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147 lines
5.2 KiB
C++
147 lines
5.2 KiB
C++
// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html.
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#include <opencv2/ts/cuda_test.hpp> // EXPECT_MAT_NEAR
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#include "test_precomp.hpp"
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namespace opencv_test { namespace {
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class UndistortPointsTest : public ::testing::Test
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{
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protected:
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void generate3DPointCloud(vector<Point3f>& points, Point3f pmin = Point3f(-1,
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-1, 5), Point3f pmax = Point3f(1, 1, 10));
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void generateCameraMatrix(Mat& cameraMatrix);
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void generateDistCoeffs(Mat& distCoeffs, int count);
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double thresh = 1.0e-2;
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};
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void UndistortPointsTest::generate3DPointCloud(vector<Point3f>& points, Point3f pmin, Point3f pmax)
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{
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RNG rng_Point = cv::theRNG(); // fix the seed to use "fixed" input 3D points
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for (size_t i = 0; i < points.size(); i++)
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{
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float _x = rng_Point.uniform(pmin.x, pmax.x);
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float _y = rng_Point.uniform(pmin.y, pmax.y);
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float _z = rng_Point.uniform(pmin.z, pmax.z);
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points[i] = Point3f(_x, _y, _z);
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}
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}
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void UndistortPointsTest::generateCameraMatrix(Mat& cameraMatrix)
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{
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const double fcMinVal = 1e-3;
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const double fcMaxVal = 100;
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cameraMatrix.create(3, 3, CV_64FC1);
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cameraMatrix.setTo(Scalar(0));
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cameraMatrix.at<double>(0,0) = theRNG().uniform(fcMinVal, fcMaxVal);
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cameraMatrix.at<double>(1,1) = theRNG().uniform(fcMinVal, fcMaxVal);
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cameraMatrix.at<double>(0,2) = theRNG().uniform(fcMinVal, fcMaxVal);
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cameraMatrix.at<double>(1,2) = theRNG().uniform(fcMinVal, fcMaxVal);
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cameraMatrix.at<double>(2,2) = 1;
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}
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void UndistortPointsTest::generateDistCoeffs(Mat& distCoeffs, int count)
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{
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distCoeffs = Mat::zeros(count, 1, CV_64FC1);
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for (int i = 0; i < count; i++)
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distCoeffs.at<double>(i,0) = theRNG().uniform(-0.1, 0.1);
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}
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TEST_F(UndistortPointsTest, accuracy)
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{
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Mat intrinsics, distCoeffs;
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generateCameraMatrix(intrinsics);
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vector<Point3f> points(500);
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generate3DPointCloud(points);
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vector<Point2f> projectedPoints;
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projectedPoints.resize(points.size());
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int modelMembersCount[] = {4,5,8};
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for (int idx = 0; idx < 3; idx++)
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{
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generateDistCoeffs(distCoeffs, modelMembersCount[idx]);
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projectPoints(Mat(points), Mat::zeros(3,1,CV_64FC1),
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Mat::zeros(3,1,CV_64FC1), intrinsics,
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distCoeffs, projectedPoints);
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vector<Point2f> realUndistortedPoints;
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projectPoints(Mat(points), Mat::zeros(3,1,CV_64FC1),
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Mat::zeros(3,1,CV_64FC1), intrinsics,
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Mat::zeros(4,1,CV_64FC1), realUndistortedPoints);
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Mat undistortedPoints;
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undistortPoints(Mat(projectedPoints), undistortedPoints, intrinsics, distCoeffs);
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Mat p;
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perspectiveTransform(undistortedPoints, p, intrinsics);
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undistortedPoints = p;
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EXPECT_MAT_NEAR(realUndistortedPoints, undistortedPoints.t(), thresh);
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}
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}
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TEST_F(UndistortPointsTest, stop_criteria)
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{
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Mat cameraMatrix = (Mat_<double>(3,3,CV_64F) << 857.48296979, 0, 968.06224829,
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0, 876.71824265, 556.37145899,
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0, 0, 1);
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Mat distCoeffs = (Mat_<double>(5,1,CV_64F) <<
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-2.57614020e-01, 8.77086999e-02, -2.56970803e-04, -5.93390389e-04, -1.52194091e-02);
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Point2d pt_distorted(theRNG().uniform(0.0, 1920.0), theRNG().uniform(0.0, 1080.0));
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std::vector<Point2d> pt_distorted_vec;
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pt_distorted_vec.push_back(pt_distorted);
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const double maxError = 1e-6;
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TermCriteria criteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 100, maxError);
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std::vector<Point2d> pt_undist_vec;
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undistortPoints(pt_distorted_vec, pt_undist_vec, cameraMatrix, distCoeffs, noArray(), noArray(), criteria);
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std::vector<Point3d> pt_undist_vec_homogeneous;
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pt_undist_vec_homogeneous.emplace_back(pt_undist_vec[0].x, pt_undist_vec[0].y, 1.0 );
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std::vector<Point2d> pt_redistorted_vec;
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projectPoints(pt_undist_vec_homogeneous, Mat::zeros(3,1,CV_64F),
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Mat::zeros(3,1,CV_64F), cameraMatrix, distCoeffs, pt_redistorted_vec);
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const double obtainedError = sqrt( pow(pt_distorted.x - pt_redistorted_vec[0].x, 2) + pow(pt_distorted.y - pt_redistorted_vec[0].y, 2) );
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ASSERT_LE(obtainedError, maxError);
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}
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TEST_F(UndistortPointsTest, regression_14583)
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{
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const int col = 720;
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// const int row = 540;
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float camera_matrix_value[] = {
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437.8995f, 0.0f, 342.9241f,
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0.0f, 438.8216f, 273.7163f,
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0.0f, 0.0f, 1.0f
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};
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cv::Mat camera_interior(3, 3, CV_32F, camera_matrix_value);
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float camera_distort_value[] = {-0.34329f, 0.11431f, 0.0f, 0.0f, -0.017375f};
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cv::Mat camera_distort(1, 5, CV_32F, camera_distort_value);
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float distort_points_value[] = {col, 0.};
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cv::Mat distort_pt(1, 1, CV_32FC2, distort_points_value);
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cv::Mat undistort_pt;
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cv::undistortPoints(distort_pt, undistort_pt, camera_interior,
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camera_distort, cv::Mat(), camera_interior);
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EXPECT_NEAR(distort_pt.at<Vec2f>(0)[0], undistort_pt.at<Vec2f>(0)[0], col / 2)
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<< "distort point: " << distort_pt << std::endl
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<< "undistort point: " << undistort_pt;
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}
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}} // namespace
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