potok/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2026-07-31 08:13:04 +04:00
Code Packages Releases Wiki Activity

Merge pull request #25061 from asmorkalov:as/register_cameras

Browse Source 
RegisterCameras function for heterogenious cameras pair #25061

Credits to Linfei Pan
Extracted from https://github.com/opencv/opencv/pull/24052

### 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
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake

---------

Co-authored-by: lpanaf <linpan@student.ethz.ch>
This commit is contained in:
Alexander Smorkalov
2024-02-26 15:45:18 +03:00
committed by GitHub
parent 093ed08892
commit 4c549b8707
4 changed files with 1206 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
modules/calib/test/test_fisheye.cpp
+114
View File
@@ -655,4 +655,118 @@ TEST_F(fisheyeTest, multiview_calibration)
EXPECT_MAT_NEAR(distortions[1], D2_correct, 5e-2);
}
TEST_F(fisheyeTest, cameraRegistrationWithPerViewTransformations)
{
const int n_images = 34;
const std::string folder = combine(datasets_repository_path, "calib-3_stereo_from_JY");
std::vector<std::vector<cv::Point2f> > leftPoints(n_images);
std::vector<std::vector<cv::Point2f> > rightPoints(n_images);
std::vector<std::vector<cv::Point3f> > objectPoints(n_images);
cv::FileStorage fs_left(combine(folder, "left.xml"), cv::FileStorage::READ);
CV_Assert(fs_left.isOpened());
for(int i = 0; i < n_images; ++i)
fs_left[cv::format("image_%d", i )] >> leftPoints[i];
fs_left.release();
cv::FileStorage fs_right(combine(folder, "right.xml"), cv::FileStorage::READ);
CV_Assert(fs_right.isOpened());
for(int i = 0; i < n_images; ++i)
fs_right[cv::format("image_%d", i )] >> rightPoints[i];
fs_right.release();
cv::FileStorage fs_object(combine(folder, "object.xml"), cv::FileStorage::READ);
CV_Assert(fs_object.isOpened());
for(int i = 0; i < n_images; ++i)
fs_object[cv::format("image_%d", i )] >> objectPoints[i];
fs_object.release();
cv::Matx33d K1, K2, theR;
cv::Vec3d theT;
cv::Vec4d D1, D2;
int flag = 0;
flag |= cv::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::CALIB_CHECK_COND;
flag |= cv::CALIB_FIX_SKEW;
cv::fisheye::stereoCalibrate(objectPoints, leftPoints, rightPoints,
K1, D1, K2, D2, imageSize, theR, theT,flag, cv::TermCriteria(3, 12, 0));
cv::Mat E, F, perViewErrors;
std::vector<cv::Mat> rvecs, tvecs;
flag = 0;
double rmsErrorRegisterCamera = cv::registerCameras(objectPoints, objectPoints, leftPoints, rightPoints,
K1, D1, CALIB_MODEL_FISHEYE,
K2, D2, CALIB_MODEL_FISHEYE,
theR, theT, E, F, rvecs, tvecs, perViewErrors, flag,
cv::TermCriteria(3, 12, 0));
std::vector<cv::Point2f> reprojectedImgPts[2] = { std::vector<cv::Point2f>(n_images),
std::vector<cv::Point2f>(n_images) };
size_t totalPoints = 0;
double totalMSError[2] = { 0, 0 };
for( size_t i = 0; i < n_images; i++ )
{
cv::Matx33d viewRotMat1, viewRotMat2;
cv::Vec3d viewT1, viewT2;
cv::Mat rVec;
cv::Rodrigues( rvecs[i], rVec );
rVec.convertTo(viewRotMat1, CV_64F);
tvecs[i].convertTo(viewT1, CV_64F);
viewRotMat2 = theR * viewRotMat1;
cv::Vec3d T2t = theR * viewT1;
viewT2 = T2t + theT;
cv::Vec3d viewRotVec1, viewRotVec2;
cv::Rodrigues(viewRotMat1, viewRotVec1);
cv::Rodrigues(viewRotMat2, viewRotVec2);
double alpha1 = K1(0, 1) / K1(0, 0);
double alpha2 = K2(0, 1) / K2(0, 0);
cv::fisheye::projectPoints(objectPoints[i], reprojectedImgPts[0], viewRotVec1, viewT1, K1, D1, alpha1);
cv::fisheye::projectPoints(objectPoints[i], reprojectedImgPts[1], viewRotVec2, viewT2, K2, D2, alpha2);
double viewMSError[2] = {
cv::norm(leftPoints[i], reprojectedImgPts[0], cv::NORM_L2SQR),
cv::norm(rightPoints[i], reprojectedImgPts[1], cv::NORM_L2SQR)
};
size_t n = objectPoints[i].size();
totalMSError[0] += viewMSError[0];
totalMSError[1] += viewMSError[1];
totalPoints += n;
}
double rmsErrorFromReprojectedImgPts = std::sqrt((totalMSError[0] + totalMSError[1]) / (2 * totalPoints));
cv::Matx33d R_correct( 0.9975587205950972, 0.06953016383322372, 0.006492709911733523,
-0.06956823121068059, 0.9975601387249519, 0.005833595226966235,
-0.006071257768382089, -0.006271040135405457, 0.9999619062167968);
cv::Vec3d T_correct(-0.099402724724121, 0.00270812139265413, 0.00129330292472699);
cv::Matx33d K1_correct (561.195925927249, 0, 621.282400272412,
0, 562.849402029712, 380.555455380889,
0, 0, 1);
cv::Matx33d K2_correct (560.395452535348, 0, 678.971652040359,
0, 561.90171021422, 380.401340535339,
0, 0, 1);
cv::Vec4d D1_correct (-7.44253716539556e-05, -0.00702662033932424, 0.00737569823650885, -0.00342230256441771);
cv::Vec4d D2_correct (-0.0130785435677431, 0.0284434505383497, -0.0360333869900506, 0.0144724062347222);
EXPECT_MAT_NEAR(theR, R_correct, 1e-6);
EXPECT_MAT_NEAR(theT, T_correct, 1e-6);
EXPECT_MAT_NEAR(K1, K1_correct, 1e-4);
EXPECT_MAT_NEAR(K2, K2_correct, 1e-4);
EXPECT_MAT_NEAR(D1, D1_correct, 1e-5);
EXPECT_MAT_NEAR(D2, D2_correct, 1e-5);
EXPECT_NEAR(rmsErrorRegisterCamera, rmsErrorFromReprojectedImgPts, 1e-4);
}
}} // namespace