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C-API cleanup: removed or updated some of 3d and calib tests

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Maksim Shabunin 2024-10-10 10:20:22 +03:00
parent 12738deaef
commit e2f583a9ee
5 changed files with 40 additions and 2161 deletions
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1278
modules/3d/test/test_fundam.cpp
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File diff suppressed because it is too large Load Diff

9
modules/3d/test/test_precomp.hpp
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@ -15,13 +15,4 @@
#include <opencv2/core/ocl.hpp>
#endif
namespace cvtest
{
void Rodrigues(const Mat& src, Mat& dst, Mat* jac=0);
}
namespace opencv_test {
CVTEST_GUARD_SYMBOL(Rodrigues)
} // namespace
#endif

851
modules/3d/test/test_undistort.cpp
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@ -41,7 +41,6 @@
//M*/
#include "test_precomp.hpp"
#include "opencv2/core/core_c.h"
namespace opencv_test { namespace {
@ -84,7 +83,7 @@ void CV_DefaultNewCameraMatrixTest::get_test_array_types_and_sizes( int test_cas
cvtest::ArrayTest::get_test_array_types_and_sizes(test_case_idx,sizes,types);
RNG& rng = ts->get_rng();
matrix_type = types[INPUT][0] = types[OUTPUT][0]= types[REF_OUTPUT][0] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
sizes[INPUT][0] = sizes[OUTPUT][0] = sizes[REF_OUTPUT][0] = cvSize(3,3);
sizes[INPUT][0] = sizes[OUTPUT][0] = sizes[REF_OUTPUT][0] = Size(3,3);
}
int CV_DefaultNewCameraMatrixTest::prepare_test_case(int test_case_idx)
@ -199,8 +198,8 @@ void CV_GetOptimalNewCameraMatrixNoDistortionTest::get_test_array_types_and_size
cvtest::ArrayTest::get_test_array_types_and_sizes(test_case_idx, sizes, types);
RNG& rng = ts->get_rng();
matrix_type = types[INPUT][0] = types[INPUT][1] = types[OUTPUT][0] = types[REF_OUTPUT][0] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
sizes[INPUT][0] = sizes[OUTPUT][0] = sizes[REF_OUTPUT][0] = cvSize(3,3);
sizes[INPUT][1] = cvSize(1,4);
sizes[INPUT][0] = sizes[OUTPUT][0] = sizes[REF_OUTPUT][0] = Size(3,3);
sizes[INPUT][1] = Size(1,4);
}
int CV_GetOptimalNewCameraMatrixNoDistortionTest::prepare_test_case(int test_case_idx)
@ -253,846 +252,10 @@ void CV_GetOptimalNewCameraMatrixNoDistortionTest::prepare_to_validation(int /*t
cvtest::convert(new_camera_mat, output, output.type());
}
//---------
class CV_UndistortPointsTest : public cvtest::ArrayTest
{
public:
CV_UndistortPointsTest();
protected:
int prepare_test_case (int test_case_idx);
void prepare_to_validation( int test_case_idx );
void get_test_array_types_and_sizes( int test_case_idx, vector<vector<Size> >& sizes, vector<vector<int> >& types );
double get_success_error_level( int test_case_idx, int i, int j );
void run_func();
void distortPoints(const CvMat* _src, CvMat* _dst, const CvMat* _cameraMatrix,
const CvMat* _distCoeffs, const CvMat* matR, const CvMat* matP);
private:
bool useDstMat;
static const int N_POINTS = 10;
static const int MAX_X = 2048;
static const int MAX_Y = 2048;
bool zero_new_cam;
bool zero_distortion;
bool zero_R;
cv::Size img_size;
cv::Mat dst_points_mat;
cv::Mat camera_mat;
cv::Mat R;
cv::Mat P;
cv::Mat distortion_coeffs;
cv::Mat src_points;
std::vector<cv::Point2f> dst_points;
};
CV_UndistortPointsTest::CV_UndistortPointsTest()
{
test_array[INPUT].push_back(NULL); // points matrix
test_array[INPUT].push_back(NULL); // camera matrix
test_array[INPUT].push_back(NULL); // distortion coeffs
test_array[INPUT].push_back(NULL); // R matrix
test_array[INPUT].push_back(NULL); // P matrix
test_array[OUTPUT].push_back(NULL); // distorted dst points
test_array[TEMP].push_back(NULL); // dst points
test_array[REF_OUTPUT].push_back(NULL);
useDstMat = false;
zero_new_cam = zero_distortion = zero_R = false;
}
void CV_UndistortPointsTest::get_test_array_types_and_sizes( int test_case_idx, vector<vector<Size> >& sizes, vector<vector<int> >& types )
{
cvtest::ArrayTest::get_test_array_types_and_sizes(test_case_idx,sizes,types);
RNG& rng = ts->get_rng();
//rng.next();
types[INPUT][0] = types[OUTPUT][0] = types[REF_OUTPUT][0] = types[TEMP][0]= CV_32FC2;
types[INPUT][1] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
types[INPUT][2] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
types[INPUT][3] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
