mirror of
https://github.com/opencv/opencv.git
synced 2024-12-15 01:39:10 +08:00
518486ed3d
* started working on adding 32u, 64u, 64s, bool and 16bf types to OpenCV * core & imgproc tests seem to pass * fixed a few compile errors and test failures on macOS x86 * hopefully fixed some compile problems and test failures * fixed some more warnings and test failures * trying to fix small deviations in perf_core & perf_imgproc by revering randf_64f to exact version used before * trying to fix behavior of the new OpenCV with old plugins; there is (quite strong) assumption that video capture would give us frames with depth == CV_8U (0) or CV_16U (2). If depth is > 7 then it means that the plugin is built with the old OpenCV. It needs to be recompiled, of course and then this hack can be removed. * try to repair the case when target arch does not have FP64 SIMD * 1. fixed bug in itoa() found by alalek 2. restored ==, !=, > and < univ. intrinsics on ARM32/ARM64.
586 lines
18 KiB
Java
586 lines
18 KiB
Java
package org.opencv.test.cv3d;
|
|
|
|
import java.util.ArrayList;
|
|
|
|
import org.opencv.cv3d.Cv3d;
|
|
import org.opencv.core.Core;
|
|
import org.opencv.core.CvType;
|
|
import org.opencv.core.Mat;
|
|
import org.opencv.core.MatOfDouble;
|
|
import org.opencv.core.MatOfPoint2f;
|
|
import org.opencv.core.MatOfPoint3f;
|
|
import org.opencv.core.Point;
|
|
import org.opencv.core.Scalar;
|
|
import org.opencv.core.Size;
|
|
import org.opencv.test.OpenCVTestCase;
|
|
import org.opencv.imgproc.Imgproc;
|
|
|
|
public class Cv3dTest extends OpenCVTestCase {
|
|
|
|
Size size;
|
|
|
|
@Override
|
|
protected void setUp() throws Exception {
|
|
super.setUp();
|
|
|
|
size = new Size(3, 3);
|
|
}
|
|
|
|
public void testComposeRTMatMatMatMatMatMat() {
|
|
Mat rvec1 = new Mat(3, 1, CvType.CV_32F);
|
|
rvec1.put(0, 0, 0.5302828, 0.19925919, 0.40105945);
|
|
Mat tvec1 = new Mat(3, 1, CvType.CV_32F);
|
|
tvec1.put(0, 0, 0.81438506, 0.43713298, 0.2487897);
|
|
Mat rvec2 = new Mat(3, 1, CvType.CV_32F);
|
|
rvec2.put(0, 0, 0.77310503, 0.76209372, 0.30779448);
|
|
Mat tvec2 = new Mat(3, 1, CvType.CV_32F);
|
|
tvec2.put(0, 0, 0.70243168, 0.4784472, 0.79219002);
|
|
|
|
Mat rvec3 = new Mat();
|
|
Mat tvec3 = new Mat();
|
|
|
|
Mat outRvec = new Mat(3, 1, CvType.CV_32F);
|
|
outRvec.put(0, 0, 1.418641, 0.88665926, 0.56020796);
|
|
Mat outTvec = new Mat(3, 1, CvType.CV_32F);
|
|
outTvec.put(0, 0, 1.4560841, 1.0680628, 0.81598103);
|
|
|
|
Cv3d.composeRT(rvec1, tvec1, rvec2, tvec2, rvec3, tvec3);
|
|
|
|
assertMatEqual(outRvec, rvec3, EPS);
|
|
assertMatEqual(outTvec, tvec3, EPS);
|
|
}
|
|
|
|
public void testComposeRTMatMatMatMatMatMatMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testComposeRTMatMatMatMatMatMatMatMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testComposeRTMatMatMatMatMatMatMatMatMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testComposeRTMatMatMatMatMatMatMatMatMatMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testComposeRTMatMatMatMatMatMatMatMatMatMatMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testComposeRTMatMatMatMatMatMatMatMatMatMatMatMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testComposeRTMatMatMatMatMatMatMatMatMatMatMatMatMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testComposeRTMatMatMatMatMatMatMatMatMatMatMatMatMatMat() {
|
|
fail("Not yet implemented");
|
|
// Mat dr3dr1;
|
|
// Mat dr3dt1;
|
|
// Mat dr3dr2;
|
|
// Mat dr3dt2;
|
|
// Mat dt3dr1;
|
|
// Mat dt3dt1;
|
|
// Mat dt3dr2;
|
|
// Mat dt3dt2;
|
|
// , dr3dr1, dr3dt1, dr3dr2, dr3dt2, dt3dr1, dt3dt1, dt3dr2, dt3dt2);
|
|
// [0.97031879, -0.091774099, 0.38594806;
|
|
// 0.15181915, 0.98091727, -0.44186208;
|
|
// -0.39509675, 0.43839464, 0.93872648]
|
|
// [0, 0, 0;
|
|
// 0, 0, 0;
|
|
// 0, 0, 0]
|
|
// [1.0117353, 0.16348237, -0.083180845;
|
|
// -0.1980398, 1.006078, 0.30299222;
|
|
// 0.075766489, -0.32784501, 1.0163091]
|
|
// [0, 0, 0;
|
|
// 0, 0, 0;
|
|
// 0, 0, 0]
|
|
// [0, 0, 0;
|
|
// 0, 0, 0;
|
|
// 0, 0, 0]
|
|
// [0.69658804, 0.018115902, 0.7172426;
|
|
// 0.51114357, 0.68899536, -0.51382649;
|
|
// -0.50348526, 0.72453934, 0.47068608]
|
|
// [0.18536358, -0.20515044, -0.48834875;
|
|
// -0.25120571, 0.29043972, 0.60573936;
|
|
// 0.35370794, -0.69923931, 0.45781645]
|
|
// [1, 0, 0;
|
|
// 0, 1, 0;
|
|
// 0, 0, 1]
|
|
}
|
|
|
|
public void testConvertPointsFromHomogeneous() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testConvertPointsToHomogeneous() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testDecomposeProjectionMatrixMatMatMatMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testDecomposeProjectionMatrixMatMatMatMatMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testDecomposeProjectionMatrixMatMatMatMatMatMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testDecomposeProjectionMatrixMatMatMatMatMatMatMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testDecomposeProjectionMatrixMatMatMatMatMatMatMatMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testEstimateAffine3DMatMatMatMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testEstimateAffine3DMatMatMatMatDouble() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testEstimateAffine3DMatMatMatMatDoubleDouble() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testFindFundamentalMatListOfPointListOfPointInt() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testFindFundamentalMatListOfPointListOfPointIntDouble() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testFindFundamentalMatListOfPointListOfPointIntDoubleDouble() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testFindFundamentalMatListOfPointListOfPointIntDoubleDoubleMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testFindHomographyListOfPointListOfPoint() {
|
|
final int NUM = 20;
|
|
|
|
MatOfPoint2f originalPoints = new MatOfPoint2f();
|
|
originalPoints.alloc(NUM);
|
|
