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alalekalalek
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Merge pull request opencv#10199 from alalek:fix_calib3d_fisheye_rectify_test
2 parents 800294a + ac58405 commit 74d321d

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-55
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2 files changed

+90
-55
lines changed

‎modules/calib3d/src/fisheye.cpp

Lines changed: 15 additions & 23 deletions
Original file line numberDiff line numberDiff line change
@@ -547,16 +547,12 @@ void cv::fisheye::estimateNewCameraMatrixForUndistortRectify(InputArray K, Input
547547
int w = image_size.width, h = image_size.height;
548548
balance = std::min(std::max(balance, 0.0), 1.0);
549549

550-
cv::Mat points(1, 8, CV_64FC2);
550+
cv::Mat points(1, 4, CV_64FC2);
551551
Vec2d* pptr = points.ptr<Vec2d>();
552-
pptr[0] = Vec2d(0, 0);
553-
pptr[1] = Vec2d(w/2, 0);
554-
pptr[2] = Vec2d(w, 0);
555-
pptr[3] = Vec2d(w, h/2);
556-
pptr[4] = Vec2d(w, h);
557-
pptr[5] = Vec2d(w/2, h);
558-
pptr[6] = Vec2d(0, h);
559-
pptr[7] = Vec2d(0, h/2);
552+
pptr[0] = Vec2d(w/2, 0);
553+
pptr[1] = Vec2d(w, h/2);
554+
pptr[2] = Vec2d(w/2, h);
555+
pptr[3] = Vec2d(0, h/2);
560556

561557
fisheye::undistortPoints(points, points, K, D, R);
562558
cv::Scalar center_mass = mean(points);
@@ -573,23 +569,19 @@ void cv::fisheye::estimateNewCameraMatrixForUndistortRectify(InputArray K, Input
573569
double minx = DBL_MAX, miny = DBL_MAX, maxx = -DBL_MAX, maxy = -DBL_MAX;
574570
for(size_t i = 0; i < points.total(); ++i)
575571
{
576-
if(i!=1 && i!=5){
577-
minx = std::min(minx, std::abs(pptr[i][0]-cn[0]));
578-
}
579-
if(i!=3 && i!=7){
580-
miny = std::min(miny, std::abs(pptr[i][1]-cn[1]));
581-
}
582-
maxy = std::max(maxy, std::abs(pptr[i][1]-cn[1]));
583-
maxx = std::max(maxx, std::abs(pptr[i][0]-cn[0]));
572+
miny = std::min(miny, pptr[i][1]);
573+
maxy = std::max(maxy, pptr[i][1]);
574+
minx = std::min(minx, pptr[i][0]);
575+
maxx = std::max(maxx, pptr[i][0]);
584576
}
585577

586-
double f1 = w * 0.5/(minx);
587-
double f2 = w * 0.5/(maxx);
588-
double f3 = h * 0.5 * aspect_ratio/(miny);
589-
double f4 = h * 0.5 * aspect_ratio/(maxy);
578+
double f1 = w * 0.5/(cn[0] - minx);
579+
double f2 = w * 0.5/(maxx - cn[0]);
580+
double f3 = h * 0.5 * aspect_ratio/(cn[1] - miny);
581+
double f4 = h * 0.5 * aspect_ratio/(maxy - cn[1]);
590582

591-
double fmax = std::max(f1, f3);
592-
double fmin = std::min(f2, f4);
583+
double fmin = std::min(f1, std::min(f2, std::min(f3, f4)));
584+
double fmax = std::max(f1, std::max(f2, std::max(f3, f4)));
593585

594586
double f = balance * fmin + (1.0 - balance) * fmax;
595587
f *= fov_scale > 0 ? 1.0/fov_scale : 1.0;

‎modules/calib3d/test/test_fisheye.cpp

Lines changed: 75 additions & 32 deletions
Original file line numberDiff line numberDiff line change
@@ -61,7 +61,7 @@ class fisheyeTest : public ::testing::Test {
6161

6262
protected:
6363
std::string combine(const std::string& _item1, const std::string& _item2);
64-
cv::Mat mergeRectification(const cv::Mat& l, const cv::Mat& r);
64+
static void merge4(const cv::Mat& tl, const cv::Mat& tr, const cv::Mat& bl, const cv::Mat& br, cv::Mat& merged);
6565
};
6666

