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Merge branch 4.x

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This commit is contained in:
Alexander Alekhin
2022-08-21 14:55:48 +00:00
parent 99d216c8d4 925ff6241f
commit c25f776151
538 changed files with 84703 additions and 5374 deletions
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modules/3d/test/test_undistort_points.cpp
+63 -10
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@@ -3,6 +3,7 @@
// of this distribution and at http://opencv.org/license.html.
#include <opencv2/ts/cuda_test.hpp> // EXPECT_MAT_NEAR
#include "opencv2/core/types.hpp"
#include "test_precomp.hpp"
namespace opencv_test { namespace {
@@ -14,6 +15,7 @@ protected:
-1, 5), Point3f pmax = Point3f(1, 1, 10));
void generateCameraMatrix(Mat& cameraMatrix);
void generateDistCoeffs(Mat& distCoeffs, int count);
cv::Mat generateRotationVector();
double thresh = 1.0e-2;
};
@@ -50,6 +52,14 @@ void UndistortPointsTest::generateDistCoeffs(Mat& distCoeffs, int count)
distCoeffs.at<double>(i,0) = theRNG().uniform(-0.1, 0.1);
}
cv::Mat UndistortPointsTest::generateRotationVector()
{
Mat rvec(1, 3, CV_64F);
theRNG().fill(rvec, RNG::UNIFORM, -0.2, 0.2);
return rvec;
}
TEST_F(UndistortPointsTest, accuracy)
{
Mat intrinsics, distCoeffs;
@@ -58,34 +68,73 @@ TEST_F(UndistortPointsTest, accuracy)
vector<Point3f> points(500);
generate3DPointCloud(points);
vector<Point2f> projectedPoints;
projectedPoints.resize(points.size());
Mat rvec = generateRotationVector();
Mat R;
cv::Rodrigues(rvec, R);
int modelMembersCount[] = {4,5,8};
for (int idx = 0; idx < 3; idx++)
{
generateDistCoeffs(distCoeffs, modelMembersCount[idx]);
/* Project points with distortion */
vector<Point2f> projectedPoints;
projectPoints(Mat(points), Mat::zeros(3,1,CV_64FC1),
Mat::zeros(3,1,CV_64FC1), intrinsics,
distCoeffs, projectedPoints);
/* Project points without distortion */
vector<Point2f> realUndistortedPoints;
projectPoints(Mat(points), Mat::zeros(3,1,CV_64FC1),
projectPoints(Mat(points), rvec,
Mat::zeros(3,1,CV_64FC1), intrinsics,
Mat::zeros(4,1,CV_64FC1), realUndistortedPoints);
/* Undistort points */
Mat undistortedPoints;
undistortPoints(Mat(projectedPoints), undistortedPoints, intrinsics, distCoeffs);
Mat p;
perspectiveTransform(undistortedPoints, p, intrinsics);
undistortedPoints = p;
undistortPoints(Mat(projectedPoints), undistortedPoints, intrinsics, distCoeffs, R, intrinsics);
EXPECT_MAT_NEAR(realUndistortedPoints, undistortedPoints.t(), thresh);
}
}
TEST_F(UndistortPointsTest, undistortImagePointsAccuracy)
{
Mat intrinsics, distCoeffs;
generateCameraMatrix(intrinsics);
vector<Point3f> points(500);
generate3DPointCloud(points);
int modelMembersCount[] = {4,5,8};
for (int idx = 0; idx < 3; idx++)
{
generateDistCoeffs(distCoeffs, modelMembersCount[idx]);
/* Project points with distortion */
vector<Point2f> projectedPoints;
projectPoints(Mat(points), Mat::zeros(3,1,CV_64FC1),
Mat::zeros(3,1,CV_64FC1), intrinsics,
distCoeffs, projectedPoints);
/* Project points without distortion */
vector<Point2f> realUndistortedPoints;
projectPoints(Mat(points), Mat::zeros(3, 1, CV_64FC1),
Mat::zeros(3,1,CV_64FC1), intrinsics,
Mat::zeros(4,1,CV_64FC1), realUndistortedPoints);
/* Undistort points */
Mat undistortedPoints;
TermCriteria termCriteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 5, thresh / 2);
undistortImagePoints(Mat(projectedPoints), undistortedPoints, intrinsics, distCoeffs,
termCriteria);
EXPECT_MAT_NEAR(realUndistortedPoints, undistortedPoints.t(), thresh);
}
}
TEST_F(UndistortPointsTest, stop_criteria)
{
Mat cameraMatrix = (Mat_<double>(3,3,CV_64F) << 857.48296979, 0, 968.06224829,
@@ -103,13 +152,17 @@ TEST_F(UndistortPointsTest, stop_criteria)
TermCriteria criteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 100, maxError);
std::vector<Point2d> pt_undist_vec;
undistortPoints(pt_distorted_vec, pt_undist_vec, cameraMatrix, distCoeffs, noArray(), noArray(), criteria);
Mat rVec = Mat(Matx31d(0.1, -0.2, 0.2));
Mat R;
cv::Rodrigues(rVec, R);
undistortPoints(pt_distorted_vec, pt_undist_vec, cameraMatrix, distCoeffs, R, noArray(), criteria);
std::vector<Point3d> pt_undist_vec_homogeneous;
pt_undist_vec_homogeneous.emplace_back(pt_undist_vec[0].x, pt_undist_vec[0].y, 1.0 );
std::vector<Point2d> pt_redistorted_vec;
projectPoints(pt_undist_vec_homogeneous, Mat::zeros(3,1,CV_64F),
projectPoints(pt_undist_vec_homogeneous, -rVec,
Mat::zeros(3,1,CV_64F), cameraMatrix, distCoeffs, pt_redistorted_vec);
const double obtainedError = sqrt( pow(pt_distorted.x - pt_redistorted_vec[0].x, 2) + pow(pt_distorted.y - pt_redistorted_vec[0].y, 2) );