850 lines
28 KiB
Java
850 lines
28 KiB
Java
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package org.opencv.test.calib3d;
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import java.util.ArrayList;
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import org.opencv.calib3d.Calib3d;
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import org.opencv.core.Core;
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import org.opencv.core.CvType;
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import org.opencv.core.Mat;
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import org.opencv.core.MatOfDouble;
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import org.opencv.core.MatOfPoint2f;
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import org.opencv.core.MatOfPoint3f;
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import org.opencv.core.Point;
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import org.opencv.core.Scalar;
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import org.opencv.core.Size;
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import org.opencv.test.OpenCVTestCase;
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import org.opencv.imgproc.Imgproc;
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public class Calib3dTest extends OpenCVTestCase {
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Size size;
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@Override
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protected void setUp() throws Exception {
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super.setUp();
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size = new Size(3, 3);
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}
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public void testCalibrateCameraListOfMatListOfMatSizeMatMatListOfMatListOfMat() {
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fail("Not yet implemented");
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}
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public void testCalibrateCameraListOfMatListOfMatSizeMatMatListOfMatListOfMatInt() {
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fail("Not yet implemented");
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}
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public void testCalibrationMatrixValues() {
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fail("Not yet implemented");
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}
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public void testComposeRTMatMatMatMatMatMat() {
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Mat rvec1 = new Mat(3, 1, CvType.CV_32F);
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rvec1.put(0, 0, 0.5302828, 0.19925919, 0.40105945);
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Mat tvec1 = new Mat(3, 1, CvType.CV_32F);
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tvec1.put(0, 0, 0.81438506, 0.43713298, 0.2487897);
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Mat rvec2 = new Mat(3, 1, CvType.CV_32F);
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rvec2.put(0, 0, 0.77310503, 0.76209372, 0.30779448);
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Mat tvec2 = new Mat(3, 1, CvType.CV_32F);
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tvec2.put(0, 0, 0.70243168, 0.4784472, 0.79219002);
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Mat rvec3 = new Mat();
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Mat tvec3 = new Mat();
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Mat outRvec = new Mat(3, 1, CvType.CV_32F);
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outRvec.put(0, 0, 1.418641, 0.88665926, 0.56020796);
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Mat outTvec = new Mat(3, 1, CvType.CV_32F);
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outTvec.put(0, 0, 1.4560841, 1.0680628, 0.81598103);
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Calib3d.composeRT(rvec1, tvec1, rvec2, tvec2, rvec3, tvec3);
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assertMatEqual(outRvec, rvec3, EPS);
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assertMatEqual(outTvec, tvec3, EPS);
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}
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public void testComposeRTMatMatMatMatMatMatMat() {
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fail("Not yet implemented");
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}
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public void testComposeRTMatMatMatMatMatMatMatMat() {
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fail("Not yet implemented");
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}
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public void testComposeRTMatMatMatMatMatMatMatMatMat() {
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fail("Not yet implemented");
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}
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public void testComposeRTMatMatMatMatMatMatMatMatMatMat() {