types[INPUT][4] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
sizes[INPUT][0] = sizes[OUTPUT][0] = sizes[REF_OUTPUT][0] = sizes[TEMP][0]= cvtest::randInt(rng)%2 ? cvSize(1,N_POINTS) : cvSize(N_POINTS,1);
sizes[INPUT][1] = sizes[INPUT][3] = cvSize(3,3);
sizes[INPUT][4] = cvtest::randInt(rng)%2 ? cvSize(3,3) : cvSize(4,3);
if (cvtest::randInt(rng)%2)
{
if (cvtest::randInt(rng)%2)
{
sizes[INPUT][2] = cvSize(1,4);
}
else
{
sizes[INPUT][2] = cvSize(1,5);
}
}
else
{
if (cvtest::randInt(rng)%2)
{
sizes[INPUT][2] = cvSize(4,1);
}
else
{
sizes[INPUT][2] = cvSize(5,1);
}
}
}
int CV_UndistortPointsTest::prepare_test_case(int test_case_idx)
{
RNG& rng = ts->get_rng();
int code = cvtest::ArrayTest::prepare_test_case( test_case_idx );
if (code <= 0)
return code;
useDstMat = (cvtest::randInt(rng) % 2) == 0;
img_size.width = cvtest::randInt(rng) % MAX_X + 1;
img_size.height = cvtest::randInt(rng) % MAX_Y + 1;
int dist_size = test_mat[INPUT][2].cols > test_mat[INPUT][2].rows ? test_mat[INPUT][2].cols : test_mat[INPUT][2].rows;
double cam[9] = {0,0,0,0,0,0,0,0,1};
vector<double> dist(dist_size);
vector<double> proj(test_mat[INPUT][4].cols * test_mat[INPUT][4].rows);
vector<Point2d> points(N_POINTS);
Mat _camera(3,3,CV_64F,cam);
Mat _distort(test_mat[INPUT][2].rows,test_mat[INPUT][2].cols,CV_64F,&dist[0]);
Mat _proj(test_mat[INPUT][4].size(), CV_64F, &proj[0]);
Mat _points(test_mat[INPUT][0].size(), CV_64FC2, &points[0]);
_proj = Scalar::all(0);
//Generating points
for( int i = 0; i < N_POINTS; i++ )
{
points[i].x = cvtest::randReal(rng)*img_size.width;
points[i].y = cvtest::randReal(rng)*img_size.height;
}
//Generating camera matrix
double sz = MAX(img_size.width,img_size.height);
double aspect_ratio = cvtest::randReal(rng)*0.6 + 0.7;
cam[2] = (img_size.width - 1)*0.5 + cvtest::randReal(rng)*10 - 5;
cam[5] = (img_size.height - 1)*0.5 + cvtest::randReal(rng)*10 - 5;
cam[0] = sz/(0.9 - cvtest::randReal(rng)*0.6);
cam[4] = aspect_ratio*cam[0];
//Generating distortion coeffs
dist[0] = cvtest::randReal(rng)*0.06 - 0.03;
dist[1] = cvtest::randReal(rng)*0.06 - 0.03;
if( dist[0]*dist[1] > 0 )
dist[1] = -dist[1];
if( cvtest::randInt(rng)%4 != 0 )
{
dist[2] = cvtest::randReal(rng)*0.004 - 0.002;
dist[3] = cvtest::randReal(rng)*0.004 - 0.002;
if (dist_size > 4)
dist[4] = cvtest::randReal(rng)*0.004 - 0.002;
}
else
{
dist[2] = dist[3] = 0;
if (dist_size > 4)
dist[4] = 0;
}
//Generating P matrix (projection)
if( test_mat[INPUT][4].cols != 4 )
{
proj[8] = 1;
if (cvtest::randInt(rng)%2 == 0) // use identity new camera matrix
{
proj[0] = 1;
proj[4] = 1;
}
else
{
proj[0] = cam[0] + (cvtest::randReal(rng) - (double)0.5)*0.2*cam[0]; //10%
proj[4] = cam[4] + (cvtest::randReal(rng) - (double)0.5)*0.2*cam[4]; //10%
proj[2] = cam[2] + (cvtest::randReal(rng) - (double)0.5)*0.3*img_size.width; //15%
proj[5] = cam[5] + (cvtest::randReal(rng) - (double)0.5)*0.3*img_size.height; //15%
}
}
else
{
proj[10] = 1;
proj[0] = cam[0] + (cvtest::randReal(rng) - (double)0.5)*0.2*cam[0]; //10%
proj[5] = cam[4] + (cvtest::randReal(rng) - (double)0.5)*0.2*cam[4]; //10%
proj[2] = cam[2] + (cvtest::randReal(rng) - (double)0.5)*0.3*img_size.width; //15%
proj[6] = cam[5] + (cvtest::randReal(rng) - (double)0.5)*0.3*img_size.height; //15%
proj[3] = (img_size.height + img_size.width - 1)*0.5 + cvtest::randReal(rng)*10 - 5;
proj[7] = (img_size.height + img_size.width - 1)*0.5 + cvtest::randReal(rng)*10 - 5;
proj[11] = (img_size.height + img_size.width - 1)*0.5 + cvtest::randReal(rng)*10 - 5;
}
//Generating R matrix
Mat _rot(3,3,CV_64F);
Mat rotation(1,3,CV_64F);
rotation.at<double>(0) = CV_PI*(cvtest::randReal(rng) - (double)0.5); // phi
rotation.at<double>(1) = CV_PI*(cvtest::randReal(rng) - (double)0.5); // ksi
rotation.at<double>(2) = CV_PI*(cvtest::randReal(rng) - (double)0.5); //khi
cvtest::Rodrigues(rotation, _rot);
//copying data
//src_points = &_points;
_points.convertTo(test_mat[INPUT][0], test_mat[INPUT][0].type());
_camera.convertTo(test_mat[INPUT][1], test_mat[INPUT][1].type());
_distort.convertTo(test_mat[INPUT][2], test_mat[INPUT][2].type());
_rot.convertTo(test_mat[INPUT][3], test_mat[INPUT][3].type());
_proj.convertTo(test_mat[INPUT][4], test_mat[INPUT][4].type());
zero_distortion = (cvtest::randInt(rng)%2) == 0 ? false : true;