MatOfPoint2f transformedPoints = new MatOfPoint2f();
|
|
transformedPoints.alloc(NUM);
|
|
|
|
for (int i = 0; i < NUM; i++) {
|
|
double x = Math.random() * 100 - 50;
|
|
double y = Math.random() * 100 - 50;
|
|
originalPoints.put(i, 0, x, y);
|
|
transformedPoints.put(i, 0, y, x);
|
|
}
|
|
|
|
Mat hmg = Cv3d.findHomography(originalPoints, transformedPoints);
|
|
|
|
truth = new Mat(3, 3, CvType.CV_64F);
|
|
truth.put(0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1);
|
|
|
|
assertMatEqual(truth, hmg, EPS);
|
|
}
|
|
|
|
public void testFindHomographyListOfPointListOfPointInt() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testFindHomographyListOfPointListOfPointIntDouble() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testFindHomographyListOfPointListOfPointIntDoubleMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testGetOptimalNewCameraMatrixMatMatSizeDouble() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testGetOptimalNewCameraMatrixMatMatSizeDoubleSize() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testGetOptimalNewCameraMatrixMatMatSizeDoubleSizeRect() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testGetOptimalNewCameraMatrixMatMatSizeDoubleSizeRectBoolean() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testGetValidDisparityROI() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testMatMulDeriv() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testProjectPointsMatMatMatMatMatMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testProjectPointsMatMatMatMatMatMatMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testProjectPointsMatMatMatMatMatMatMatDouble() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testRectify3Collinear() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testRodriguesMatMat() {
|
|
Mat r = new Mat(3, 1, CvType.CV_32F);
|
|
Mat R = new Mat(3, 3, CvType.CV_32F);
|
|
|
|
r.put(0, 0, Math.PI, 0, 0);
|
|
|
|
Cv3d.Rodrigues(r, R);
|
|
|
|
truth = new Mat(3, 3, CvType.CV_32F);
|
|
truth.put(0, 0, 1, 0, 0, 0, -1, 0, 0, 0, -1);
|
|
assertMatEqual(truth, R, EPS);
|
|
|
|
Mat r2 = new Mat();
|
|
Cv3d.Rodrigues(R, r2);
|
|
|
|
assertMatEqual(r, r2, EPS);
|
|
}
|
|
|
|
public void testRodriguesMatMatMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testRQDecomp3x3MatMatMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testRQDecomp3x3MatMatMatMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testRQDecomp3x3MatMatMatMatMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testRQDecomp3x3MatMatMatMatMatMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testSolvePnPListOfPoint3ListOfPointMatMatMatMat() {
|
|
Mat intrinsics = Mat.eye(3, 3, CvType.CV_64F);
|
|
intrinsics.put(0, 0, 400);
|
|
intrinsics.put(1, 1, 400);
|
|
intrinsics.put(0, 2, 640 / 2);
|
|
intrinsics.put(1, 2, 480 / 2);
|
|
|
|
final int minPnpPointsNum = 4;
|
|
|
|
MatOfPoint3f points3d = new MatOfPoint3f();
|
|
points3d.alloc(minPnpPointsNum);
|
|
