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alalekalalek
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Merge pull request opencv#8589 from tomoaki0705:fixTypoCalib3d
2 parents 0d10eb5 + 62c17dc commit 2be4f2c

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‎modules/calib3d/test/test_fisheye.cpp

Lines changed: 45 additions & 46 deletions
Original file line numberDiff line numberDiff line change
@@ -245,13 +245,13 @@ TEST_F(fisheyeTest, Calibration)
245245
cv::FileStorage fs_left(combine(folder, "left.xml"), cv::FileStorage::READ);
246246
CV_Assert(fs_left.isOpened());
247247
for(int i = 0; i < n_images; ++i)
248-
fs_left[cv::format("image_%d", i )] >> imagePoints[i];
248+
fs_left[cv::format("image_%d", i )] >> imagePoints[i];
249249
fs_left.release();
250250

251251
cv::FileStorage fs_object(combine(folder, "object.xml"), cv::FileStorage::READ);
252252
CV_Assert(fs_object.isOpened());
253253
for(int i = 0; i < n_images; ++i)
254-
fs_object[cv::format("image_%d", i )] >> objectPoints[i];
254+
fs_object[cv::format("image_%d", i )] >> objectPoints[i];
255255
fs_object.release();
256256

257257
int flag = 0;
@@ -280,13 +280,13 @@ TEST_F(fisheyeTest, Homography)
280280
cv::FileStorage fs_left(combine(folder, "left.xml"), cv::FileStorage::READ);
281281
CV_Assert(fs_left.isOpened());
282282
for(int i = 0; i < n_images; ++i)
283-
fs_left[cv::format("image_%d", i )] >> imagePoints[i];
283+
fs_left[cv::format("image_%d", i )] >> imagePoints[i];
284284
fs_left.release();
285285

286286
cv::FileStorage fs_object(combine(folder, "object.xml"), cv::FileStorage::READ);
287287
CV_Assert(fs_object.isOpened());
288288
for(int i = 0; i < n_images; ++i)
289-
fs_object[cv::format("image_%d", i )] >> objectPoints[i];
289+
fs_object[cv::format("image_%d", i )] >> objectPoints[i];
290290
fs_object.release();
291291

292292
cv::internal::IntrinsicParams param;
@@ -330,7 +330,7 @@ TEST_F(fisheyeTest, Homography)
330330
EXPECT_MAT_NEAR(std_err, correct_std_err, 1e-12);
331331
}
332332

333-
TEST_F(fisheyeTest, EtimateUncertainties)
333+
TEST_F(fisheyeTest, EstimateUncertainties)
334334
{
335335
const int n_images = 34;
336336

@@ -341,13 +341,13 @@ TEST_F(fisheyeTest, EtimateUncertainties)
341341
cv::FileStorage fs_left(combine(folder, "left.xml"), cv::FileStorage::READ);
342342
CV_Assert(fs_left.isOpened());
343343
for(int i = 0; i < n_images; ++i)
344-
fs_left[cv::format("image_%d", i )] >> imagePoints[i];
344+
fs_left[cv::format("image_%d", i )] >> imagePoints[i];
345345
fs_left.release();
346346

347347
cv::FileStorage fs_object(combine(folder, "object.xml"), cv::FileStorage::READ);
348348
CV_Assert(fs_object.isOpened());
349349
for(int i = 0; i < n_images; ++i)
350-
fs_object[cv::format("image_%d", i )] >> objectPoints[i];
350+
fs_object[cv::format("image_%d", i )] >> objectPoints[i];
351351
fs_object.release();
352352

353353
int flag = 0;
@@ -435,9 +435,9 @@ TEST_F(fisheyeTest, rectify)
435435

436436
if (correct.empty())
437437
cv::imwrite(combine(datasets_repository_path, cv::format("rectification_AB_%03d.png", i)), rectification);
438-
else
439-
EXPECT_MAT_NEAR(correct, rectification, 1e-10);
440-
}
438+
else
439+
EXPECT_MAT_NEAR(correct, rectification, 1e-10);
440+
}
441441
}
442442

443443
TEST_F(fisheyeTest, stereoCalibrate)
@@ -453,19 +453,19 @@ TEST_F(fisheyeTest, stereoCalibrate)
453453
cv::FileStorage fs_left(combine(folder, "left.xml"), cv::FileStorage::READ);
454454
CV_Assert(fs_left.isOpened());
455455
for(int i = 0; i < n_images; ++i)
456-
fs_left[cv::format("image_%d", i )] >> leftPoints[i];
456+
fs_left[cv::format("image_%d", i )] >> leftPoints[i];
457457
fs_left.release();
458458

459459
cv::FileStorage fs_right(combine(folder, "right.xml"), cv::FileStorage::READ);
460460
CV_Assert(fs_right.isOpened());
461461
for(int i = 0; i < n_images; ++i)
462-
fs_right[cv::format("image_%d", i )] >> rightPoints[i];
462+
fs_right[cv::format("image_%d", i )] >> rightPoints[i];
463463
fs_right.release();
464464

465465
cv::FileStorage fs_object(combine(folder, "object.xml"), cv::FileStorage::READ);
466466
CV_Assert(fs_object.isOpened());
467467
for(int i = 0; i < n_images; ++i)
468-
fs_object[cv::format("image_%d", i )] >> objectPoints[i];
468+
fs_object[cv::format("image_%d", i )] >> objectPoints[i];
469469
fs_object.release();
470470

471471
cv::Matx33d K1, K2, theR;
@@ -476,7 +476,6 @@ TEST_F(fisheyeTest, stereoCalibrate)
476476
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC;
477477
flag |= cv::fisheye::CALIB_CHECK_COND;
478478
flag |= cv::fisheye::CALIB_FIX_SKEW;
479-
// flag |= cv::fisheye::CALIB_FIX_INTRINSIC;
480479