zero_new_cam = (cvtest::randInt(rng)%2) == 0 ? false : true;
zero_R = (cvtest::randInt(rng)%2) == 0 ? false : true;
_points.convertTo(src_points, CV_32F);
camera_mat = test_mat[INPUT][1];
distortion_coeffs = test_mat[INPUT][2];
R = test_mat[INPUT][3];
P = test_mat[INPUT][4];
return code;
}
void CV_UndistortPointsTest::prepare_to_validation(int /*test_case_idx*/)
{
int dist_size = test_mat[INPUT][2].cols > test_mat[INPUT][2].rows ? test_mat[INPUT][2].cols : test_mat[INPUT][2].rows;
double cam[9] = {0,0,0,0,0,0,0,0,1};
double rot[9] = {1,0,0,0,1,0,0,0,1};
double* dist = new double[dist_size ];
double* proj = new double[test_mat[INPUT][4].cols * test_mat[INPUT][4].rows];
double* points = new double[N_POINTS*2];
double* r_points = new double[N_POINTS*2];
//Run reference calculations
CvMat ref_points= cvMat(test_mat[INPUT][0].rows,test_mat[INPUT][0].cols,CV_64FC2,r_points);
CvMat _camera = cvMat(3,3,CV_64F,cam);
CvMat _rot = cvMat(3,3,CV_64F,rot);
CvMat _distort = cvMat(test_mat[INPUT][2].rows,test_mat[INPUT][2].cols,CV_64F,dist);
CvMat _proj = cvMat(test_mat[INPUT][4].rows,test_mat[INPUT][4].cols,CV_64F,proj);
CvMat _points= cvMat(test_mat[TEMP][0].rows,test_mat[TEMP][0].cols,CV_64FC2,points);
Mat __camera = cvarrToMat(&_camera);
Mat __distort = cvarrToMat(&_distort);
Mat __rot = cvarrToMat(&_rot);
Mat __proj = cvarrToMat(&_proj);
Mat __points = cvarrToMat(&_points);
Mat _ref_points = cvarrToMat(&ref_points);
cvtest::convert(test_mat[INPUT][1], __camera, __camera.type());
cvtest::convert(test_mat[INPUT][2], __distort, __distort.type());
cvtest::convert(test_mat[INPUT][3], __rot, __rot.type());
cvtest::convert(test_mat[INPUT][4], __proj, __proj.type());
if (useDstMat)
{
CvMat temp = cvMat(dst_points_mat);
for (int i=0;i<N_POINTS*2;i++)
{
points[i] = temp.data.fl[i];
}
}
else
{
for (int i=0;i<N_POINTS;i++)
{
points[2*i] = dst_points[i].x;
points[2*i+1] = dst_points[i].y;
}
}
CvMat* input2 = zero_distortion ? 0 : &_distort;
CvMat* input3 = zero_R ? 0 : &_rot;
CvMat* input4 = zero_new_cam ? 0 : &_proj;
distortPoints(&_points,&ref_points,&_camera,input2,input3,input4);
Mat& dst = test_mat[REF_OUTPUT][0];
cvtest::convert(_ref_points, dst, dst.type());
cvtest::copy(test_mat[INPUT][0], test_mat[OUTPUT][0]);
delete[] dist;
delete[] proj;
delete[] points;
delete[] r_points;
}
void CV_UndistortPointsTest::run_func()
{
cv::Mat input2,input3,input4;
input2 = zero_distortion ? cv::Mat() : cv::Mat(test_mat[INPUT][2]);
input3 = zero_R ? cv::Mat() : cv::Mat(test_mat[INPUT][3]);
input4 = zero_new_cam ? cv::Mat() : cv::Mat(test_mat[INPUT][4]);
if (useDstMat)
{
//cv::undistortPoints(src_points,dst_points_mat,camera_mat,distortion_coeffs,R,P);
cv::undistortPoints(src_points,dst_points_mat,camera_mat,input2,input3,input4);
}
else
{
//cv::undistortPoints(src_points,dst_points,camera_mat,distortion_coeffs,R,P);
cv::undistortPoints(src_points,dst_points,camera_mat,input2,input3,input4);
}
}
void CV_UndistortPointsTest::distortPoints(const CvMat* _src, CvMat* _dst, const CvMat* _cameraMatrix,
const CvMat* _distCoeffs,
const CvMat* matR, const CvMat* matP)
{
double a[9];
CvMat* __P;
if ((!matP)||(matP->cols == 3))
__P = cvCreateMat(3,3,CV_64F);
else
__P = cvCreateMat(3,4,CV_64F);
if (matP)
{
cvtest::convert(cvarrToMat(matP), cvarrToMat(__P), -1);
}
else
{
cvZero(__P);
__P->data.db[0] = 1;
__P->data.db[4] = 1;
__P->data.db[8] = 1;
}
CvMat* __R = cvCreateMat(3,3,CV_64F);
if (matR)
{
cvCopy(matR,__R);
}
else
{
cvZero(__R);
__R->data.db[0] = 1;
__R->data.db[4] = 1;
__R->data.db[8] = 1;
}
for (int i=0;i<N_POINTS;i++)
{
int movement = __P->cols > 3 ? 1 : 0;
double x = (_src->data.db[2*i]-__P->data.db[2])/__P->data.db[0];
double y = (_src->data.db[2*i+1]-__P->data.db[5+movement])/__P->data.db[4+movement];
CvMat inverse = cvMat(3,3,CV_64F,a);
cvInvert(__R,&inverse);
double w1 = x*inverse.data.db[6]+y*inverse.data.db[7]+inverse.data.db[8];
double _x = (x*inverse.data.db[0]+y*inverse.data.db[1]+inverse.data.db[2])/w1;
double _y = (x*inverse.data.db[3]+y*inverse.data.db[4]+inverse.data.db[5])/w1;
//Distortions
double __x = _x;
double __y = _y;
if (_distCoeffs)
{
double r2 = _x*_x+_y*_y;
__x = _x*(1+_distCoeffs->data.db[0]*r2+_distCoeffs->data.db[1]*r2*r2)+
2*_distCoeffs->data.db[2]*_x*_y+_distCoeffs->data.db[3]*(r2+2*_x*_x);
__y = _y*(1+_distCoeffs->data.db[0]*r2+_distCoeffs->data.db[1]*r2*r2)+
2*_distCoeffs->data.db[3]*_x*_y+_distCoeffs->data.db[2]*(r2+2*_y*_y);