MatOfPoint2f points2d = new MatOfPoint2f();
|
|
points2d.alloc(minPnpPointsNum);
|
|
|
|
for (int i = 0; i < minPnpPointsNum; i++) {
|
|
double x = Math.random() * 100 - 50;
|
|
double y = Math.random() * 100 - 50;
|
|
points2d.put(i, 0, x, y); //add(new Point(x, y));
|
|
points3d.put(i, 0, 0, y, x); // add(new Point3(0, y, x));
|
|
}
|
|
|
|
Mat rvec = new Mat();
|
|
Mat tvec = new Mat();
|
|
Cv3d.solvePnP(points3d, points2d, intrinsics, new MatOfDouble(), rvec, tvec);
|
|
|
|
Mat truth_rvec = new Mat(3, 1, CvType.CV_64F);
|
|
truth_rvec.put(0, 0, 0, Math.PI / 2, 0);
|
|
|
|
Mat truth_tvec = new Mat(3, 1, CvType.CV_64F);
|
|
truth_tvec.put(0, 0, -320, -240, 400);
|
|
|
|
assertMatEqual(truth_rvec, rvec, EPS*2);
|
|
assertMatEqual(truth_tvec, tvec, EPS*2);
|
|
}
|
|
|
|
public void testSolvePnPListOfPoint3ListOfPointMatMatMatMatBoolean() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBoolean() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBooleanInt() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBooleanIntFloat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBooleanIntFloatInt() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBooleanIntFloatIntMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testStereoCalibrateListOfMatListOfMatListOfMatMatMatMatMatSizeMatMatMatMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testStereoCalibrateListOfMatListOfMatListOfMatMatMatMatMatSizeMatMatMatMatTermCriteria() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testStereoCalibrateListOfMatListOfMatListOfMatMatMatMatMatSizeMatMatMatMatTermCriteriaInt() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testStereoRectifyUncalibratedMatMatMatSizeMatMat() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testStereoRectifyUncalibratedMatMatMatSizeMatMatDouble() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testValidateDisparityMatMatIntInt() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testValidateDisparityMatMatIntIntInt() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testComputeCorrespondEpilines()
|
|
{
|
|
Mat fundamental = new Mat(3, 3, CvType.CV_64F);
|
|
fundamental.put(0, 0, 0, -0.577, 0.288, 0.577, 0, 0.288, -0.288, -0.288, 0);
|
|
MatOfPoint2f left = new MatOfPoint2f();
|
|
left.alloc(1);
|
|
left.put(0, 0, 2, 3); //add(new Point(x, y));
|
|
Mat lines = new Mat();
|
|
Mat truth = new Mat(1, 1, CvType.CV_32FC3);
|
|
truth.put(0, 0, -0.70735186, 0.70686162, -0.70588124);
|
|
Cv3d.computeCorrespondEpilines(left, 1, fundamental, lines);
|
|
assertMatEqual(truth, lines, EPS);
|
|
}
|
|
|
|
public void testSolvePnPGeneric_regression_16040() {
|
|
Mat intrinsics = Mat.eye(3, 3, CvType.CV_64F);
|
|
intrinsics.put(0, 0, 400);
|
|
intrinsics.put(1, 1, 400);
|
|
intrinsics.put(0, 2, 640 / 2);
|
|
intrinsics.put(1, 2, 480 / 2);
|
|
|
|
final int minPnpPointsNum = 4;
|
|
|
|
MatOfPoint3f points3d = new MatOfPoint3f();
|
|
points3d.alloc(minPnpPointsNum);
|
|
MatOfPoint2f points2d = new MatOfPoint2f();
