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Commitc87d30f

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author
thezane
committed
Add new unit tests
1 parente2cf41a commitc87d30f

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2 files changed

+236
-4
lines changed

2 files changed

+236
-4
lines changed

‎modules/calib3d/test/test_cameracalibration.cpp‎

Lines changed: 174 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -816,6 +816,177 @@ void CV_CameraCalibrationTest_CPP::project( const std::vector<Point3d>& objectPo
816816
}*/
817817
}
818818

819+
// --------------------------------- CV_CameraCalibrationFixedExtrinsicsTest_CPP --------------------------------------------
820+
821+
classCV_CameraCalibrationFixedExtrinsicsTest_CPP :publicCV_CameraCalibrationTest
822+
{
823+
public:
824+
CV_CameraCalibrationFixedExtrinsicsTest_CPP(constbool _useRodrigues=false );
825+
protected:
826+
virtualvoidcalibrate(const FixtureParams &fp, CalibratedParams &cp );
827+
828+
virtualintcheckCalibration(const FixtureParams &fp, CalibratedParams &cp );
829+
830+
/* Whether rotation matrices should be passed in as Rodrigues vectors*/
831+
constbool useRodrigues;
832+
};
833+
834+
CV_CameraCalibrationFixedExtrinsicsTest_CPP::CV_CameraCalibrationFixedExtrinsicsTest_CPP(constbool _useRodrigues )
835+
: useRodrigues( _useRodrigues )
836+
{
837+
}
838+
839+
voidCV_CameraCalibrationFixedExtrinsicsTest_CPP::calibrate(const FixtureParams &fp, CalibratedParams &cp )
840+
{
841+
vector<vector<Point3f> >objectPoints( fp.numImages );
842+
vector<vector<Point2f> >imagePoints( fp.numImages );
843+
std::vector<Mat> rvecs, tvecs;
844+
Mat newObjMat;
845+
Mat stdDevsMatInt, stdDevsMatExt;
846+
Mat stdDevsMatObj;
847+
848+
for(int i =0; i < fp.numImages; i++ )
849+
{
850+
Mat( fp.imagePoints[i]).convertTo(imagePoints[i], CV_32F );
851+
Mat( fp.objectPoints[i]).convertTo(objectPoints[i], CV_32F );
852+
}
853+
854+
CV_Assert( (size_t)fp.numImages == fp.goodRotMatrs.size() );
855+
CV_Assert( (size_t)fp.numImages == fp.goodTransVects.size() );
856+
857+
for (int i =0; i < fp.numImages; i++ )
858+
{
859+
Mat rMat =Mat( fp.goodRotMatrs[i] );
860+
861+
if ( useRodrigues )
862+
{
863+
rvecs.emplace_back();
864+
cvtest::Rodrigues( rMat.t(), rvecs.back() );
865+
}
866+
else
867+
{
868+
rvecs.emplace_back( rMat.t() );
869+
}
870+
871+
tvecs.emplace_back(Mat( fp.goodTransVects[i] ) );
872+
}
873+
874+
calibrateCameraRO( objectPoints,
875+
imagePoints,
876+
fp.imageSize,
877+
fp.iFixedPoint,
878+
cp.cameraMatrix,
879+
cp.distortion,
880+
rvecs,
881+
tvecs,
882+
newObjMat,
883+
stdDevsMatInt,
884+
stdDevsMatExt,
885+
stdDevsMatObj,
886+
cp.perViewErrors,
887+
fp.flags | CALIB_FIX_EXTRINSIC );
888+
889+
for (int i =0; i < fp.numImages; i++ )
890+
{
891+
if ( useRodrigues )
892+
{
893+
Mat rMat;
894+
cvtest::Rodrigues( rvecs[i], rMat );
895+
cv::transpose( rMat, rMat );
896+
cp.rotMatrs.emplace_back();
897+
rMat.convertTo( cp.rotMatrs[i], CV_64F );
898+
}
899+
else
900+
{
901+
RotMat rMat =Mat( rvecs[i].t() );
902+
cp.rotMatrs.emplace_back( rMat );
903+
}
904+
905+
cp.transVects.emplace_back( tvecs[i] );
906+
}
907+
}
908+
909+
intCV_CameraCalibrationFixedExtrinsicsTest_CPP::checkCalibration(const FixtureParams &fp, CalibratedParams &cp)
910+
{
911+
int code = cvtest::TS::OK;
912+
913+
/* ========= Compare parameters =========*/
914+
CV_Assert(cp.cameraMatrix.type() == CV_64F && cp.cameraMatrix.size() ==Size(3,3));
915+
CV_Assert(cp.distortion.type() == CV_64F);
916+
917+
Size dsz = cp.distortion.size();
918+
CV_Assert(dsz ==Size(4,1) || dsz ==Size(1,4) || dsz ==Size(5,1) || dsz ==Size(1,5));
919+
920+
/* ----- Compare focal lengths -----*/
921+
code =compare(&cp.cameraMatrix.at<double>(0,0), &fp.goodFcx,1,0.1,"fx");
922+
if( code <0 )
923+
return code;
924+
925+
code =compare(&cp.cameraMatrix.at<double>(1,1), &fp.goodFcy,1,0.1,"fy");
926+
if( code <0 )
927+
return code;
928+
929+
/* ----- Compare principal points -----*/
930+
code =compare(&cp.cameraMatrix.at<double>(0,2), &fp.goodCx,1,0.1,"cx");
931+
if( code <0 )
932+
return code;
933+
934+
code =compare(&cp.cameraMatrix.at<double>(1,2), &fp.goodCy,1,0.1,"cy");
935+
if( code <0 )
936+
return code;
937+
938+
/* ----- Compare distortion -----*/
939+
code =compare(&cp.distortion.at<double>(0), &fp.goodDistortion.at<double>(0),4,0.1,"[k1,k2,p1,p2]");
940+
if( code <0 )
941+
return code;
942+
943+
/* ----- Check extrinsics are the same -----*/
944+
CV_Assert(cp.rotMatrs.size() == (size_t)fp.numImages);
945+
CV_Assert(cp.transVects.size() == (size_t)fp.numImages);
946+
947+
for(int i =0; i < fp.numImages; i++ )
948+
{
949+
RotMat goodRotMat;
950+
951+
if ( useRodrigues )
952+
{
953+
Mat rMat =Mat( fp.goodRotMatrs[i] );
954+
Mat rvec;
955+
cvtest::Rodrigues( rMat.t(), rvec );
956+
cvtest::Rodrigues( rvec, rMat );
957+
cv::transpose( rMat, rMat );
958+
rMat.convertTo( goodRotMat, CV_64F );
959+
}
960+
else
961+
{
962+
goodRotMat = fp.goodRotMatrs[i];
963+
}
964+
965+
if( cp.rotMatrs[i] != goodRotMat )
966+
{
967+
printf("rot mats for frame #%d are different\n", i);
968+
std::cout <<"curr:\n" << cp.rotMatrs[i] << std::endl;
969+
std::cout <<"good:\n" << goodRotMat << std::endl;
970+
971+
code = TS::FAIL_BAD_ACCURACY;
972+
break;
973+
}
974+
975+
if( cp.transVects[i] != fp.goodTransVects[i] )
976+
{
977+
printf("rot mats for frame #%d are different\n", i);
978+
std::cout <<"curr:\n" << cp.transVects[i] << std::endl;
979+
std::cout <<"good:\n" << fp.goodTransVects[i] << std::endl;
980+
981+
code = TS::FAIL_BAD_ACCURACY;
982+
break;
983+
}
984+
}
985+
if( code <0 )
986+
return code;
987+
988+
return code;
989+
}
819990