481480
cv::fisheye::stereoCalibrate(objectPoints, leftPoints, rightPoints,
482481
K1, D1, K2, D2, imageSize, theR, theT, flag,
@@ -521,19 +520,19 @@ TEST_F(fisheyeTest, stereoCalibrateFixIntrinsic)
521520
cv::FileStorage fs_left(combine(folder, "left.xml"), cv::FileStorage::READ);
522521
CV_Assert(fs_left.isOpened());
523522
for(int i = 0; i < n_images; ++i)
524-
fs_left[cv::format("image_%d", i )] >> leftPoints[i];
523+
fs_left[cv::format("image_%d", i )] >> leftPoints[i];
525524
fs_left.release();
526525

527526
cv::FileStorage fs_right(combine(folder, "right.xml"), cv::FileStorage::READ);
528527
CV_Assert(fs_right.isOpened());
529528
for(int i = 0; i < n_images; ++i)
530-
fs_right[cv::format("image_%d", i )] >> rightPoints[i];
529+
fs_right[cv::format("image_%d", i )] >> rightPoints[i];
531530
fs_right.release();
532531

533532
cv::FileStorage fs_object(combine(folder, "object.xml"), cv::FileStorage::READ);
534533
CV_Assert(fs_object.isOpened());
535534
for(int i = 0; i < n_images; ++i)
536-
fs_object[cv::format("image_%d", i )] >> objectPoints[i];
535+
fs_object[cv::format("image_%d", i )] >> objectPoints[i];
537536
fs_object.release();
538537

539538
cv::Matx33d theR;
@@ -572,44 +571,44 @@ TEST_F(fisheyeTest, stereoCalibrateFixIntrinsic)
572571

573572
TEST_F(fisheyeTest, CalibrationWithDifferentPointsNumber)
574573
{
575-
const int n_images = 2;
574+
const int n_images = 2;
576575

577-
std::vector<std::vector<cv::Point2d> > imagePoints(n_images);
578-
std::vector<std::vector<cv::Point3d> > objectPoints(n_images);
576+
std::vector<std::vector<cv::Point2d> > imagePoints(n_images);
577+
std::vector<std::vector<cv::Point3d> > objectPoints(n_images);
579578

580-
std::vector<cv::Point2d> imgPoints1(10);
581-
std::vector<cv::Point2d> imgPoints2(15);
579+
std::vector<cv::Point2d> imgPoints1(10);
580+
std::vector<cv::Point2d> imgPoints2(15);
582581

583-
std::vector<cv::Point3d> objectPoints1(imgPoints1.size());
584-
std::vector<cv::Point3d> objectPoints2(imgPoints2.size());
582+
std::vector<cv::Point3d> objectPoints1(imgPoints1.size());
583+
std::vector<cv::Point3d> objectPoints2(imgPoints2.size());
585584

586-
for (size_t i = 0; i < imgPoints1.size(); i++)
587-
{
588-
imgPoints1[i] = cv::Point2d((double)i, (double)i);
589-
objectPoints1[i] = cv::Point3d((double)i, (double)i, 10.0);
590-
}
585+
for (size_t i = 0; i < imgPoints1.size(); i++)
586+
{
587+
imgPoints1[i] = cv::Point2d((double)i, (double)i);
588+
objectPoints1[i] = cv::Point3d((double)i, (double)i, 10.0);
589+
}
591590

592-
for (size_t i = 0; i < imgPoints2.size(); i++)
593-
{
594-
imgPoints2[i] = cv::Point2d(i + 0.5, i + 0.5);
595-
objectPoints2[i] = cv::Point3d(i + 0.5, i + 0.5, 10.0);
596-
}
591+
for (size_t i = 0; i < imgPoints2.size(); i++)
592+
{
593+
imgPoints2[i] = cv::Point2d(i + 0.5, i + 0.5);
594+
objectPoints2[i] = cv::Point3d(i + 0.5, i + 0.5, 10.0);
595+
}
597596

598-
imagePoints[0] = imgPoints1;
599-
imagePoints[1] = imgPoints2;
600-
objectPoints[0] = objectPoints1;
601-
objectPoints[1] = objectPoints2;
597+
imagePoints[0] = imgPoints1;
598+
imagePoints[1] = imgPoints2;
599+
objectPoints[0] = objectPoints1;
600+
objectPoints[1] = objectPoints2;
602601

603-
cv::Matx33d theK = cv::Matx33d::eye();
604-
cv::Vec4d theD;
602+
cv::Matx33d theK = cv::Matx33d::eye();
603+
cv::Vec4d theD;
605604

606-
int flag = 0;
607-
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC;
608-
flag |= cv::fisheye::CALIB_USE_INTRINSIC_GUESS;
609-
flag |= cv::fisheye::CALIB_FIX_SKEW;
605+
int flag = 0;
606+
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC;
607+
flag |= cv::fisheye::CALIB_USE_INTRINSIC_GUESS;
608+
flag |= cv::fisheye::CALIB_FIX_SKEW;
610609

611-
cv::fisheye::calibrate(objectPoints, imagePoints, cv::Size(100, 100), theK, theD,
612-
cv::noArray(), cv::noArray(), flag, cv::TermCriteria(3, 20, 1e-6));
610+
cv::fisheye::calibrate(objectPoints, imagePoints, cv::Size(100, 100), theK, theD,
611+
cv::noArray(), cv::noArray(), flag, cv::TermCriteria(3, 20, 1e-6));
613612
}
614613

615614
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

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