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Unify Pinhole and Fisheye camera calibration flags.

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This commit is contained in:
Alexander Smorkalov
2023-07-14 11:33:25 +03:00
parent cea26341a5
commit 8595066afc
3 changed files with 105 additions and 100 deletions
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modules/calib/test/test_fisheye.cpp
+30 -30
View File
@@ -427,9 +427,9 @@ TEST_F(fisheyeTest, Calibration)
fs_object.release();
int flag = 0;
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::fisheye::CALIB_CHECK_COND;
flag |= cv::fisheye::CALIB_FIX_SKEW;
flag |= cv::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::CALIB_CHECK_COND;
flag |= cv::CALIB_FIX_SKEW;
cv::Matx33d theK;
cv::Vec4d theD;
@@ -462,11 +462,11 @@ TEST_F(fisheyeTest, CalibrationWithFixedFocalLength)
fs_object.release();
int flag = 0;
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::fisheye::CALIB_CHECK_COND;
flag |= cv::fisheye::CALIB_FIX_SKEW;
flag |= cv::fisheye::CALIB_FIX_FOCAL_LENGTH;
flag |= cv::fisheye::CALIB_USE_INTRINSIC_GUESS;
flag |= cv::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::CALIB_CHECK_COND;
flag |= cv::CALIB_FIX_SKEW;
flag |= cv::CALIB_FIX_FOCAL_LENGTH;
flag |= cv::CALIB_USE_INTRINSIC_GUESS;
cv::Matx33d theK = this->K;
const cv::Matx33d newK(
@@ -570,9 +570,9 @@ TEST_F(fisheyeTest, EstimateUncertainties)
fs_object.release();
int flag = 0;
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::fisheye::CALIB_CHECK_COND;
flag |= cv::fisheye::CALIB_FIX_SKEW;
flag |= cv::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::CALIB_CHECK_COND;
flag |= cv::CALIB_FIX_SKEW;
cv::Matx33d theK;
cv::Vec4d theD;
@@ -609,8 +609,8 @@ TEST_F(fisheyeTest, stereoRectify)
{
// For consistency purposes
CV_StaticAssert(
static_cast<int>(cv::CALIB_ZERO_DISPARITY) == static_cast<int>(cv::fisheye::CALIB_ZERO_DISPARITY),
"For the purpose of continuity the following should be true: cv::CALIB_ZERO_DISPARITY == cv::fisheye::CALIB_ZERO_DISPARITY"
static_cast<int>(cv::CALIB_ZERO_DISPARITY) == static_cast<int>(cv::CALIB_ZERO_DISPARITY),
"For the purpose of continuity the following should be true: cv::CALIB_ZERO_DISPARITY == cv::CALIB_ZERO_DISPARITY"
);
const std::string folder = combine(datasets_repository_path, "calib-3_stereo_from_JY");
@@ -625,7 +625,7 @@ TEST_F(fisheyeTest, stereoRectify)
double balance = 0.0, fov_scale = 1.1;
cv::Mat R1, R2, P1, P2, Q;
cv::fisheye::stereoRectify(K1, D1, K2, D2, calibration_size, theR, theT, R1, R2, P1, P2, Q,
cv::fisheye::CALIB_ZERO_DISPARITY, requested_size, balance, fov_scale);
cv::CALIB_ZERO_DISPARITY, requested_size, balance, fov_scale);
// Collected with these CMake flags: -DWITH_IPP=OFF -DCV_ENABLE_INTRINSICS=OFF -DCV_DISABLE_OPTIMIZATION=ON -DCMAKE_BUILD_TYPE=Debug
cv::Matx33d R1_ref(
@@ -745,9 +745,9 @@ TEST_F(fisheyeTest, stereoCalibrate)
cv::Vec4d D1, D2;
int flag = 0;
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::fisheye::CALIB_CHECK_COND;
flag |= cv::fisheye::CALIB_FIX_SKEW;
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,
@@ -811,10 +811,10 @@ TEST_F(fisheyeTest, stereoCalibrateFixIntrinsic)
cv::Vec3d theT;
int flag = 0;
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::fisheye::CALIB_CHECK_COND;
flag |= cv::fisheye::CALIB_FIX_SKEW;
flag |= cv::fisheye::CALIB_FIX_INTRINSIC;
flag |= cv::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::CALIB_CHECK_COND;
flag |= cv::CALIB_FIX_SKEW;
flag |= cv::CALIB_FIX_INTRINSIC;
cv::Matx33d K1 (561.195925927249, 0, 621.282400272412,
0, 562.849402029712, 380.555455380889,
@@ -875,9 +875,9 @@ TEST_F(fisheyeTest, CalibrationWithDifferentPointsNumber)
cv::Vec4d theD;
int flag = 0;
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::fisheye::CALIB_USE_INTRINSIC_GUESS;
flag |= cv::fisheye::CALIB_FIX_SKEW;
flag |= cv::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::CALIB_USE_INTRINSIC_GUESS;
flag |= cv::CALIB_FIX_SKEW;
cv::fisheye::calibrate(objectPoints, imagePoints, cv::Size(100, 100), theK, theD,
cv::noArray(), cv::noArray(), flag, cv::TermCriteria(3, 20, 1e-6));
@@ -919,9 +919,9 @@ TEST_F(fisheyeTest, stereoCalibrateWithPerViewTransformations)
std::vector<cv::Mat> rvecs, tvecs;
int flag = 0;
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::fisheye::CALIB_CHECK_COND;
flag |= cv::fisheye::CALIB_FIX_SKEW;
flag |= cv::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::CALIB_CHECK_COND;
flag |= cv::CALIB_FIX_SKEW;
double rmsErrorStereoCalib = cv::fisheye::stereoCalibrate(objectPoints, leftPoints, rightPoints,
K1, D1, K2, D2, imageSize, theR, theT, rvecs, tvecs, flag,
@@ -1078,9 +1078,9 @@ TEST_F(fisheyeTest, multiview_calibration)
std::vector<cv::Mat> Rs, Ts, Ks, distortions, rvecs0, tvecs0;
std::vector<bool> is_fisheye(2, true);
int flag = 0;
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::fisheye::CALIB_CHECK_COND;
flag |= cv::fisheye::CALIB_FIX_SKEW;
flag |= cv::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::CALIB_CHECK_COND;
flag |= cv::CALIB_FIX_SKEW;
std::vector<int> all_flags(2, flag);