6767
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -386,12 +386,7 @@ TEST_F(fisheyeTest, EstimateUncertainties)
386386
CV_Assert(errors.alpha == 0);
387387
}
388388

389-
#ifdef HAVE_TEGRA_OPTIMIZATION
390-
// not passing accuracy constrains
391-
TEST_F(fisheyeTest, DISABLED_rectify)
392-
#else
393-
TEST_F(fisheyeTest, rectify)
394-
#endif
389+
TEST_F(fisheyeTest, stereoRectify)
395390
{
396391
const std::string folder =combine(datasets_repository_path, "calib-3_stereo_from_JY");
397392

@@ -407,20 +402,65 @@ TEST_F(fisheyeTest, rectify)
407402
cv::fisheye::stereoRectify(K1, D1, K2, D2, calibration_size, theR, theT, R1, R2, P1, P2, Q,
408403
cv::CALIB_ZERO_DISPARITY, requested_size, balance, fov_scale);
409404

405+
// Collected with these CMake flags: -DWITH_IPP=OFF -DCV_ENABLE_INTRINSICS=OFF -DCV_DISABLE_OPTIMIZATION=ON -DCMAKE_BUILD_TYPE=Debug
406+
cv::Matx33d R1_ref(
407+
0.9992853269091279, 0.03779164101000276, -0.0007920188690205426,
408+
-0.03778569762983931, 0.9992646472015868, 0.006511981857667881,
409+
0.001037534936357442, -0.006477400933964018, 0.9999784831677112
410+
);
411+
cv::Matx33d R2_ref(
412+
0.9994868963898833, -0.03197579751378937, -0.001868774538573449,
413+
0.03196298186616116, 0.9994677442608699, -0.0065265589947392,
414+
0.002076471801477729, 0.006463478587068991, 0.9999769555891836
415+
);
416+
cv::Matx34d P1_ref(
417+
420.8551870450913, 0, 586.501617798451, 0,
418+
0, 420.8551870450913, 374.7667511986098, 0,
419+
0, 0, 1, 0
420+
);
421+
cv::Matx34d P2_ref(
422+
420.8551870450913, 0, 586.501617798451, -41.77758076597302,
423+
0, 420.8551870450913, 374.7667511986098, 0,
424+
0, 0, 1, 0
425+
);
426+
cv::Matx44d Q_ref(
427+
1, 0, 0, -586.501617798451,
428+
0, 1, 0, -374.7667511986098,
429+
0, 0, 0, 420.8551870450913,
430+
0, 0, 10.07370889670733, -0
431+
);
432+
433+
const double eps = 1e-10;
434+
EXPECT_MAT_NEAR(R1_ref, R1, eps);
435+
EXPECT_MAT_NEAR(R2_ref, R2, eps);
436+
EXPECT_MAT_NEAR(P1_ref, P1, eps);
437+
EXPECT_MAT_NEAR(P2_ref, P2, eps);
438+
EXPECT_MAT_NEAR(Q_ref, Q, eps);
439+
440+
if (::testing::Test::HasFailure())
441+
{
442+
std::cout << "Actual values are:" << std::endl
443+
<< "R1 =" << std::endl << R1 << std::endl
444+
<< "R2 =" << std::endl << R2 << std::endl
445+
<< "P1 =" << std::endl << P1 << std::endl
446+
<< "P2 =" << std::endl << P2 << std::endl
447+
<< "Q =" << std::endl << Q << std::endl;
448+
}
449+
450+
#if 1 // Debug code
410451
cv::Mat lmapx, lmapy, rmapx, rmapy;
411452
//rewrite for fisheye
412453
cv::fisheye::initUndistortRectifyMap(K1, D1, R1, P1, requested_size, CV_32F, lmapx, lmapy);
413454
cv::fisheye::initUndistortRectifyMap(K2, D2, R2, P2, requested_size, CV_32F, rmapx, rmapy);
414455