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fail("Not yet implemented");
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}
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public void testComposeRTMatMatMatMatMatMatMatMatMatMatMat() {
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fail("Not yet implemented");
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}
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public void testComposeRTMatMatMatMatMatMatMatMatMatMatMatMat() {
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fail("Not yet implemented");
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}
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public void testComposeRTMatMatMatMatMatMatMatMatMatMatMatMatMat() {
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fail("Not yet implemented");
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}
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public void testComposeRTMatMatMatMatMatMatMatMatMatMatMatMatMatMat() {
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fail("Not yet implemented");
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// Mat dr3dr1;
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// Mat dr3dt1;
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// Mat dr3dr2;
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// Mat dr3dt2;
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// Mat dt3dr1;
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// Mat dt3dt1;
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// Mat dt3dr2;
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// Mat dt3dt2;
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// , dr3dr1, dr3dt1, dr3dr2, dr3dt2, dt3dr1, dt3dt1, dt3dr2, dt3dt2);
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// [0.97031879, -0.091774099, 0.38594806;
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// 0.15181915, 0.98091727, -0.44186208;
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// -0.39509675, 0.43839464, 0.93872648]
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// [0, 0, 0;
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// 0, 0, 0;
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// 0, 0, 0]
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// [1.0117353, 0.16348237, -0.083180845;
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// -0.1980398, 1.006078, 0.30299222;
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// 0.075766489, -0.32784501, 1.0163091]
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// [0, 0, 0;
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// 0, 0, 0;
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// 0, 0, 0]
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// [0, 0, 0;
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// 0, 0, 0;
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// 0, 0, 0]
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// [0.69658804, 0.018115902, 0.7172426;
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// 0.51114357, 0.68899536, -0.51382649;
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// -0.50348526, 0.72453934, 0.47068608]
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// [0.18536358, -0.20515044, -0.48834875;
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// -0.25120571, 0.29043972, 0.60573936;
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// 0.35370794, -0.69923931, 0.45781645]
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// [1, 0, 0;
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// 0, 1, 0;
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// 0, 0, 1]
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}
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public void testConvertPointsFromHomogeneous() {
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fail("Not yet implemented");
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}
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public void testConvertPointsToHomogeneous() {
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fail("Not yet implemented");
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}
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public void testDecomposeProjectionMatrixMatMatMatMat() {
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fail("Not yet implemented");
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}
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public void testDecomposeProjectionMatrixMatMatMatMatMat() {
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fail("Not yet implemented");
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}
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public void testDecomposeProjectionMatrixMatMatMatMatMatMat() {
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fail("Not yet implemented");
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}
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public void testDecomposeProjectionMatrixMatMatMatMatMatMatMat() {
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fail("Not yet implemented");
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}
