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Merge branch 4.x

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This commit is contained in:
Alexander Smorkalov
2024-08-06 12:26:34 +03:00
parent 35eba9ca90 49459d46e2
commit 7e8f2a1bc4
75 changed files with 1890 additions and 792 deletions
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modules/3d/test/test_fisheye.cpp
+89 -1
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@@ -86,7 +86,6 @@ TEST_F(fisheyeTest, distortUndistortPoints)
int height = imageSize.height;
/* Create test points */
std::vector<cv::Point2d> points0Vector;
cv::Mat principalPoints = (cv::Mat_<double>(5, 2) << K(0, 2), K(1, 2), // (cx, cy)
/* Image corners */
0, 0,
@@ -129,6 +128,95 @@ TEST_F(fisheyeTest, distortUndistortPoints)
}
}
TEST_F(fisheyeTest, distortUndistortPointsNewCameraFixed)
{
int width = imageSize.width;
int height = imageSize.height;
/* Random points inside image */
cv::Mat xy[2] = {};
xy[0].create(100, 1, CV_64F);
theRNG().fill(xy[0], cv::RNG::UNIFORM, 0, width); // x
xy[1].create(100, 1, CV_64F);
theRNG().fill(xy[1], cv::RNG::UNIFORM, 0, height); // y
cv::Mat randomPoints;
merge(xy, 2, randomPoints);
cv::Mat points0 = randomPoints;
cv::Mat Reye = cv::Mat::eye(3, 3, CV_64FC1);
cv::Mat Knew;
cv::fisheye::estimateNewCameraMatrixForUndistortRectify(K, D, imageSize, Reye, Knew);
/* Distort -> Undistort */
cv::Mat distortedPoints;
cv::fisheye::distortPoints(points0, distortedPoints, Knew, K, D);
cv::Mat undistortedPoints;
cv::fisheye::undistortPoints(distortedPoints, undistortedPoints, K, D, Reye, Knew);
EXPECT_MAT_NEAR(points0, undistortedPoints, 1e-8);
/* Undistort -> Distort */
cv::fisheye::undistortPoints(points0, undistortedPoints, K, D, Reye, Knew);
cv::fisheye::distortPoints(undistortedPoints, distortedPoints, Knew, K, D);
EXPECT_MAT_NEAR(points0, distortedPoints, 1e-8);
}
TEST_F(fisheyeTest, distortUndistortPointsNewCameraRandom)
{
int width = imageSize.width;
int height = imageSize.height;
/* Create test points */
std::vector<cv::Point2d> points0Vector;
cv::Mat principalPoints = (cv::Mat_<double>(5, 2) << K(0, 2), K(1, 2), // (cx, cy)
/* Image corners */
0, 0,
0, height,
width, 0,
width, height
);
/* Random points inside image */
cv::Mat xy[2] = {};
xy[0].create(100, 1, CV_64F);
theRNG().fill(xy[0], cv::RNG::UNIFORM, 0, width); // x
xy[1].create(100, 1, CV_64F);
theRNG().fill(xy[1], cv::RNG::UNIFORM, 0, height); // y
cv::Mat randomPoints;
merge(xy, 2, randomPoints);
cv::Mat points0;
cv::Mat Reye = cv::Mat::eye(3, 3, CV_64FC1);
cv::vconcat(principalPoints.reshape(2), randomPoints, points0);
/* Test with random D set */
for (size_t i = 0; i < 10; ++i) {
cv::Mat distortion(1, 4, CV_64F);
theRNG().fill(distortion, cv::RNG::UNIFORM, -0.001, 0.001);
cv::Mat Knew;
cv::fisheye::estimateNewCameraMatrixForUndistortRectify(K, distortion, imageSize, Reye, Knew);
/* Distort -> Undistort */
cv::Mat distortedPoints;
cv::fisheye::distortPoints(points0, distortedPoints, Knew, K, distortion);
cv::Mat undistortedPoints;
cv::fisheye::undistortPoints(distortedPoints, undistortedPoints, K, distortion, Reye, Knew);
EXPECT_MAT_NEAR(points0, undistortedPoints, 1e-8);
/* Undistort -> Distort */
cv::fisheye::undistortPoints(points0, undistortedPoints, K, distortion, Reye, Knew);
cv::fisheye::distortPoints(undistortedPoints, distortedPoints, Knew, K, distortion);
EXPECT_MAT_NEAR(points0, distortedPoints, 1e-8);
}
}
TEST_F(fisheyeTest, solvePnP)
{
const int n = 16;