|
|
points2d.alloc(minPnpPointsNum);
|
|
|
|
for (int i = 0; i < minPnpPointsNum; i++) {
|
|
double x = Math.random() * 100 - 50;
|
|
double y = Math.random() * 100 - 50;
|
|
points2d.put(i, 0, x, y); //add(new Point(x, y));
|
|
points3d.put(i, 0, 0, y, x); // add(new Point3(0, y, x));
|
|
}
|
|
|
|
ArrayList<Mat> rvecs = new ArrayList<Mat>();
|
|
ArrayList<Mat> tvecs = new ArrayList<Mat>();
|
|
|
|
Mat rvec = new Mat();
|
|
Mat tvec = new Mat();
|
|
|
|
Mat reprojectionError = new Mat(2, 1, CvType.CV_64FC1);
|
|
|
|
Cv3d.solvePnPGeneric(points3d, points2d, intrinsics, new MatOfDouble(), rvecs, tvecs, false, Cv3d.SOLVEPNP_IPPE, rvec, tvec, reprojectionError);
|
|
|
|
Mat truth_rvec = new Mat(3, 1, CvType.CV_64F);
|
|
truth_rvec.put(0, 0, 0, Math.PI / 2, 0);
|
|
|
|
Mat truth_tvec = new Mat(3, 1, CvType.CV_64F);
|
|
truth_tvec.put(0, 0, -320, -240, 400);
|
|
|
|
assertMatEqual(truth_rvec, rvecs.get(0), 10 * EPS);
|
|
assertMatEqual(truth_tvec, tvecs.get(0), 1000 * EPS);
|
|
}
|
|
|
|
public void testGetDefaultNewCameraMatrixMat() {
|
|
Mat mtx = Cv3d.getDefaultNewCameraMatrix(gray0);
|
|
|
|
assertFalse(mtx.empty());
|
|
assertEquals(0, Core.countNonZero(mtx));
|
|
}
|
|
|
|
public void testGetDefaultNewCameraMatrixMatSizeBoolean() {
|
|
Mat mtx = Cv3d.getDefaultNewCameraMatrix(gray0, size, true);
|
|
|
|
assertFalse(mtx.empty());
|
|
assertFalse(0 == Core.countNonZero(mtx));
|
|
// TODO_: write better test
|
|
}
|
|
|
|
public void testInitUndistortRectifyMap() {
|
|
fail("Not yet implemented");
|
|
Mat cameraMatrix = new Mat(3, 3, CvType.CV_32F);
|
|
cameraMatrix.put(0, 0, 1, 0, 1);
|
|
cameraMatrix.put(1, 0, 0, 1, 1);
|
|
cameraMatrix.put(2, 0, 0, 0, 1);
|
|
|
|
Mat R = new Mat(3, 3, CvType.CV_32F, new Scalar(2));
|
|
Mat newCameraMatrix = new Mat(3, 3, CvType.CV_32F, new Scalar(3));
|
|
|
|
Mat distCoeffs = new Mat();
|
|
Mat map1 = new Mat();
|
|
Mat map2 = new Mat();
|
|
|
|
// TODO: complete this test
|
|
Cv3d.initUndistortRectifyMap(cameraMatrix, distCoeffs, R, newCameraMatrix, size, CvType.CV_32F, map1, map2);
|
|
}
|
|
|
|
public void testInitWideAngleProjMapMatMatSizeIntIntMatMat() {
|
|
fail("Not yet implemented");
|
|
Mat cameraMatrix = new Mat(3, 3, CvType.CV_32F);
|
|
Mat distCoeffs = new Mat(1, 4, CvType.CV_32F);
|
|
// Size imageSize = new Size(2, 2);
|
|
|
|
cameraMatrix.put(0, 0, 1, 0, 1);
|
|
cameraMatrix.put(1, 0, 0, 1, 2);
|
|
cameraMatrix.put(2, 0, 0, 0, 1);
|
|
|
|
distCoeffs.put(0, 0, 1, 3, 2, 4);
|
|
truth = new Mat(3, 3, CvType.CV_32F);
|
|
truth.put(0, 0, 0, 0, 0);
|
|
truth.put(1, 0, 0, 0, 0);
|
|
truth.put(2, 0, 0, 3, 0);
|
|
// TODO: No documentation for this function
|
|
// Cv3d.initWideAngleProjMap(cameraMatrix, distCoeffs, imageSize,
|
|
// 5, m1type, truthput1, truthput2);
|
|
}
|
|
|
|
public void testInitWideAngleProjMapMatMatSizeIntIntMatMatInt() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testInitWideAngleProjMapMatMatSizeIntIntMatMatIntDouble() {