if ((_distCoeffs->cols > 4) || (_distCoeffs->rows > 4))
{
__x+=_x*_distCoeffs->data.db[4]*r2*r2*r2;
__y+=_y*_distCoeffs->data.db[4]*r2*r2*r2;
}
}
_dst->data.db[2*i] = __x*_cameraMatrix->data.db[0]+_cameraMatrix->data.db[2];
_dst->data.db[2*i+1] = __y*_cameraMatrix->data.db[4]+_cameraMatrix->data.db[5];
}
cvReleaseMat(&__R);
cvReleaseMat(&__P);
}
double CV_UndistortPointsTest::get_success_error_level( int /*test_case_idx*/, int /*i*/, int /*j*/ )
{
return 5e-2;
}
//------------------------------------------------------
class CV_InitUndistortRectifyMapTest : public cvtest::ArrayTest
{
public:
CV_InitUndistortRectifyMapTest();
protected:
int prepare_test_case (int test_case_idx);
void prepare_to_validation( int test_case_idx );
void get_test_array_types_and_sizes( int test_case_idx, vector<vector<Size> >& sizes, vector<vector<int> >& types );
double get_success_error_level( int test_case_idx, int i, int j );
void run_func();
private:
static const int MAX_X = 1024;
static const int MAX_Y = 1024;
bool zero_new_cam;
bool zero_distortion;
bool zero_R;
cv::Size img_size;
int map_type;
};
CV_InitUndistortRectifyMapTest::CV_InitUndistortRectifyMapTest()
{
test_array[INPUT].push_back(NULL); // camera matrix
test_array[INPUT].push_back(NULL); // distortion coeffs
test_array[INPUT].push_back(NULL); // R matrix
test_array[INPUT].push_back(NULL); // new camera matrix
test_array[OUTPUT].push_back(NULL); // distorted mapx
test_array[OUTPUT].push_back(NULL); // distorted mapy
test_array[REF_OUTPUT].push_back(NULL);
test_array[REF_OUTPUT].push_back(NULL);
zero_distortion = zero_new_cam = zero_R = false;
map_type = 0;
}
void CV_InitUndistortRectifyMapTest::get_test_array_types_and_sizes( int test_case_idx, vector<vector<Size> >& sizes, vector<vector<int> >& types )
{
cvtest::ArrayTest::get_test_array_types_and_sizes(test_case_idx,sizes,types);
RNG& rng = ts->get_rng();
//rng.next();
map_type = CV_32F;
types[OUTPUT][0] = types[OUTPUT][1] = types[REF_OUTPUT][0] = types[REF_OUTPUT][1] = map_type;
img_size.width = cvtest::randInt(rng) % MAX_X + 1;
img_size.height = cvtest::randInt(rng) % MAX_Y + 1;
types[INPUT][0] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
types[INPUT][1] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
types[INPUT][2] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
types[INPUT][3] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
sizes[OUTPUT][0] = sizes[OUTPUT][1] = sizes[REF_OUTPUT][0] = sizes[REF_OUTPUT][1] = img_size;
sizes[INPUT][0] = sizes[INPUT][2] = sizes[INPUT][3] = cvSize(3,3);
Size dsize;
if (cvtest::randInt(rng)%2)
{
if (cvtest::randInt(rng)%2)
{
dsize = Size(1,4);
}
else
{
dsize = Size(1,5);
}
}
else
{
if (cvtest::randInt(rng)%2)
{
dsize = Size(4,1);
}
else
{
dsize = Size(5,1);
}
}
sizes[INPUT][1] = dsize;
}
int CV_InitUndistortRectifyMapTest::prepare_test_case(int test_case_idx)
{
RNG& rng = ts->get_rng();
int code = cvtest::ArrayTest::prepare_test_case( test_case_idx );
if (code <= 0)
return code;
int dist_size = test_mat[INPUT][1].cols > test_mat[INPUT][1].rows ? test_mat[INPUT][1].cols : test_mat[INPUT][1].rows;
double cam[9] = {0,0,0,0,0,0,0,0,1};
vector<double> dist(dist_size);
vector<double> new_cam(test_mat[INPUT][3].cols * test_mat[INPUT][3].rows);
Mat _camera(3,3,CV_64F,cam);
Mat _distort(test_mat[INPUT][1].size(),CV_64F,&dist[0]);
Mat _new_cam(test_mat[INPUT][3].size(),CV_64F,&new_cam[0]);
//Generating camera matrix
double sz = MAX(img_size.width,img_size.height);
double aspect_ratio = cvtest::randReal(rng)*0.6 + 0.7;
cam[2] = (img_size.width - 1)*0.5 + cvtest::randReal(rng)*10 - 5;
cam[5] = (img_size.height - 1)*0.5 + cvtest::randReal(rng)*10 - 5;
cam[0] = sz/(0.9 - cvtest::randReal(rng)*0.6);
cam[4] = aspect_ratio*cam[0];
//Generating distortion coeffs
dist[0] = cvtest::randReal(rng)*0.06 - 0.03;
dist[1] = cvtest::randReal(rng)*0.06 - 0.03;
if( dist[0]*dist[1] > 0 )
dist[1] = -dist[1];
if( cvtest::randInt(rng)%4 != 0 )
{
dist[2] = cvtest::randReal(rng)*0.004 - 0.002;
dist[3] = cvtest::randReal(rng)*0.004 - 0.002;
if (dist_size > 4)
dist[4] = cvtest::randReal(rng)*0.004 - 0.002;
}
else
{
dist[2] = dist[3] = 0;
if (dist_size > 4)
dist[4] = 0;
}
//Generating new camera matrix
_new_cam = Scalar::all(0);
new_cam[8] = 1;
//new_cam[0] = cam[0];