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public void testDecomposeProjectionMatrixMatMatMatMatMatMatMatMat() {
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fail("Not yet implemented");
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}
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public void testDrawChessboardCorners() {
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fail("Not yet implemented");
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}
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public void testEstimateAffine3DMatMatMatMat() {
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fail("Not yet implemented");
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}
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public void testEstimateAffine3DMatMatMatMatDouble() {
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fail("Not yet implemented");
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}
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public void testEstimateAffine3DMatMatMatMatDoubleDouble() {
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fail("Not yet implemented");
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}
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public void testFilterSpecklesMatDoubleIntDouble() {
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gray_16s_1024.copyTo(dst);
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Point center = new Point(gray_16s_1024.rows() / 2., gray_16s_1024.cols() / 2.);
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Imgproc.circle(dst, center, 1, Scalar.all(4096));
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assertMatNotEqual(gray_16s_1024, dst);
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Calib3d.filterSpeckles(dst, 1024.0, 100, 0.);
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assertMatEqual(gray_16s_1024, dst);
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}
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public void testFilterSpecklesMatDoubleIntDoubleMat() {
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fail("Not yet implemented");
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}
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public void testFindChessboardCornersMatSizeMat() {
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Size patternSize = new Size(9, 6);
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MatOfPoint2f corners = new MatOfPoint2f();
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Calib3d.findChessboardCorners(grayChess, patternSize, corners);
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assertFalse(corners.empty());
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}
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public void testFindChessboardCornersMatSizeMatInt() {
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Size patternSize = new Size(9, 6);
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MatOfPoint2f corners = new MatOfPoint2f();
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Calib3d.findChessboardCorners(grayChess, patternSize, corners, Calib3d.CALIB_CB_ADAPTIVE_THRESH + Calib3d.CALIB_CB_NORMALIZE_IMAGE
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+ Calib3d.CALIB_CB_FAST_CHECK);
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assertFalse(corners.empty());
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}
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public void testFind4QuadCornerSubpix() {
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Size patternSize = new Size(9, 6);
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MatOfPoint2f corners = new MatOfPoint2f();
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Size region_size = new Size(5, 5);
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Calib3d.findChessboardCorners(grayChess, patternSize, corners);
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Calib3d.find4QuadCornerSubpix(grayChess, corners, region_size);
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assertFalse(corners.empty());
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}
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public void testFindCirclesGridMatSizeMat() {
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int size = 300;
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Mat img = new Mat(size, size, CvType.CV_8U);
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img.setTo(new Scalar(255));
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Mat centers = new Mat();
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assertFalse(Calib3d.findCirclesGrid(img, new Size(5, 5), centers));
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for (int i = 0; i < 5; i++)
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for (int j = 0; j < 5; j++) {
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Point pt = new Point(size * (2 * i + 1) / 10, size * (2 * j + 1) / 10);
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Imgproc.circle(img, pt, 10, new Scalar(0), -1);
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}