415456
cv::Mat l, r, lundist, rundist;
416-
cv::VideoCapture lcap(combine(folder, "left/stereo_pair_%03d.jpg")),
417-
rcap(combine(folder, "right/stereo_pair_%03d.jpg"));
418-
419-
for(int i = 0;; ++i)
457+
for (int i = 0; i < 34; ++i)
420458
{
421-
lcap >> l; rcap >> r;
422-
if (l.empty() || r.empty())
423-
break;
459+
SCOPED_TRACE(cv::format("image %d", i));
460+
l = imread(combine(folder, cv::format("left/stereo_pair_%03d.jpg", i)), cv::IMREAD_COLOR);
461+
r = imread(combine(folder, cv::format("right/stereo_pair_%03d.jpg", i)), cv::IMREAD_COLOR);
462+
ASSERT_FALSE(l.empty());
463+
ASSERT_FALSE(r.empty());
424464

425465
int ndisp = 128;
426466
cv::rectangle(l, cv::Rect(255, 0, 829, l.rows-1), cv::Scalar(0, 0, 255));
@@ -429,15 +469,18 @@ TEST_F(fisheyeTest, rectify)
429469
cv::remap(l, lundist, lmapx, lmapy, cv::INTER_LINEAR);
430470
cv::remap(r, rundist, rmapx, rmapy, cv::INTER_LINEAR);
431471

432-
cv::Mat rectification = mergeRectification(lundist, rundist);
472+
for (int ii = 0; ii < lundist.rows; ii += 20)
473+
{
474+
cv::line(lundist, cv::Point(0, ii), cv::Point(lundist.cols, ii), cv::Scalar(0, 255, 0));
475+
cv::line(rundist, cv::Point(0, ii), cv::Point(lundist.cols, ii), cv::Scalar(0, 255, 0));
476+
}
433477

434-
cv::Mat correct = cv::imread(combine(datasets_repository_path, cv::format("rectification_AB_%03d.png", i)));
478+
cv::Mat rectification;
479+
merge4(l, r, lundist, rundist, rectification);
435480

436-
if (correct.empty())
437-
cv::imwrite(combine(datasets_repository_path, cv::format("rectification_AB_%03d.png", i)), rectification);
438-
else
439-
EXPECT_MAT_NEAR(correct, rectification, 1e-10);
481+
cv::imwrite(cv::format("fisheye_rectification_AB_%03d.png", i), rectification);
440482
}
483+
#endif
441484
}
442485

443486
TEST_F(fisheyeTest, stereoCalibrate)
@@ -644,17 +687,17 @@ std::string fisheyeTest::combine(const std::string& _item1, const std::string& _
644687
return item1 + (last != '/' ? "/" : "") + item2;
645688
}
646689

647-
cv::Mat fisheyeTest::mergeRectification(const cv::Mat& l, const cv::Mat& r)
690+
void fisheyeTest::merge4(const cv::Mat& tl, const cv::Mat& tr, const cv::Mat& bl, const cv::Mat& br, cv::Mat& merged)
648691
{
649-
CV_Assert(l.type() == r.type() && l.size() == r.size());
650-
cv::Mat merged(l.rows, l.cols * 2, l.type());
651-
cv::Mat lpart = merged.colRange(0, l.cols);
652-
cv::Mat rpart = merged.colRange(l.cols, merged.cols);
653-
l.copyTo(lpart);
654-
r.copyTo(rpart);
655-
656-
for(int i = 0; i < l.rows; i+=20)
657-
cv::line(merged, cv::Point(0, i), cv::Point(merged.cols, i), cv::Scalar(0, 255, 0));
658-
659-
return merged;
692+
int type = tl.type();
693+
cv::Size sz = tl.size();
694+
ASSERT_EQ(type, tr.type()); ASSERT_EQ(type, bl.type()); ASSERT_EQ(type, br.type());
695+
ASSERT_EQ(sz.width, tr.cols); ASSERT_EQ(sz.width, bl.cols); ASSERT_EQ(sz.width, br.cols);
696+
ASSERT_EQ(sz.height, tr.rows); ASSERT_EQ(sz.height, bl.rows); ASSERT_EQ(sz.height, br.rows);
697+
698+
merged.create(cv::Size(sz.width * 2, sz.height * 2), type);
699+
tl.copyTo(merged(cv::Rect(0, 0, sz.width, sz.height)));
700+
tr.copyTo(merged(cv::Rect(sz.width, 0, sz.width, sz.height)));
701+
bl.copyTo(merged(cv::Rect(0, sz.height, sz.width, sz.height)));
702+
br.copyTo(merged(cv::Rect(sz.width, sz.height, sz.width, sz.height)));
660703
}

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