//new_cam[4] = cam[4];
//new_cam[2] = cam[2];
//new_cam[5] = cam[5];
new_cam[0] = cam[0] + (cvtest::randReal(rng) - (double)0.5)*0.2*cam[0]; //10%
new_cam[4] = cam[4] + (cvtest::randReal(rng) - (double)0.5)*0.2*cam[4]; //10%
new_cam[2] = cam[2] + (cvtest::randReal(rng) - (double)0.5)*0.3*img_size.width; //15%
new_cam[5] = cam[5] + (cvtest::randReal(rng) - (double)0.5)*0.3*img_size.height; //15%
//Generating R matrix
Mat _rot(3,3,CV_64F);
Mat rotation(1,3,CV_64F);
rotation.at<double>(0) = CV_PI/8*(cvtest::randReal(rng) - (double)0.5); // phi
rotation.at<double>(1) = CV_PI/8*(cvtest::randReal(rng) - (double)0.5); // ksi
rotation.at<double>(2) = CV_PI/3*(cvtest::randReal(rng) - (double)0.5); //khi
cvtest::Rodrigues(rotation, _rot);
//cvSetIdentity(_rot);
//copying data
cvtest::convert( _camera, test_mat[INPUT][0], test_mat[INPUT][0].type());
cvtest::convert( _distort, test_mat[INPUT][1], test_mat[INPUT][1].type());
cvtest::convert( _rot, test_mat[INPUT][2], test_mat[INPUT][2].type());
cvtest::convert( _new_cam, test_mat[INPUT][3], test_mat[INPUT][3].type());
zero_distortion = (cvtest::randInt(rng)%2) == 0 ? false : true;
zero_new_cam = (cvtest::randInt(rng)%2) == 0 ? false : true;
zero_R = (cvtest::randInt(rng)%2) == 0 ? false : true;
return code;
}
void CV_InitUndistortRectifyMapTest::prepare_to_validation(int/* test_case_idx*/)
{
cvtest::initUndistortMap(test_mat[INPUT][0],
zero_distortion ? cv::Mat() : test_mat[INPUT][1],
zero_R ? cv::Mat() : test_mat[INPUT][2],
zero_new_cam ? test_mat[INPUT][0] : test_mat[INPUT][3],
img_size, test_mat[REF_OUTPUT][0], test_mat[REF_OUTPUT][1],
test_mat[REF_OUTPUT][0].type());
}
void CV_InitUndistortRectifyMapTest::run_func()
{
cv::Mat camera_mat = test_mat[INPUT][0];
cv::Mat dist = zero_distortion ? cv::Mat() : test_mat[INPUT][1];
cv::Mat R = zero_R ? cv::Mat() : test_mat[INPUT][2];
cv::Mat new_cam = zero_new_cam ? cv::Mat() : test_mat[INPUT][3];
cv::Mat& mapx = test_mat[OUTPUT][0], &mapy = test_mat[OUTPUT][1];
initUndistortRectifyMap(camera_mat,dist,R,new_cam,img_size,map_type,mapx,mapy);
}
double CV_InitUndistortRectifyMapTest::get_success_error_level( int /*test_case_idx*/, int /*i*/, int /*j*/ )
{
return 8;
}
//------------------------------------------------------
class CV_InitInverseRectificationMapTest : public cvtest::ArrayTest
{
public:
CV_InitInverseRectificationMapTest();
protected:
int prepare_test_case (int test_case_idx);
void prepare_to_validation( int test_case_idx );
void get_test_array_types_and_sizes( int test_case_idx, vector<vector<Size> >& sizes, vector<vector<int> >& types );
double get_success_error_level( int test_case_idx, int i, int j );
void run_func();
private:
static const int MAX_X = 1024;
static const int MAX_Y = 1024;
bool zero_new_cam;
bool zero_distortion;
bool zero_R;
cv::Size img_size;
int map_type;
};
CV_InitInverseRectificationMapTest::CV_InitInverseRectificationMapTest()
{
test_array[INPUT].push_back(NULL); // camera matrix
test_array[INPUT].push_back(NULL); // distortion coeffs
test_array[INPUT].push_back(NULL); // R matrix
test_array[INPUT].push_back(NULL); // new camera matrix
test_array[OUTPUT].push_back(NULL); // inverse rectified mapx
test_array[OUTPUT].push_back(NULL); // inverse rectified mapy
test_array[REF_OUTPUT].push_back(NULL);
test_array[REF_OUTPUT].push_back(NULL);
zero_distortion = zero_new_cam = zero_R = false;
map_type = 0;
}
void CV_InitInverseRectificationMapTest::get_test_array_types_and_sizes( int test_case_idx, vector<vector<Size> >& sizes, vector<vector<int> >& types )
{
cvtest::ArrayTest::get_test_array_types_and_sizes(test_case_idx,sizes,types);
RNG& rng = ts->get_rng();
//rng.next();
map_type = CV_32F;
types[OUTPUT][0] = types[OUTPUT][1] = types[REF_OUTPUT][0] = types[REF_OUTPUT][1] = map_type;
img_size.width = cvtest::randInt(rng) % MAX_X + 1;
img_size.height = cvtest::randInt(rng) % MAX_Y + 1;
types[INPUT][0] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
types[INPUT][1] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
types[INPUT][2] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
types[INPUT][3] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
sizes[OUTPUT][0] = sizes[OUTPUT][1] = sizes[REF_OUTPUT][0] = sizes[REF_OUTPUT][1] = img_size;
sizes[INPUT][0] = sizes[INPUT][2] = sizes[INPUT][3] = cvSize(3,3);
