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Merge pull request #23150 from savuor:port5_stereo_calib_per_obj

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### Changes

* Port of #22519 to 5.x
* Distortion coefficients were not copied properly, fixed
* Minor coding style chages

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake
This commit is contained in:
Rostislav Vasilikhin
2023-02-02 14:44:28 +01:00
committed by GitHub
parent 29dc07b1f3
commit 23dec329b4
5 changed files with 271 additions and 118 deletions
Download Patch File Download Diff File Expand all files Collapse all files
modules/calib/test/test_cameracalibration.cpp
+40 -58
View File
@@ -1256,10 +1256,8 @@ protected:
virtual void correct( const Mat& F,
const Mat &points1, const Mat &points2,
Mat &newPoints1, Mat &newPoints2 ) = 0;
#if 0 // not ported: #22519
int compare(double* val, double* refVal, int len,
double eps, const char* paramName);
#endif
void run(int);
};
@@ -1326,13 +1324,11 @@ bool CV_StereoCalibrationTest::checkPandROI( int test_case_idx, const Mat& M, co
return true;
}
#if 0 // not ported: #22519
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 );
}
#endif
void CV_StereoCalibrationTest::run( int )
{
@@ -1340,9 +1336,7 @@ void CV_StereoCalibrationTest::run( int )
const double maxReprojErr = 2;
const double maxScanlineDistErr_c = 3;
const double maxScanlineDistErr_uc = 4;
#if 0 // not ported: #22519
const double maxDiffBtwRmsErrors = 1e-4;
#endif
FILE* f = 0;
for(int testcase = 1; testcase <= ntests; testcase++)
@@ -1399,7 +1393,7 @@ void CV_StereoCalibrationTest::run( int )
if(left.empty() || right.empty())
{
ts->printf( cvtest::TS::LOG, "Can not load images %s and %s, testcase %d\n",
imglist[i*2].c_str(), imglist[i*2+1].c_str(), testcase );
imglist[i*2].c_str(), imglist[i*2+1].c_str(), testcase );
ts->set_failed_test_info( cvtest::TS::FAIL_MISSING_TEST_DATA );
return;
}
@@ -1409,8 +1403,8 @@ void CV_StereoCalibrationTest::run( int )
if(!found1 || !found2)
{
ts->printf( cvtest::TS::LOG, "The function could not detect boards (%d x %d) on the images %s and %s, testcase %d\n",
patternSize.width, patternSize.height,
imglist[i*2].c_str(), imglist[i*2+1].c_str(), testcase );
patternSize.width, patternSize.height,
imglist[i*2].c_str(), imglist[i*2+1].c_str(), testcase );
ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
return;
}
@@ -1444,17 +1438,16 @@ void CV_StereoCalibrationTest::run( int )
+ CALIB_FIX_K3
+ CALIB_FIX_K4 + CALIB_FIX_K5 //+ CV_CALIB_FIX_K6
);
#if 1 // not ported: #22519
rmsErrorFromStereoCalib /= nframes*npoints;
#endif
/* rmsErrorFromStereoCalib /= nframes*npoints; */
if (rmsErrorFromStereoCalib > maxReprojErr)
{
ts->printf(cvtest::TS::LOG, "The average reprojection error is too big (=%g), testcase %d\n",
rmsErrorFromStereoCalib, testcase);
rmsErrorFromStereoCalib, testcase);
ts->set_failed_test_info(cvtest::TS::FAIL_INVALID_OUTPUT);
return;
}
#if 0 // not ported: #22519
double rmsErrorFromReprojectedImgPts = 0.0f;
if (rotMats1.empty() || transVecs1.empty())
{
@@ -1464,9 +1457,8 @@ void CV_StereoCalibrationTest::run( int )
}
else
{
vector<Point2f > reprojectedImgPts[2] = {vector<Point2f>(nframes), vector<Point2f>(nframes)};
size_t totalPoints = 0;
double totalErr[2] = { 0, 0 }, viewErr[2];
double totalErr[2] = { 0, 0 };
for (size_t i = 0; i < objpt.size(); ++i) {
RotMat r1 = rotMats1[i];
Vec3d t1 = transVecs1[i];
@@ -1475,9 +1467,12 @@ void CV_StereoCalibrationTest::run( int )
Mat T2t = R * t1;
Vec3d t2 = Mat(T2t + T);
vector<Point2f> reprojectedImgPts[2] = { vector<Point2f>(nframes),
vector<Point2f>(nframes) };
projectPoints(objpt[i], r1, t1, M1, D1, reprojectedImgPts[0]);