|
|
fail("Not yet implemented");
|
|
}
|
|
|
|
public void testUndistortMatMatMatMat() {
|
|
Mat src = new Mat(3, 3, CvType.CV_32F, new Scalar(3));
|
|
Mat cameraMatrix = new Mat(3, 3, CvType.CV_32F) {
|
|
{
|
|
put(0, 0, 1, 0, 1);
|
|
put(1, 0, 0, 1, 2);
|
|
put(2, 0, 0, 0, 1);
|
|
}
|
|
};
|
|
Mat distCoeffs = new Mat(1, 4, CvType.CV_32F) {
|
|
{
|
|
put(0, 0, 1, 3, 2, 4);
|
|
}
|
|
};
|
|
|
|
Cv3d.undistort(src, dst, cameraMatrix, distCoeffs);
|
|
|
|
truth = new Mat(3, 3, CvType.CV_32F) {
|
|
{
|
|
put(0, 0, 0, 0, 0);
|
|
put(1, 0, 0, 0, 0);
|
|
put(2, 0, 0, 3, 0);
|
|
}
|
|
};
|
|
assertMatEqual(truth, dst, EPS);
|
|
}
|
|
|
|
public void testUndistortMatMatMatMatMat() {
|
|
Mat src = new Mat(3, 3, CvType.CV_32F, new Scalar(3));
|
|
Mat cameraMatrix = new Mat(3, 3, CvType.CV_32F) {
|
|
{
|
|
put(0, 0, 1, 0, 1);
|
|
put(1, 0, 0, 1, 2);
|
|
put(2, 0, 0, 0, 1);
|
|
}
|
|
};
|
|
Mat distCoeffs = new Mat(1, 4, CvType.CV_32F) {
|
|
{
|
|
put(0, 0, 2, 1, 4, 5);
|
|
}
|
|
};
|
|
Mat newCameraMatrix = new Mat(3, 3, CvType.CV_32F, new Scalar(1));
|
|
|
|
Cv3d.undistort(src, dst, cameraMatrix, distCoeffs, newCameraMatrix);
|
|
|
|
truth = new Mat(3, 3, CvType.CV_32F, new Scalar(3));
|
|
assertMatEqual(truth, dst, EPS);
|
|
}
|
|
|
|
//undistortPoints(List<Point> src, List<Point> dst, Mat cameraMatrix, Mat distCoeffs)
|
|
public void testUndistortPointsListOfPointListOfPointMatMat() {
|
|
MatOfPoint2f src = new MatOfPoint2f(new Point(1, 2), new Point(3, 4), new Point(-1, -1));
|
|
MatOfPoint2f dst = new MatOfPoint2f();
|
|
Mat cameraMatrix = Mat.eye(3, 3, CvType.CV_64FC1);
|
|
Mat distCoeffs = new Mat(8, 1, CvType.CV_64FC1, new Scalar(0));
|
|
|
|
Cv3d.undistortPoints(src, dst, cameraMatrix, distCoeffs);
|
|
|
|
assertEquals(src.size(), dst.size());
|
|
for(int i=0; i<src.toList().size(); i++) {
|
|
//Log.d("UndistortPoints", "s="+src.get(i)+", d="+dst.get(i));
|
|
assertTrue(src.toList().get(i).equals(dst.toList().get(i)));
|
|
}
|
|
}
|
|
|
|
public void testEstimateNewCameraMatrixForUndistortRectify() {
|
|
Mat K = new Mat().eye(3, 3, CvType.CV_64FC1);
|
|
Mat K_new = new Mat().eye(3, 3, CvType.CV_64FC1);
|
|
Mat K_new_truth = new Mat().eye(3, 3, CvType.CV_64FC1);
|
|
Mat D = new Mat().zeros(4, 1, CvType.CV_64FC1);
|
|
|
|
K.put(0,0,600.4447738238429);
|
|
K.put(1,1,578.9929805505851);
|
|
K.put(0,2,992.0642578801213);
|
|
K.put(1,2,549.2682624212172);
|
|
|
|
D.put(0,0,-0.05090103223466704);
|
|
D.put(1,0,0.030944413642173308);
|
|
D.put(2,0,-0.021509225493198905);
|
|
D.put(3,0,0.0043378096628297145);
|
|
|
|
K_new_truth.put(0,0, 387.5118215642316);
|
|
K_new_truth.put(0,2, 1033.936556777084);
|
|
K_new_truth.put(1,1, 373.6673784974842);
|
|
K_new_truth.put(1,2, 538.794152656429);
|
|
|
|
Cv3d.fisheye_estimateNewCameraMatrixForUndistortRectify(K,D,new Size(1920,1080),
|
|
new Mat().eye(3, 3, CvType.CV_64F), K_new, 0.0, new Size(1920,1080));
|
|
|
|
assertMatEqual(K_new, K_new_truth, EPS);
|
|
}
|
|
}
|