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assertTrue(Calib3d.findCirclesGrid(img, new Size(5, 5), centers));
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assertEquals(25, centers.rows());
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assertEquals(1, centers.cols());
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assertEquals(CvType.CV_32FC2, centers.type());
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}
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public void testFindCirclesGridMatSizeMatInt() {
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int size = 300;
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Mat img = new Mat(size, size, CvType.CV_8U);
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img.setTo(new Scalar(255));
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Mat centers = new Mat();
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assertFalse(Calib3d.findCirclesGrid(img, new Size(3, 5), centers, Calib3d.CALIB_CB_CLUSTERING
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| Calib3d.CALIB_CB_ASYMMETRIC_GRID));
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int step = size * 2 / 15;
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int offsetx = size / 6;
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int offsety = (size - 4 * step) / 2;
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for (int i = 0; i < 3; i++)
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for (int j = 0; j < 5; j++) {
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Point pt = new Point(offsetx + (2 * i + j % 2) * step, offsety + step * j);
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Imgproc.circle(img, pt, 10, new Scalar(0), -1);
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}
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assertTrue(Calib3d.findCirclesGrid(img, new Size(3, 5), centers, Calib3d.CALIB_CB_CLUSTERING
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| Calib3d.CALIB_CB_ASYMMETRIC_GRID));
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assertEquals(15, centers.rows());
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assertEquals(1, centers.cols());
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assertEquals(CvType.CV_32FC2, centers.type());
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}
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public void testFindFundamentalMatListOfPointListOfPoint() {
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fail("Not yet implemented");
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/*
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int minFundamentalMatPoints = 8;
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MatOfPoint2f pts = new MatOfPoint2f();
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pts.alloc(minFundamentalMatPoints);
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for (int i = 0; i < minFundamentalMatPoints; i++) {
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double x = Math.random() * 100 - 50;
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double y = Math.random() * 100 - 50;
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pts.put(i, 0, x, y); //add(new Point(x, y));
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}
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Mat fm = Calib3d.findFundamentalMat(pts, pts);
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truth = new Mat(3, 3, CvType.CV_64F);
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truth.put(0, 0, 0, -0.577, 0.288, 0.577, 0, 0.288, -0.288, -0.288, 0);
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assertMatEqual(truth, fm, EPS);
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*/
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}
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public void testFindFundamentalMatListOfPointListOfPointInt() {
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fail("Not yet implemented");
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}
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public void testFindFundamentalMatListOfPointListOfPointIntDouble() {
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fail("Not yet implemented");
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}
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public void testFindFundamentalMatListOfPointListOfPointIntDoubleDouble() {
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fail("Not yet implemented");
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}
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public void testFindFundamentalMatListOfPointListOfPointIntDoubleDoubleMat() {
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fail("Not yet implemented");
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}
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public void testFindHomographyListOfPointListOfPoint() {
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final int NUM = 20;
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MatOfPoint2f originalPoints = new MatOfPoint2f();