projectPoints(objpt[i], r2, t2, M2, D2, reprojectedImgPts[1]);
double viewErr[2];
viewErr[0] = cv::norm(imgpt1[i], reprojectedImgPts[0], cv::NORM_L2SQR);
viewErr[1] = cv::norm(imgpt2[i], reprojectedImgPts[1], cv::NORM_L2SQR);
@@ -1490,16 +1485,15 @@ void CV_StereoCalibrationTest::run( int )
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);
"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;
}
@@ -1510,28 +1504,27 @@ void CV_StereoCalibrationTest::run( int )
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");
maxDiffBtwRmsErrors, "per view errors vector");
int code2 = compare(&rmsErrorPerView2[0], &rmsErrorPerViewFromReprojectedImgPts2[0], nframes,
maxDiffBtwRmsErrors, "per view errors vector");
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);
"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);
"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;
}
#endif
Mat R1, R2, P1, P2, Q;
Rect roi1, roi2;
@@ -1771,33 +1764,23 @@ protected:
};
double CV_StereoCalibrationTest_CPP::calibrateStereoCamera( const vector<vector<Point3f> >& objectPoints,
const vector<vector<Point2f> >& imagePoints1,
const vector<vector<Point2f> >& imagePoints2,
Mat& cameraMatrix1, Mat& distCoeffs1,
Mat& cameraMatrix2, Mat& distCoeffs2,
Size imageSize, Mat& R, Mat& T,
Mat& E, Mat& F,
std::vector<RotMat>& rotationMatrices, std::vector<Vec3d>& translationVectors,
vector<double>& perViewErrors1, vector<double>& perViewErrors2,
TermCriteria criteria, int flags )
const vector<vector<Point2f> >& imagePoints1,
const vector<vector<Point2f> >& imagePoints2,
Mat& cameraMatrix1, Mat& distCoeffs1,
Mat& cameraMatrix2, Mat& distCoeffs2,
Size imageSize, Mat& R, Mat& T,
Mat& E, Mat& F,
std::vector<RotMat>& rotationMatrices, std::vector<Vec3d>& translationVectors,
vector<double>& perViewErrors1, vector<double>& perViewErrors2,
TermCriteria criteria, int flags )
{
#if 1 // not ported: #22519
CV_UNUSED(rotationMatrices);
CV_UNUSED(translationVectors);
CV_UNUSED(perViewErrors1);
CV_UNUSED(perViewErrors2);
return stereoCalibrate( objectPoints, imagePoints1, imagePoints2,
cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2,
imageSize, R, T, E, F, flags, criteria );
#else
vector<Mat> rvecs, tvecs;
Mat perViewErrorsMat;
double avgErr = stereoCalibrate( objectPoints, imagePoints1, imagePoints2,
cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2,
imageSize, R, T, E, F,
rvecs, tvecs, perViewErrorsMat,
flags, criteria );
cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2,
imageSize, R, T, E, F,
rvecs, tvecs, perViewErrorsMat,
flags, criteria );
size_t numImgs = imagePoints1.size();
@@ -1810,10 +1793,10 @@ double CV_StereoCalibrationTest_CPP::calibrateStereoCamera( const vector<vector<
perViewErrors2.resize(numImgs);
}
for (size_t i = 0; i < numImgs; i++)
for (int i = 0; i < (int)numImgs; i++)
{
perViewErrors1[i] = perViewErrorsMat.at<double>((int)i, 0);
perViewErrors2[i] = perViewErrorsMat.at<double>((int)i, 1);
perViewErrors1[i] = perViewErrorsMat.at<double>(i, 0);
perViewErrors2[i] = perViewErrorsMat.at<double>(i, 1);
}
if (rotationMatrices.size() != numImgs)
@@ -1825,7 +1808,7 @@ double CV_StereoCalibrationTest_CPP::calibrateStereoCamera( const vector<vector<
translationVectors.resize(numImgs);
}
for (size_t i = 0; i < numImgs; i++)
for( size_t i = 0; i < numImgs; i++ )
{
Mat r9;
cv::Rodrigues( rvecs[i], r9 );
@@ -1833,7 +1816,6 @@ double CV_StereoCalibrationTest_CPP::calibrateStereoCamera( const vector<vector<
tvecs[i].convertTo(translationVectors[i], CV_64F);
}
return avgErr;
#endif
}
void CV_StereoCalibrationTest_CPP::rectify( const Mat& cameraMatrix1, const Mat& distCoeffs1,