820991
//----------------------------------------- CV_CalibrationMatrixValuesTest --------------------------------
821992

@@ -1697,6 +1868,9 @@ void CV_StereoCalibrationTest_CPP::correct( const Mat& F,
16971868
///////////////////////////////////////////////////////////////////////////////////////////////////
16981869

16991870
TEST(Calib3d_CalibrateCamera_CPP, regression) { CV_CameraCalibrationTest_CPP test; test.safe_run(); }
1871+
TEST(Calib3d_CalibrateCamera_CPP, fixedExtrinsics) { CV_CameraCalibrationFixedExtrinsicsTest_CPP test; test.safe_run(); }
1872+
TEST(Calib3d_CalibrateCamera_CPP, fixedExtrinsicsRodrigues) {
1873+
CV_CameraCalibrationFixedExtrinsicsTest_CPP test{true/* useRodrigues*/ }; test.safe_run(); }
17001874
TEST(Calib3d_CalibrationMatrixValues_CPP, accuracy) { CV_CalibrationMatrixValuesTest_CPP test; test.safe_run(); }
17011875
TEST(Calib3d_ProjectPoints_CPP, regression) { CV_ProjectPointsTest_CPP test; test.safe_run(); }
17021876

‎modules/calib3d/test/test_cameracalibration_badarg.cpp‎

Lines changed: 62 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -126,6 +126,8 @@ void CV_CameraCalibrationBadArgTest::run( int /* start_from */ )
126126
Mat rvecs_cpp;
127127
Mat tvecs_cpp;
128128
Mat newObjPts_cpp;
129+
std::vector<Mat> badRvecs;
130+
std::vector<Mat> badTvecs;
129131