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originalPoints.alloc(NUM);
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MatOfPoint2f transformedPoints = new MatOfPoint2f();
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transformedPoints.alloc(NUM);
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for (int i = 0; i < NUM; i++) {
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double x = Math.random() * 100 - 50;
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double y = Math.random() * 100 - 50;
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originalPoints.put(i, 0, x, y);
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transformedPoints.put(i, 0, y, x);
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}
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Mat hmg = Calib3d.findHomography(originalPoints, transformedPoints);
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truth = new Mat(3, 3, CvType.CV_64F);
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truth.put(0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1);
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assertMatEqual(truth, hmg, EPS);
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}
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public void testFindHomographyListOfPointListOfPointInt() {
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fail("Not yet implemented");
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}
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public void testFindHomographyListOfPointListOfPointIntDouble() {
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fail("Not yet implemented");
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}
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public void testFindHomographyListOfPointListOfPointIntDoubleMat() {
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fail("Not yet implemented");
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}
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public void testGetOptimalNewCameraMatrixMatMatSizeDouble() {
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fail("Not yet implemented");
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}
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public void testGetOptimalNewCameraMatrixMatMatSizeDoubleSize() {
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fail("Not yet implemented");
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}
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public void testGetOptimalNewCameraMatrixMatMatSizeDoubleSizeRect() {
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fail("Not yet implemented");
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}
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public void testGetOptimalNewCameraMatrixMatMatSizeDoubleSizeRectBoolean() {
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fail("Not yet implemented");
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}
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public void testGetValidDisparityROI() {
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fail("Not yet implemented");
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}
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public void testInitCameraMatrix2DListOfMatListOfMatSize() {
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fail("Not yet implemented");
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}
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public void testInitCameraMatrix2DListOfMatListOfMatSizeDouble() {
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fail("Not yet implemented");
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}
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public void testMatMulDeriv() {
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||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testProjectPointsMatMatMatMatMatMat() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testProjectPointsMatMatMatMatMatMatMat() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testProjectPointsMatMatMatMatMatMatMatDouble() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testRectify3Collinear() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testReprojectImageTo3DMatMatMat() {
|
||
|
|
Mat transformMatrix = new Mat(4, 4, CvType.CV_64F);
|
||
|
|
transformMatrix.put(0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
|
||
|
|
|
||
|
|
Mat disparity = new Mat(matSize, matSize, CvType.CV_32F);
|
||
|
|
|
||
|
|
float[] disp = new float[matSize * matSize];
|
||
|
|
for (int i = 0; i < matSize; i++)
|
||
|
|
for (int j = 0; j < matSize; j++)
|
||
|
|
disp[i * matSize + j] = i - j;
|
||
|
|
disparity.put(0, 0, disp);
|
||
|
|
|
||
|
|
Mat _3dPoints = new Mat();
|
||
|
|
|
||
|
|
Calib3d.reprojectImageTo3D(disparity, _3dPoints, transformMatrix);
|
||
|
|
|
||
|
|
assertEquals(CvType.CV_32FC3, _3dPoints.type());
|
||
|
|
assertEquals(matSize, _3dPoints.rows());
|
||
|
|
assertEquals(matSize, _3dPoints.cols());
|
||
|
|
|
||
|
|
truth = new Mat(matSize, matSize, CvType.CV_32FC3);
|
||
|
|
|
||
|
|
float[] _truth = new float[matSize * matSize * 3];
|
||
|