Size dsize;
if (cvtest::randInt(rng)%2)
{
if (cvtest::randInt(rng)%2)
{
dsize = Size(1,4);
}
else
{
dsize = Size(1,5);
}
}
else
{
if (cvtest::randInt(rng)%2)
{
dsize = Size(4,1);
}
else
{
dsize = Size(5,1);
}
}
sizes[INPUT][1] = dsize;
}
int CV_InitInverseRectificationMapTest::prepare_test_case(int test_case_idx)
{
RNG& rng = ts->get_rng();
int code = cvtest::ArrayTest::prepare_test_case( test_case_idx );
if (code <= 0)
return code;
int dist_size = test_mat[INPUT][1].cols > test_mat[INPUT][1].rows ? test_mat[INPUT][1].cols : test_mat[INPUT][1].rows;
double cam[9] = {0,0,0,0,0,0,0,0,1};
vector<double> dist(dist_size);
vector<double> new_cam(test_mat[INPUT][3].cols * test_mat[INPUT][3].rows);
Mat _camera(3,3,CV_64F,cam);
Mat _distort(test_mat[INPUT][1].size(),CV_64F,&dist[0]);
Mat _new_cam(test_mat[INPUT][3].size(),CV_64F,&new_cam[0]);
//Generating camera matrix
double sz = MAX(img_size.width,img_size.height);
double aspect_ratio = cvtest::randReal(rng)*0.6 + 0.7;
cam[2] = (img_size.width - 1)*0.5 + cvtest::randReal(rng)*10 - 5;
cam[5] = (img_size.height - 1)*0.5 + cvtest::randReal(rng)*10 - 5;
cam[0] = sz/(0.9 - cvtest::randReal(rng)*0.6);
cam[4] = aspect_ratio*cam[0];
//Generating distortion coeffs
dist[0] = cvtest::randReal(rng)*0.06 - 0.03;
dist[1] = cvtest::randReal(rng)*0.06 - 0.03;
if( dist[0]*dist[1] > 0 )
dist[1] = -dist[1];
if( cvtest::randInt(rng)%4 != 0 )
{
dist[2] = cvtest::randReal(rng)*0.004 - 0.002;
dist[3] = cvtest::randReal(rng)*0.004 - 0.002;
if (dist_size > 4)
dist[4] = cvtest::randReal(rng)*0.004 - 0.002;
}
else
{
dist[2] = dist[3] = 0;
if (dist_size > 4)
dist[4] = 0;
}
//Generating new camera matrix
_new_cam = Scalar::all(0);
new_cam[8] = 1;
// If P == K
//new_cam[0] = cam[0];
//new_cam[4] = cam[4];
//new_cam[2] = cam[2];
//new_cam[5] = cam[5];
// If P != K
new_cam[0] = cam[0] + (cvtest::randReal(rng) - (double)0.5)*0.2*cam[0]; //10%
new_cam[4] = cam[4] + (cvtest::randReal(rng) - (double)0.5)*0.2*cam[4]; //10%
new_cam[2] = cam[2] + (cvtest::randReal(rng) - (double)0.5)*0.3*img_size.width; //15%
new_cam[5] = cam[5] + (cvtest::randReal(rng) - (double)0.5)*0.3*img_size.height; //15%
//Generating R matrix
Mat _rot(3,3,CV_64F);
Mat rotation(1,3,CV_64F);
rotation.at<double>(0) = CV_PI/8*(cvtest::randReal(rng) - (double)0.5); // phi
rotation.at<double>(1) = CV_PI/8*(cvtest::randReal(rng) - (double)0.5); // ksi
rotation.at<double>(2) = CV_PI/3*(cvtest::randReal(rng) - (double)0.5); //khi
cvtest::Rodrigues(rotation, _rot);
//cvSetIdentity(_rot);
//copying data
cvtest::convert( _camera, test_mat[INPUT][0], test_mat[INPUT][0].type());
cvtest::convert( _distort, test_mat[INPUT][1], test_mat[INPUT][1].type());
cvtest::convert( _rot, test_mat[INPUT][2], test_mat[INPUT][2].type());
cvtest::convert( _new_cam, test_mat[INPUT][3], test_mat[INPUT][3].type());
zero_distortion = (cvtest::randInt(rng)%2) == 0 ? false : true;
zero_new_cam = (cvtest::randInt(rng)%2) == 0 ? false : true;
zero_R = (cvtest::randInt(rng)%2) == 0 ? false : true;
return code;
}
void CV_InitInverseRectificationMapTest::prepare_to_validation(int/* test_case_idx*/)
{
// Configure Parameters
Mat _a0 = test_mat[INPUT][0];
Mat _d0 = zero_distortion ? cv::Mat() : test_mat[INPUT][1];
Mat _R0 = zero_R ? cv::Mat() : test_mat[INPUT][2];
Mat _new_cam0 = zero_new_cam ? test_mat[INPUT][0] : test_mat[INPUT][3];
Mat _mapx(img_size, CV_32F), _mapy(img_size, CV_32F);
double a[9], d[5]={0., 0., 0., 0. , 0.}, R[9]={1., 0., 0., 0., 1., 0., 0., 0., 1.}, a1[9];
Mat _a(3, 3, CV_64F, a), _a1(3, 3, CV_64F, a1);
Mat _d(_d0.rows,_d0.cols, CV_MAKETYPE(CV_64F,_d0.channels()),d);
Mat _R(3, 3, CV_64F, R);
double fx, fy, cx, cy, ifx, ify, cxn, cyn;
// Camera matrix
CV_Assert(_a0.size() == Size(3, 3));
_a0.convertTo(_a, CV_64F);
if( !_new_cam0.empty() )
{
CV_Assert(_new_cam0.size() == Size(3, 3));
_new_cam0.convertTo(_a1, CV_64F);
}
else
{
_a.copyTo(_a1);
}
// Distortion
CV_Assert(_d0.empty() ||
_d0.size() == Size(5, 1) ||
_d0.size() == Size(1, 5) ||
_d0.size() == Size(4, 1) ||
_d0.size() == Size(1, 4));
if( !_d0.empty() )
_d0.convertTo(_d, CV_64F);
// Rotation
if( !_R0.empty() )
{
CV_Assert(_R0.size() == Size(3, 3));
Mat tmp;
_R0.convertTo(_R, CV_64F);
}
// Copy camera matrix
fx = a[0]; fy = a[4]; cx = a[2]; cy = a[5];
// Copy new camera matrix
ifx = a1[0]; ify = a1[4]; cxn = a1[2]; cyn = a1[5];
