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Heterogenious cameras support in multiview calibration.

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This commit is contained in:
Alexander Smorkalov
2024-10-01 20:27:30 +03:00
parent 3bcab8db0a
commit ae52db549d
3 changed files with 160 additions and 16 deletions
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modules/calib/test/test_multiview_calib.cpp
+74 -3
View File
@@ -259,6 +259,8 @@ struct MultiViewTest : public ::testing::Test
for (size_t c = 1; c < num_cameras; c++)
{
validateCameraPose(Rs[c], Ts[c], Rs_gt[c], Ts_gt[c], angle_tol, pos_tol);
double distance0 = cv::norm(Rs[c].t()*Ts[c]);
CV_LOG_INFO(NULL, "distance to camera #0: " << distance0);
}
}
};
@@ -416,7 +418,7 @@ TEST_F(MultiViewTest, OneLineInitialGuess)
cv::Rodrigues(Rs[c], Rs_rvec[c]);
}
int flags = cv::CALIB_USE_EXTRINSIC_GUESS | cv::CALIB_USE_INTRINSIC_GUESS;
int flags = cv::CALIB_USE_EXTRINSIC_GUESS | cv::CALIB_USE_INTRINSIC_GUESS | cv::CALIB_STEREO_REGISTRATION;
double rms = calibrateMultiview(objPoints, image_points_all, image_sizes, visibility, models,
Rs_rvec, Ts, Ks, distortions, flags, flagsForIntrinsics);
CV_LOG_INFO(NULL, "RMS: " << rms);
@@ -500,6 +502,75 @@ TEST_F(MultiViewTest, CamsToFloor)
validateAllPoses(Rs_gt, Ts_gt, Rs, Ts);
}
TEST_F(MultiViewTest, Hetero)
{
applyTestTag(CV_TEST_TAG_VERYLONG);
const string root = cvtest::TS::ptr()->get_data_path() + "cv/cameracalibration/multiview/3cams-hetero/";
const std::vector<std::string> cam_names = {"cam_7", "cam_4", "cam_8"};
std::vector<cv::Size> image_sizes = {{1920, 1080}, {1920, 1080}, {2048, 2048}};
std::vector<uchar> models = { cv::CALIB_MODEL_PINHOLE, cv::CALIB_MODEL_PINHOLE, cv::CALIB_MODEL_FISHEYE};
double rs_1_gt_data[9] = {
0.9927140815671712, 0.1070962138895326, 0.05521913824730116,
-0.05355858010980671, -0.01832224712027507, 0.9983966014350634,
0.1079362346706077, -0.994079823872807, -0.0124528315711911
};
double rs_2_gt_data[9] = {
0.9974414183162762, 0.06892036265048015, 0.0189894876008139,
-0.06886936047115397, 0.9976201373221448, -0.003327581349727079,
-0.0191736333413733, 0.002011273594291581, 0.9998141460106571
};
double ts_1_gt_data[3] = {0.5106665738153067, -0.3450096979616873, 0.7854530821015541};
double ts_2_gt_data[3] = {1.01304902944076, 0.01197702701032772, -0.01801263208619407};
std::vector<cv::Mat> Rs_gt = {
cv::Mat::eye(3, 3, CV_64FC1),
cv::Mat(3, 3, CV_64FC1, rs_1_gt_data),
cv::Mat(3, 3, CV_64FC1, rs_2_gt_data)
};
std::vector<cv::Mat> Ts_gt = {
cv::Mat::zeros(3, 1, CV_64FC1),
cv::Mat(3, 1, CV_64FC1, ts_1_gt_data),
cv::Mat(3, 1, CV_64FC1, ts_2_gt_data)
};
const int num_frames = 127;
std::vector<std::vector<cv::Mat>> image_points_all;
cv::Mat visibility;
loadImagePoints(root, cam_names, num_frames, image_points_all, visibility);
EXPECT_EQ(cam_names.size(), image_points_all.size());
for(size_t i = 0; i < cam_names.size(); i++)
{
EXPECT_TRUE(!image_points_all[i].empty());
}
std::vector<cv::Vec3f> board_pattern = genAsymmetricObjectPoints();
std::vector<std::vector<cv::Vec3f>> objPoints(num_frames, board_pattern);
std::vector<int> flagsForIntrinsics= {
cv::CALIB_RATIONAL_MODEL, cv::CALIB_RATIONAL_MODEL,
cv::CALIB_RECOMPUTE_EXTRINSIC | cv::CALIB_FIX_SKEW};
std::vector<cv::Mat> Ks, distortions, Rs, Rs_rvec, Ts;
double rms = calibrateMultiview(objPoints, image_points_all, image_sizes, visibility, models,
Rs_rvec, Ts, Ks, distortions, 0, flagsForIntrinsics);
CV_LOG_INFO(NULL, "RMS: " << rms);
EXPECT_LE(rms, 2.5);
Rs.resize(Rs_rvec.size());
for(int c = 0; c < 3; c++)
{
cv::Rodrigues(Rs_rvec[c], Rs[c]);
CV_LOG_INFO(NULL, "R" << c << ":" << Rs[c]);
CV_LOG_INFO(NULL, "T" << c << ":" << Ts[c]);
}
validateAllPoses(Rs_gt, Ts_gt, Rs, Ts);
}
struct RegisterCamerasTest: public MultiViewTest
{
void filterPoints(const std::vector<std::vector<cv::Mat>>& image_points_all,
@@ -523,7 +594,7 @@ TEST_F(RegisterCamerasTest, hetero1)
const std::vector<std::string> cam_names = {"cam_7", "cam_4"};
std::vector<cv::Size> image_sizes = {{1920, 1080}, {2048, 2048}};
std::vector<cv::CameraModel> models = {cv::CALIB_MODEL_PINHOLE, cv::CALIB_MODEL_FISHEYE};
std::vector<int> flagsForIntrinsics = {cv::CALIB_RATIONAL_MODEL, cv::CALIB_RECOMPUTE_EXTRINSIC+cv::CALIB_FIX_SKEW};
std::vector<int> flagsForIntrinsics = {cv::CALIB_RATIONAL_MODEL, cv::CALIB_RECOMPUTE_EXTRINSIC | cv::CALIB_FIX_SKEW};
const int num_frames = 127;
std::vector<cv::Vec3f> board_pattern = genAsymmetricObjectPoints();
@@ -580,7 +651,7 @@ TEST_F(RegisterCamerasTest, hetero2)
const std::vector<std::string> cam_names = {"cam_4", "cam_8"};
std::vector<cv::Size> image_sizes = {{2048, 2048}, {1920, 1080}};
std::vector<cv::CameraModel> models = {cv::CALIB_MODEL_FISHEYE, cv::CALIB_MODEL_PINHOLE};
std::vector<int> flagsForIntrinsics = { cv::CALIB_RECOMPUTE_EXTRINSIC+cv::CALIB_FIX_SKEW, cv::CALIB_RATIONAL_MODEL};
std::vector<int> flagsForIntrinsics = { cv::CALIB_RECOMPUTE_EXTRINSIC | cv::CALIB_FIX_SKEW, cv::CALIB_RATIONAL_MODEL};
const int num_frames = 127;
std::vector<cv::Vec3f> board_pattern = genAsymmetricObjectPoints();