|
for (int i = 0; i < matSize; i++)
|
||
|
|
for (int j = 0; j < matSize; j++) {
|
||
|
|
_truth[(i * matSize + j) * 3 + 0] = i;
|
||
|
|
_truth[(i * matSize + j) * 3 + 1] = j;
|
||
|
|
_truth[(i * matSize + j) * 3 + 2] = i - j;
|
||
|
|
}
|
||
|
|
truth.put(0, 0, _truth);
|
||
|
|
|
||
|
|
assertMatEqual(truth, _3dPoints, EPS);
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testReprojectImageTo3DMatMatMatBoolean() {
|
||
|
|
Mat transformMatrix = new Mat(4, 4, CvType.CV_64F);
|
||
|
|
transformMatrix.put(0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
|
||
|
|
|
||
|
|
Mat disparity = new Mat(matSize, matSize, CvType.CV_32F);
|
||
|
|
|
||
|
|
float[] disp = new float[matSize * matSize];
|
||
|
|
for (int i = 0; i < matSize; i++)
|
||
|
|
for (int j = 0; j < matSize; j++)
|
||
|
|
disp[i * matSize + j] = i - j;
|
||
|
|
disp[0] = -Float.MAX_VALUE;
|
||
|
|
disparity.put(0, 0, disp);
|
||
|
|
|
||
|
|
Mat _3dPoints = new Mat();
|
||
|
|
|
||
|
|
Calib3d.reprojectImageTo3D(disparity, _3dPoints, transformMatrix, true);
|
||
|
|
|
||
|
|
assertEquals(CvType.CV_32FC3, _3dPoints.type());
|
||
|
|
assertEquals(matSize, _3dPoints.rows());
|
||
|
|
assertEquals(matSize, _3dPoints.cols());
|
||
|
|
|
||
|
|
truth = new Mat(matSize, matSize, CvType.CV_32FC3);
|
||
|
|
|
||
|
|
float[] _truth = new float[matSize * matSize * 3];
|
||
|
|
for (int i = 0; i < matSize; i++)
|
||
|
|
for (int j = 0; j < matSize; j++) {
|
||
|
|
_truth[(i * matSize + j) * 3 + 0] = i;
|
||
|
|
_truth[(i * matSize + j) * 3 + 1] = j;
|
||
|
|
_truth[(i * matSize + j) * 3 + 2] = i - j;
|
||
|
|
}
|
||
|
|
_truth[2] = 10000;
|
||
|
|
truth.put(0, 0, _truth);
|
||
|
|
|
||
|
|
assertMatEqual(truth, _3dPoints, EPS);
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testReprojectImageTo3DMatMatMatBooleanInt() {
|
||
|
|
Mat transformMatrix = new Mat(4, 4, CvType.CV_64F);
|
||
|
|
transformMatrix.put(0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
|
||
|
|
|
||
|
|
Mat disparity = new Mat(matSize, matSize, CvType.CV_32F);
|
||
|
|
|
||
|
|
float[] disp = new float[matSize * matSize];
|
||
|
|
for (int i = 0; i < matSize; i++)
|
||
|
|
for (int j = 0; j < matSize; j++)
|
||
|
|
disp[i * matSize + j] = i - j;
|
||
|
|
disparity.put(0, 0, disp);
|
||
|
|
|
||
|
|
Mat _3dPoints = new Mat();
|
||
|
|
|
||
|
|
Calib3d.reprojectImageTo3D(disparity, _3dPoints, transformMatrix, false, CvType.CV_16S);
|
||
|
|
|
||
|
|
assertEquals(CvType.CV_16SC3, _3dPoints.type());
|
||
|
|
assertEquals(matSize, _3dPoints.rows());
|
||
|
|
assertEquals(matSize, _3dPoints.cols());
|
||
|
|
|
||
|
|
truth = new Mat(matSize, matSize, CvType.CV_16SC3);
|
||
|
|
|
||
|
|
short[] _truth = new short[matSize * matSize * 3];
|
||
|
|
for (short i = 0; i < matSize; i++)
|
||
|
|
for (short j = 0; j < matSize; j++) {
|
||
|
|
_truth[(i * matSize + j) * 3 + 0] = i;
|
||
|
|
_truth[(i * matSize + j) * 3 + 1] = j;
|
||
|
|
_truth[(i * matSize + j) * 3 + 2] = (short) (i - j);
|
||
|
|
}
|
||
|
|
truth.put(0, 0, _truth);
|
||
|
|
|
||
|
|
assertMatEqual(truth, _3dPoints, EPS);
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testRodriguesMatMat() {
|
||
|
|
Mat r = new Mat(3, 1, CvType.CV_32F);
|
||
|
|
Mat R = new Mat(3, 3, CvType.CV_32F);
|
||
|
|
|
||
|
|
r.put(0, 0, Math.PI, 0, 0);
|
||
|
|
|
||
|
|
Calib3d.Rodrigues(r, R);
|
||
|
|
|
||
|
|
truth = new Mat(3, 3, CvType.CV_32F);
|
||
|
|
truth.put(0, 0, 1, 0, 0, 0, -1, 0, 0, 0, -1);
|
||
|
|
assertMatEqual(truth, R, EPS);
|
||
|
|
|
||
|
|
Mat r2 = new Mat();
|
||
|
|
Calib3d.Rodrigues(R, r2);
|
||
|
|
|
||
|
|
assertMatEqual(r, r2, EPS);
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testRodriguesMatMatMat() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testRQDecomp3x3MatMatMat() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testRQDecomp3x3MatMatMatMat() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testRQDecomp3x3MatMatMatMatMat() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testRQDecomp3x3MatMatMatMatMatMat() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testSolvePnPListOfPoint3ListOfPointMatMatMatMat() {
|
||
|
|
Mat intrinsics = Mat.eye(3, 3, CvType.CV_64F);
|
||
|
|
intrinsics.put(0, 0, 400);
|
||
|
|
intrinsics.put(1, 1, 400);
|
||
|
|
intrinsics.put(0, 2, 640 / 2);
|
||
|
|
intrinsics.put(1, 2, 480 / 2);
|
||
|
|
|
||
|
|
final int minPnpPointsNum = 4;
|
||
|
|
|
||
|
|
MatOfPoint3f points3d = new MatOfPoint3f();
|
||
|
|
points3d.alloc(minPnpPointsNum);
|
||
|
|
MatOfPoint2f points2d = new MatOfPoint2f();
|
||
|
|
points2d.alloc(minPnpPointsNum);
|
||
|
|
|
||
|
|
for (int i = 0; i < minPnpPointsNum; i++) {
|
||
|
|
double x = Math.random() * 100 - 50;
|
||
|
|
double y = Math.random() * 100 - 50;
|
||
|
|
points2d.put(i, 0, x, y); //add(new Point(x, y));
|
||
|
|
points3d.put(i, 0, 0, y, x); // add(new Point3(0, y, x));
|
||
|
|
}
|
||
|
|
|
||
|
|
Mat rvec = new Mat();
|
||
|
|
Mat tvec = new Mat();
|
||
|
|
Calib3d.solvePnP(points3d, points2d, intrinsics, new MatOfDouble(), rvec, tvec);
|
||
|
|
|
||
|
|
Mat truth_rvec = new Mat(3, 1, CvType.CV_64F);
|
||
|
|
truth_rvec.put(0, 0, 0, Math.PI / 2, 0);
|
||
|
|
|
||
|
|
Mat truth_tvec = new Mat(3, 1, CvType.CV_64F);
|