// Undistort
for( int v = 0; v < img_size.height; v++ )
{
for( int u = 0; u < img_size.width; u++ )
{
// Convert from image to pin-hole coordinates
double x = (u - cx)/fx;
double y = (v - cy)/fy;
// Undistort
double x2 = x*x, y2 = y*y;
double r2 = x2 + y2;
double cdist = 1./(1. + (d[0] + (d[1] + d[4]*r2)*r2)*r2); // (1. + (d[5] + (d[6] + d[7]*r2)*r2)*r2) == 1 as d[5-7]=0;
double x_ = (x - (d[2]*2.*x*y + d[3]*(r2 + 2.*x2)))*cdist;
double y_ = (y - (d[3]*2.*x*y + d[2]*(r2 + 2.*y2)))*cdist;
// Rectify
double X = R[0]*x_ + R[1]*y_ + R[2];
double Y = R[3]*x_ + R[4]*y_ + R[5];
double Z = R[6]*x_ + R[7]*y_ + R[8];
double x__ = X/Z;
double y__ = Y/Z;
// Convert from pin-hole to image coordinates
_mapy.at<float>(v, u) = (float)(y__*ify + cyn);
_mapx.at<float>(v, u) = (float)(x__*ifx + cxn);
}
}
// Convert
_mapx.convertTo(test_mat[REF_OUTPUT][0], test_mat[REF_OUTPUT][0].type());
_mapy.convertTo(test_mat[REF_OUTPUT][1], test_mat[REF_OUTPUT][0].type());
}
void CV_InitInverseRectificationMapTest::run_func()
{
cv::Mat camera_mat = test_mat[INPUT][0];
cv::Mat dist = zero_distortion ? cv::Mat() : test_mat[INPUT][1];
cv::Mat R = zero_R ? cv::Mat() : test_mat[INPUT][2];
cv::Mat new_cam = zero_new_cam ? cv::Mat() : test_mat[INPUT][3];
cv::Mat& mapx = test_mat[OUTPUT][0], &mapy = test_mat[OUTPUT][1];
cv::initInverseRectificationMap(camera_mat,dist,R,new_cam,img_size,map_type,mapx,mapy);
}
double CV_InitInverseRectificationMapTest::get_success_error_level( int /*test_case_idx*/, int /*i*/, int /*j*/ )
{
return 8;
}
//////////////////////////////////////////////////////////////////////////////////////////////////////
TEST(Calib3d_DefaultNewCameraMatrix, accuracy) { CV_DefaultNewCameraMatrixTest test; test.safe_run(); }
TEST(Calib3d_GetOptimalNewCameraMatrixNoDistortion, accuracy) { CV_GetOptimalNewCameraMatrixNoDistortionTest test; test.safe_run(); }
TEST(Calib3d_UndistortPoints, accuracy) { CV_UndistortPointsTest test; test.safe_run(); }
TEST(Calib3d_InitUndistortRectifyMap, accuracy) { CV_InitUndistortRectifyMapTest test; test.safe_run(); }
TEST(DISABLED_Calib3d_InitInverseRectificationMap, accuracy) { CV_InitInverseRectificationMapTest test; test.safe_run(); }
////////////////////////////// undistort /////////////////////////////////
@ -1413,8 +576,8 @@ void CV_UndistortTest::get_test_array_types_and_sizes( int test_case_idx, vector
types[INPUT][0] = types[INPUT_OUTPUT][0] = types[REF_INPUT_OUTPUT][0] = type;
types[INPUT][1] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
types[INPUT][2] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
sizes[INPUT][1] = cvSize(3,3);
sizes[INPUT][2] = cvtest::randInt(rng)%2 ? cvSize(4,1) : cvSize(1,4);
sizes[INPUT][1] = Size(3,3);
sizes[INPUT][2] = cvtest::randInt(rng)%2 ? Size(4,1) : Size(1,4);
types[INPUT][3] = types[INPUT][1];
sizes[INPUT][3] = sizes[INPUT][1];
interpolation = cv::INTER_LINEAR;
@ -1568,8 +731,8 @@ void CV_UndistortMapTest::get_test_array_types_and_sizes( int test_case_idx, vec
dualChannel = cvtest::randInt(rng)%2 == 0;
types[OUTPUT][0] = types[OUTPUT][1] =
types[REF_OUTPUT][0] = types[REF_OUTPUT][1] = dualChannel ? CV_32FC2 : CV_32F;
sizes[INPUT][0] = cvSize(3,3);
sizes[INPUT][1] = cvtest::randInt(rng)%2 ? cvSize(4,1) : cvSize(1,4);
sizes[INPUT][0] = Size(3,3);
sizes[INPUT][1] = cvtest::randInt(rng)%2 ? Size(4,1) : Size(1,4);
sz.width = MAX(sz.width,16);
sz.height = MAX(sz.height,16);

62
modules/3d/test/test_undistort_badarg.cpp
View File

@ -40,7 +40,6 @@
//M*/
#include "test_precomp.hpp"
#include "opencv2/core/core_c.h"
namespace opencv_test { namespace {
@ -93,29 +92,22 @@ void CV_UndistortPointsBadArgTest::run(int)
double p[9] = {155.f, 0.f, img_size.width/2.f+img_size.width/50.f, 0, 310.f, img_size.height/2.f+img_size.height/50.f, 0.f, 0.f, 1.f};
double r[9] = {1,0,0,0,1,0,0,0,1};
CvMat _camera_mat_orig = cvMat(3,3,CV_64F,cam);
CvMat _distortion_coeffs_orig = cvMat(1,4,CV_64F,dist);
CvMat _P_orig = cvMat(3,3,CV_64F,p);
CvMat _R_orig = cvMat(3,3,CV_64F,r);
CvMat _src_points_orig = cvMat(1,4,CV_64FC2,s_points);
camera_mat = cv::cvarrToMat(&_camera_mat_orig);
distortion_coeffs = cv::cvarrToMat(&_distortion_coeffs_orig);
P = cv::cvarrToMat(&_P_orig);
R = cv::cvarrToMat(&_R_orig);
src_points = cv::cvarrToMat(&_src_points_orig);
camera_mat = Mat(3,3,CV_64F,cam);
distortion_coeffs = Mat(1,4,CV_64F,dist);
