ between calibration function and reprojected "
"points, for the second camera, testcase %d\n",
testcase);
ts->set_failed_test_info(code2);
return;
}
Mat R1, R2, P1, P2, Q;
Rect roi1, roi2;
rectify(M1, D1, M2, D2, imgsize, R, T, R1, R2, P1, P2, Q, 1, imgsize, &roi1, &roi2, 0);
@ -1640,7 +1740,10 @@ protected:
Mat& cameraMatrix1, Mat& distCoeffs1,
Mat& cameraMatrix2, Mat& distCoeffs2,
Size imageSize, Mat& R, Mat& T,
Mat& E, Mat& F, TermCriteria criteria, int flags );
Mat& E, Mat& F,
std::vector<RotMat>& rotationMatrices, std::vector<Vec3d>& translationVectors,
vector<double>& perViewErrors1, vector<double>& perViewErrors2,
TermCriteria criteria, int flags );
virtual void rectify( const Mat& cameraMatrix1, const Mat& distCoeffs1,
const Mat& cameraMatrix2, const Mat& distCoeffs2,
Size imageSize, const Mat& R, const Mat& T,
@ -1664,11 +1767,53 @@ double CV_StereoCalibrationTest_CPP::calibrateStereoCamera( const vector<vector<
Mat& cameraMatrix1, Mat& distCoeffs1,
Mat& cameraMatrix2, Mat& distCoeffs2,
Size imageSize, Mat& R, Mat& T,
Mat& E, Mat& F, TermCriteria criteria, int flags )
Mat& E, Mat& F,
std::vector<RotMat>& rotationMatrices, std::vector<Vec3d>& translationVectors,
vector<double>& perViewErrors1, vector<double>& perViewErrors2,
TermCriteria criteria, int flags )
{
return stereoCalibrate( objectPoints, imagePoints1, imagePoints2,
vector<Mat> rvecs, tvecs;
Mat perViewErrorsMat;
double avgErr = stereoCalibrate( objectPoints, imagePoints1, imagePoints2,
cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2,
imageSize, R, T, E, F, flags, criteria );
imageSize, R, T, E, F,
rvecs, tvecs, perViewErrorsMat,
flags, criteria );
size_t numImgs = imagePoints1.size();
if (perViewErrors1.size() != numImgs)
{
perViewErrors1.resize(numImgs);
}
if (perViewErrors2.size() != numImgs)
{
perViewErrors2.resize(numImgs);
}
for (size_t i = 0; i<numImgs; i++)
{
perViewErrors1[i] = perViewErrorsMat.at<double>(i, 0);
perViewErrors2[i] = perViewErrorsMat.at<double>(i, 1);
}
if (rotationMatrices.size() != numImgs)
{
rotationMatrices.resize(numImgs);
}
if (translationVectors.size() != numImgs)
{
translationVectors.resize(numImgs);
}
for( size_t i = 0; i < numImgs; i++ )
{
Mat r9;
cv::Rodrigues( rvecs[i], r9 );
r9.convertTo(rotationMatrices[i], CV_64F);
tvecs[i].convertTo(translationVectors[i], CV_64F);
}
return avgErr;
}
void CV_StereoCalibrationTest_CPP::rectify( const Mat& cameraMatrix1, const Mat& distCoeffs1,