||
|
|
truth_tvec.put(0, 0, -320, -240, 400);
|
||
|
|
|
||
|
|
assertMatEqual(truth_rvec, rvec, EPS);
|
||
|
|
assertMatEqual(truth_tvec, tvec, EPS);
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testSolvePnPListOfPoint3ListOfPointMatMatMatMatBoolean() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMat() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBoolean() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBooleanInt() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBooleanIntFloat() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBooleanIntFloatInt() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBooleanIntFloatIntMat() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testStereoCalibrateListOfMatListOfMatListOfMatMatMatMatMatSizeMatMatMatMat() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testStereoCalibrateListOfMatListOfMatListOfMatMatMatMatMatSizeMatMatMatMatTermCriteria() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testStereoCalibrateListOfMatListOfMatListOfMatMatMatMatMatSizeMatMatMatMatTermCriteriaInt() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testStereoRectifyUncalibratedMatMatMatSizeMatMat() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testStereoRectifyUncalibratedMatMatMatSizeMatMatDouble() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testValidateDisparityMatMatIntInt() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testValidateDisparityMatMatIntIntInt() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testComputeCorrespondEpilines()
|
||
|
|
{
|
||
|
|
Mat fundamental = new Mat(3, 3, CvType.CV_64F);
|
||
|
|
fundamental.put(0, 0, 0, -0.577, 0.288, 0.577, 0, 0.288, -0.288, -0.288, 0);
|
||
|
|
MatOfPoint2f left = new MatOfPoint2f();
|
||
|
|
left.alloc(1);
|
||
|
|
left.put(0, 0, 2, 3); //add(new Point(x, y));
|
||
|
|
Mat lines = new Mat();
|
||
|
|
Mat truth = new Mat(1, 1, CvType.CV_32FC3);
|
||
|
|
truth.put(0, 0, -0.70735186, 0.70686162, -0.70588124);
|
||
|
|
Calib3d.computeCorrespondEpilines(left, 1, fundamental, lines);
|
||
|
|
assertMatEqual(truth, lines, EPS);
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testConstants()
|
||
|
|
{
|
||
|
|
// calib3d.hpp: some constants have conflict with constants from 'fisheye' namespace
|
||
|
|
assertEquals(1, Calib3d.CALIB_USE_INTRINSIC_GUESS);
|
||
|
|
assertEquals(2, Calib3d.CALIB_FIX_ASPECT_RATIO);
|
||
|
|
assertEquals(4, Calib3d.CALIB_FIX_PRINCIPAL_POINT);
|
||
|
|
assertEquals(8, Calib3d.CALIB_ZERO_TANGENT_DIST);
|
||
|
|
assertEquals(16, Calib3d.CALIB_FIX_FOCAL_LENGTH);
|
||
|
|
assertEquals(32, Calib3d.CALIB_FIX_K1);
|
||
|
|
assertEquals(64, Calib3d.CALIB_FIX_K2);
|
||
|
|
assertEquals(128, Calib3d.CALIB_FIX_K3);
|
||
|
|
assertEquals(0x0800, Calib3d.CALIB_FIX_K4);
|
||
|
|
assertEquals(0x1000, Calib3d.CALIB_FIX_K5);
|
||
|
|
assertEquals(0x2000, Calib3d.CALIB_FIX_K6);
|
||
|
|
assertEquals(0x4000, Calib3d.CALIB_RATIONAL_MODEL);
|
||
|
|
assertEquals(0x8000, Calib3d.CALIB_THIN_PRISM_MODEL);
|
||
|
|
assertEquals(0x10000, Calib3d.CALIB_FIX_S1_S2_S3_S4);
|
||
|
|
assertEquals(0x40000, Calib3d.CALIB_TILTED_MODEL);
|
||
|
|
assertEquals(0x80000, Calib3d.CALIB_FIX_TAUX_TAUY);
|
||
|
|
assertEquals(0x100000, Calib3d.CALIB_USE_QR);
|
||
|
|
assertEquals(0x200000, Calib3d.CALIB_FIX_TANGENT_DIST);
|
||
|
|
assertEquals(0x100, Calib3d.CALIB_FIX_INTRINSIC);
|
||
|
|
assertEquals(0x200, Calib3d.CALIB_SAME_FOCAL_LENGTH);
|
||
|
|
assertEquals(0x400, Calib3d.CALIB_ZERO_DISPARITY);
|
||
|
|
assertEquals((1 << 17), Calib3d.CALIB_USE_LU);
|
||
|
|
assertEquals((1 << 22), Calib3d.CALIB_USE_EXTRINSIC_GUESS);
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testSolvePnPGeneric_regression_16040() {
|
||
|
|
Mat intrinsics = Mat.eye(3, 3, CvType.CV_64F);
|
||
|
|
intrinsics.put(0, 0, 400);
|
||
|
|
intrinsics.put(1, 1, 400);
|
||
|
|
intrinsics.put(0, 2, 640 / 2);
|
||
|
|
intrinsics.put(1, 2, 480 / 2);
|
||
|
|
|
||
|
|
final int minPnpPointsNum = 4;
|
||
|
|
|
||
|
|
MatOfPoint3f points3d = new MatOfPoint3f();
|
||
|
|
points3d.alloc(minPnpPointsNum);
|
||
|
|
MatOfPoint2f points2d = new MatOfPoint2f();
|
||
|
|
points2d.alloc(minPnpPointsNum);
|
||
|
|
|
||
|
|
for (int i = 0; i < minPnpPointsNum; i++) {
|
||
|
|
double x = Math.random() * 100 - 50;
|
||
|
|
double y = Math.random() * 100 - 50;
|
||
|
|
points2d.put(i, 0, x, y); //add(new Point(x, y));
|
||
|
|
points3d.put(i, 0, 0, y, x); // add(new Point3(0, y, x));
|
||
|
|
}
|
||
|
|
|
||
|
|
ArrayList<Mat> rvecs = new ArrayList<Mat>();
|
||
|
|
ArrayList<Mat> tvecs = new ArrayList<Mat>();
|
||
|
|
|
||
|
|
Mat rvec = new Mat();
|
||
|
|
Mat tvec = new Mat();
|
||
|
|
|
||
|
|
Mat reprojectionError = new Mat(2, 1, CvType.CV_64FC1);
|
||
|
|
|
||
|
|
Calib3d.solvePnPGeneric(points3d, points2d, intrinsics, new MatOfDouble(), rvecs, tvecs, false, Calib3d.SOLVEPNP_IPPE, rvec, tvec, reprojectionError);
|
||
|
|
|
||
|
|
Mat truth_rvec = new Mat(3, 1, CvType.CV_64F);
|
||
|
|
truth_rvec.put(0, 0, 0, Math.PI / 2, 0);
|
||
|
|
|
||
|
|
Mat truth_tvec = new Mat(3, 1, CvType.CV_64F);
|
||
|
|
truth_tvec.put(0, 0, -320, -240, 400);
|
||
|
|
|
||
|
|
assertMatEqual(truth_rvec, rvecs.get(0), 10 * EPS);
|
||
|
|