130132
std::vector<Point3f> objPts_cpp;
131133
for(int y =0; y < corSize.height; ++y)
@@ -140,8 +142,13 @@ void CV_CameraCalibrationBadArgTest::run( int /* start_from */ )
140142
}
141143
caller.cameraMatrix.create(3,3, CV_32F);
142144
caller.distCoeffs.create(5,1, CV_32F);
143-
caller.rvecs.clear();
144-
caller.tvecs.clear();
145+
caller.rvecs.resize(M);
146+
caller.tvecs.resize(M);
147+
for (int i =0; i < M; ++i)
148+
{
149+
caller.rvecs[i] =Mat::eye(3,3, CV_64F);
150+
caller.tvecs[i] =Mat::zeros(3,1, CV_64F);
151+
}
145152
caller.newObjPts.clear();
146153

147154
/* /*//*/*/
@@ -185,13 +192,64 @@ void CV_CameraCalibrationBadArgTest::run( int /* start_from */ )
185192
Mat badCM =Mat::zeros(4,4, CV_64F);
186193
caller.cameraMatrix_arg = badCM;
187194
caller.flags = CALIB_USE_INTRINSIC_GUESS;
188-
errors +=run_test_case(CV_StsBadArg,"Bad camearaMatrix header", caller );
195+
errors +=run_test_case(Error::StsBadArg,"Bad camearaMatrix header", caller );
189196

190197
caller.initArgs();
191198
Mat badDC =Mat::zeros(10,10, CV_64F);
192199
caller.distCoeffs_arg = badDC;
193200
caller.flags = CALIB_USE_INTRINSIC_GUESS;
194-
errors +=run_test_case( CV_StsBadArg,"Bad camearaMatrix header", caller );
201+
errors +=run_test_case( Error::StsBadArg,"Bad camearaMatrix header", caller );
202+
203+
caller.initArgs();
204+
caller.rvecs_arg =noArray();
205+
caller.flags = CALIB_FIX_EXTRINSIC;
206+
errors +=run_test_case( Error::StsBadArg,"None passed in rvecs", caller );
207+
208+
caller.initArgs();
209+
badRvecs = {Mat::eye(3,3, CV_64F)};
210+
caller.rvecs_arg = badRvecs;
211+
caller.flags = CALIB_FIX_EXTRINSIC;
212+
errors +=run_test_case( Error::StsBadArg,"Bad rvecs size", caller );
213+
214+
caller.initArgs();
215+
badRvecs = caller.rvecs;
216+
badRvecs[0] =Mat::eye(4,4, CV_64F);
217+
caller.rvecs_arg = badRvecs;
218+
caller.flags = CALIB_FIX_EXTRINSIC;
219+
errors +=run_test_case( Error::StsBadSize,"Bad rvecs[0]", caller );
220+
221+
caller.initArgs();
222+
badRvecs = caller.rvecs;
223+
badRvecs[1] =Mat::eye(4,4, CV_64F);
224+
caller.rvecs_arg = badRvecs;
225+
caller.flags = CALIB_FIX_EXTRINSIC;
226+
errors +=run_test_case( Error::StsBadSize,"Bad rvecs[1]", caller );
227+
228+
caller.initArgs();
229+
caller.tvecs_arg =noArray();
230+
caller.flags = CALIB_FIX_EXTRINSIC;
231+
errors +=run_test_case( Error::StsBadArg,"None passed in tvecs", caller );
232+
233+
caller.initArgs();
234+
badTvecs = {Mat::eye(3,1, CV_64F)};
235+
caller.tvecs_arg = badTvecs;
236+
caller.flags = CALIB_FIX_EXTRINSIC;
237+
errors +=run_test_case( Error::StsBadArg,"Bad tvecs size", caller );
238+
239+
caller.initArgs();
240+
badTvecs = caller.tvecs;
241+
badTvecs[0] =Mat::eye(4,1, CV_64F);
242+
caller.tvecs_arg = badTvecs;
243+
caller.flags = CALIB_FIX_EXTRINSIC;
244+
errors +=run_test_case( Error::StsBadSize,"Bad tvecs[0]", caller );
245+
246+
caller.initArgs();
247+
badTvecs = caller.tvecs;
248+
badTvecs[1] =Mat::eye(4,1, CV_64F);
249+
caller.tvecs_arg = badTvecs;
250+
caller.flags = CALIB_FIX_EXTRINSIC;
251+
errors +=run_test_case( Error::StsBadSize,"Bad tvecs[1]", caller );
252+
195253

196254
if (errors)
197255
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);

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