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regression test added

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test data moved to opencv_extra, loads from yaml.gz file now
This commit is contained in:
Rostislav Vasilikhin
2022-09-02 03:42:09 +02:00
parent 96e2d32618
commit bfc4bdd9d0
1 changed files with 57 additions and 0 deletions
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modules/calib/test/test_cameracalibration.cpp
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@@ -2007,6 +2007,63 @@ TEST(Calib3d_StereoCalibrate, regression_11131)
EXPECT_GE(roi2.area(), 400*300) << roi2;
}
TEST(Calib_StereoCalibrate, regression_22421)
{
cv::Mat K1, K2, dist1, dist2;
std::vector<Mat> image_points1, image_points2;
Mat desiredR, desiredT;
std::string fname = cvtest::TS::ptr()->get_data_path() + std::string("/cv/cameracalibration/regression22421.yaml.gz");
FileStorage fs(fname, FileStorage::Mode::READ);
ASSERT_TRUE(fs.isOpened());
fs["imagePoints1"] >> image_points1;
fs["imagePoints2"] >> image_points2;
fs["K1"] >> K1;
fs["K2"] >> K2;
fs["dist1"] >> dist1;
fs["dist2"] >> dist2;
fs["desiredR"] >> desiredR;
fs["desiredT"] >> desiredT;
std::vector<float> obj_points = {0, 0, 0,
0.5, 0, 0,
1, 0, 0,
1.5000001, 0, 0,
2, 0, 0,
0, 0.5, 0,
0.5, 0.5, 0,
1, 0.5, 0,
1.5000001, 0.5, 0,
2, 0.5, 0,
0, 1, 0,
0.5, 1, 0,
1, 1, 0,
1.5000001, 1, 0,
2, 1, 0,
0, 1.5000001, 0,
0.5, 1.5000001, 0,
1, 1.5000001, 0,
1.5000001, 1.5000001, 0,
2, 1.5000001, 0};
cv::Mat obj_points_mat(obj_points, true);
obj_points_mat = obj_points_mat.reshape(1, obj_points.size() / 3);
std::vector<cv::Mat> grid_points(image_points1.size(), obj_points_mat);
cv::Mat R, T;
double error = cv::stereoCalibrate(grid_points, image_points1, image_points2,
K1, dist1, K2, dist2, cv::Size(), R, T,
cv::noArray(), cv::noArray(), cv::noArray(), cv::CALIB_FIX_INTRINSIC);
EXPECT_LE(error, 0.071544);
double rerr = cv::norm(R, desiredR, NORM_INF);
double terr = cv::norm(T, desiredT, NORM_INF);
EXPECT_LE(rerr, 0.0000001);
EXPECT_LE(terr, 0.0000001);
}
TEST(Calib3d_Triangulate, accuracy)
{
// the testcase from http://code.opencv.org/issues/4334