P = Mat(3,3,CV_64F,p);
R = Mat(3,3,CV_64F,r);
src_points.create(2, 2, CV_32FC2);
errcount += run_test_case( cv::Error::StsAssert, "Invalid input data matrix size" );
src_points = cv::cvarrToMat(&_src_points_orig);
src_points = Mat(1,4,CV_64FC2,s_points);
src_points.create(1, 4, CV_64FC2);
errcount += run_test_case( cv::Error::StsAssert, "Invalid input data matrix type" );
src_points = cv::cvarrToMat(&_src_points_orig);
src_points = Mat(1,4,CV_64FC2,s_points);
src_points = cv::Mat();
errcount += run_test_case( cv::Error::StsBadArg, "Input data matrix is not continuous" );
src_points = cv::cvarrToMat(&_src_points_orig);
src_points = Mat(1,4,CV_64FC2,s_points);
//------------
ts->set_failed_test_info(errcount > 0 ? cvtest::TS::FAIL_BAD_ARG_CHECK : cvtest::TS::OK);
@ -165,20 +157,14 @@ void CV_InitUndistortRectifyMapBadArgTest::run(int)
double arr_new_camera_mat[9] = {155.f, 0.f, img_size.width/2.f+img_size.width/50.f, 0, 310.f, img_size.height/2.f+img_size.height/50.f, 0.f, 0.f, 1.f};
double r[9] = {1,0,0,0,1,0,0,0,1};
CvMat _camera_mat_orig = cvMat(3,3,CV_64F,cam);
CvMat _distortion_coeffs_orig = cvMat(1,4,CV_64F,dist);
CvMat _new_camera_mat_orig = cvMat(3,3,CV_64F,arr_new_camera_mat);
CvMat _R_orig = cvMat(3,3,CV_64F,r);
CvMat _mapx_orig = cvMat(img_size.height,img_size.width,CV_32FC1,&arr_mapx[0]);
CvMat _mapy_orig = cvMat(img_size.height,img_size.width,CV_32FC1,&arr_mapy[0]);
int mat_type_orig = CV_32FC1;
camera_mat = cv::cvarrToMat(&_camera_mat_orig);
distortion_coeffs = cv::cvarrToMat(&_distortion_coeffs_orig);
new_camera_mat = cv::cvarrToMat(&_new_camera_mat_orig);
R = cv::cvarrToMat(&_R_orig);
mapx = cv::cvarrToMat(&_mapx_orig);
mapy = cv::cvarrToMat(&_mapy_orig);
camera_mat = Mat(3,3,CV_64F,cam);
distortion_coeffs = Mat(1,4,CV_64F,dist);
new_camera_mat = Mat(3,3,CV_64F,arr_new_camera_mat);
R = Mat(3,3,CV_64F,r);
mapx = Mat(img_size.height,img_size.width,CV_32FC1,&arr_mapx[0]);
mapy = Mat(img_size.height,img_size.width,CV_32FC1,&arr_mapy[0]);
mat_type = CV_64F;
errcount += run_test_case( cv::Error::StsAssert, "Invalid map matrix type" );
@ -186,15 +172,15 @@ void CV_InitUndistortRectifyMapBadArgTest::run(int)
camera_mat.create(3, 2, CV_32F);
errcount += run_test_case( cv::Error::StsAssert, "Invalid camera data matrix size" );
camera_mat = cv::cvarrToMat(&_camera_mat_orig);
camera_mat = Mat(3,3,CV_64F,cam);
R.create(4, 3, CV_32F);
errcount += run_test_case( cv::Error::StsAssert, "Invalid R data matrix size" );
R = cv::cvarrToMat(&_R_orig);
R = Mat(3,3,CV_64F,r);
distortion_coeffs.create(6, 1, CV_32F);
errcount += run_test_case( cv::Error::StsAssert, "Invalid distortion coefficients data matrix size" );
distortion_coeffs = cv::cvarrToMat(&_distortion_coeffs_orig);
distortion_coeffs = Mat(1,4,CV_64F,dist);
//------------
ts->set_failed_test_info(errcount > 0 ? cvtest::TS::FAIL_BAD_ARG_CHECK : cvtest::TS::OK);
@ -243,17 +229,11 @@ void CV_UndistortBadArgTest::run(int)
std::vector<float> arr_dst(img_size.width*img_size.height);
double arr_new_camera_mat[9] = {155.f, 0.f, img_size.width/2.f+img_size.width/50.f, 0, 310.f, img_size.height/2.f+img_size.height/50.f, 0.f, 0.f, 1.f};
CvMat _camera_mat_orig = cvMat(3,3,CV_64F,cam);
CvMat _distortion_coeffs_orig = cvMat(1,4,CV_64F,dist);
CvMat _new_camera_mat_orig = cvMat(3,3,CV_64F,arr_new_camera_mat);
CvMat _src_orig = cvMat(img_size.height,img_size.width,CV_32FC1,&arr_src[0]);
CvMat _dst_orig = cvMat(img_size.height,img_size.width,CV_32FC1,&arr_dst[0]);
camera_mat = cv::cvarrToMat(&_camera_mat_orig);
distortion_coeffs = cv::cvarrToMat(&_distortion_coeffs_orig);
new_camera_mat = cv::cvarrToMat(&_new_camera_mat_orig);
src = cv::cvarrToMat(&_src_orig);
dst = cv::cvarrToMat(&_dst_orig);
camera_mat = Mat(3,3,CV_64F,cam);
distortion_coeffs = Mat(1,4,CV_64F,dist);
new_camera_mat = Mat(3,3,CV_64F,arr_new_camera_mat);
src = Mat(img_size.height,img_size.width,CV_32FC1,&arr_src[0]);
dst = Mat(img_size.height,img_size.width,CV_32FC1,&arr_dst[0]);
camera_mat.create(5, 5, CV_64F);
errcount += run_test_case( cv::Error::StsAssert, "Invalid camera data matrix size" );

1
modules/calib/test/test_cameracalibration_badarg.cpp
View File

@ -41,7 +41,6 @@
#include "test_precomp.hpp"
#include "test_chessboardgenerator.hpp"
#include "opencv2/core/types_c.h"
namespace opencv_test { namespace {