assertMatEqual(truth_tvec, tvecs.get(0), 1000 * EPS);
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testGetDefaultNewCameraMatrixMat() {
|
||
|
|
Mat mtx = Calib3d.getDefaultNewCameraMatrix(gray0);
|
||
|
|
|
||
|
|
assertFalse(mtx.empty());
|
||
|
|
assertEquals(0, Core.countNonZero(mtx));
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testGetDefaultNewCameraMatrixMatSizeBoolean() {
|
||
|
|
Mat mtx = Calib3d.getDefaultNewCameraMatrix(gray0, size, true);
|
||
|
|
|
||
|
|
assertFalse(mtx.empty());
|
||
|
|
assertFalse(0 == Core.countNonZero(mtx));
|
||
|
|
// TODO_: write better test
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testInitUndistortRectifyMap() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
Mat cameraMatrix = new Mat(3, 3, CvType.CV_32F);
|
||
|
|
cameraMatrix.put(0, 0, 1, 0, 1);
|
||
|
|
cameraMatrix.put(1, 0, 0, 1, 1);
|
||
|
|
cameraMatrix.put(2, 0, 0, 0, 1);
|
||
|
|
|
||
|
|
Mat R = new Mat(3, 3, CvType.CV_32F, new Scalar(2));
|
||
|
|
Mat newCameraMatrix = new Mat(3, 3, CvType.CV_32F, new Scalar(3));
|
||
|
|
|
||
|
|
Mat distCoeffs = new Mat();
|
||
|
|
Mat map1 = new Mat();
|
||
|
|
Mat map2 = new Mat();
|
||
|
|
|
||
|
|
// TODO: complete this test
|
||
|
|
Calib3d.initUndistortRectifyMap(cameraMatrix, distCoeffs, R, newCameraMatrix, size, CvType.CV_32F, map1, map2);
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testInitWideAngleProjMapMatMatSizeIntIntMatMat() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
Mat cameraMatrix = new Mat(3, 3, CvType.CV_32F);
|
||
|
|
Mat distCoeffs = new Mat(1, 4, CvType.CV_32F);
|
||
|
|
// Size imageSize = new Size(2, 2);
|
||
|
|
|
||
|
|
cameraMatrix.put(0, 0, 1, 0, 1);
|
||
|
|
cameraMatrix.put(1, 0, 0, 1, 2);
|
||
|
|
cameraMatrix.put(2, 0, 0, 0, 1);
|
||
|
|
|
||
|
|
distCoeffs.put(0, 0, 1, 3, 2, 4);
|
||
|
|
truth = new Mat(3, 3, CvType.CV_32F);
|
||
|
|
truth.put(0, 0, 0, 0, 0);
|
||
|
|
truth.put(1, 0, 0, 0, 0);
|
||
|
|
truth.put(2, 0, 0, 3, 0);
|
||
|
|
// TODO: No documentation for this function
|
||
|
|
// Calib3d.initWideAngleProjMap(cameraMatrix, distCoeffs, imageSize,
|
||
|
|
// 5, m1type, truthput1, truthput2);
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testInitWideAngleProjMapMatMatSizeIntIntMatMatInt() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testInitWideAngleProjMapMatMatSizeIntIntMatMatIntDouble() {
|
||
|
|
fail("Not yet implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testUndistortMatMatMatMat() {
|
||
|
|
Mat src = new Mat(3, 3, CvType.CV_32F, new Scalar(3));
|
||
|
|
Mat cameraMatrix = new Mat(3, 3, CvType.CV_32F) {
|
||
|
|
{
|
||
|
|
put(0, 0, 1, 0, 1);
|
||
|
|
put(1, 0, 0, 1, 2);
|
||
|
|
put(2, 0, 0, 0, 1);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
Mat distCoeffs = new Mat(1, 4, CvType.CV_32F) {
|
||
|
|
{
|
||
|
|
put(0, 0, 1, 3, 2, 4);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
Calib3d.undistort(src, dst, cameraMatrix, distCoeffs);
|
||
|
|
|
||
|
|
truth = new Mat(3, 3, CvType.CV_32F) {
|
||
|
|
{
|
||
|
|
put(0, 0, 0, 0, 0);
|
||
|
|
put(1, 0, 0, 0, 0);
|
||
|
|
put(2, 0, 0, 3, 0);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
assertMatEqual(truth, dst, EPS);
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testUndistortMatMatMatMatMat() {
|
||
|
|
Mat src = new Mat(3, 3, CvType.CV_32F, new Scalar(3));
|
||
|
|
Mat cameraMatrix = new Mat(3, 3, CvType.CV_32F) {
|
||
|
|
{
|
||
|
|
put(0, 0, 1, 0, 1);
|
||
|
|
put(1, 0, 0, 1, 2);
|
||
|
|
put(2, 0, 0, 0, 1);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
Mat distCoeffs = new Mat(1, 4, CvType.CV_32F) {
|
||
|
|
{
|
||
|
|
put(0, 0, 2, 1, 4, 5);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
Mat newCameraMatrix = new Mat(3, 3, CvType.CV_32F, new Scalar(1));
|
||
|
|
|
||
|
|
Calib3d.undistort(src, dst, cameraMatrix, distCoeffs, newCameraMatrix);
|
||
|
|
|
||
|
|
truth = new Mat(3, 3, CvType.CV_32F, new Scalar(3));
|
||
|
|
assertMatEqual(truth, dst, EPS);
|
||
|
|
}
|
||
|
|
|
||
|
|
//undistortPoints(List<Point> src, List<Point> dst, Mat cameraMatrix, Mat distCoeffs)
|
||
|
|
public void testUndistortPointsListOfPointListOfPointMatMat() {
|
||
|
|
MatOfPoint2f src = new MatOfPoint2f(new Point(1, 2), new Point(3, 4), new Point(-1, -1));
|
||
|
|
MatOfPoint2f dst = new MatOfPoint2f();
|
||
|
|
Mat cameraMatrix = Mat.eye(3, 3, CvType.CV_64FC1);
|
||
|
|
Mat distCoeffs = new Mat(8, 1, CvType.CV_64FC1, new Scalar(0));
|
||
|
|
|
||
|
|
Calib3d.undistortPoints(src, dst, cameraMatrix, distCoeffs);
|
||
|
|
|
||
|
|
assertEquals(src.size(), dst.size());
|
||
|
|
for(int i=0; i<src.toList().size(); i++) {
|
||
|
|
//Log.d("UndistortPoints", "s="+src.get(i)+", d="+dst.get(i));
|
||
|
|
assertTrue(src.toList().get(i).equals(dst.toList().get(i)));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
public void testEstimateNewCameraMatrixForUndistortRectify() {
|
||
|
|
Mat K = new Mat().eye(3, 3, CvType.CV_64FC1);
|
||
|
|
Mat K_new = new Mat().eye(3, 3, CvType.CV_64FC1);
|
||
|
|
Mat K_new_truth = new Mat().eye(3, 3, CvType.CV_64FC1);
|
||
|
|
Mat D = new Mat().zeros(4, 1, CvType.CV_64FC1);
|
||
|
|
|
||
|
|
K.put(0,0,600.4447738238429);
|
||
|
|
K.put(1,1,578.9929805505851);
|
||
|
|
K.put(0,2,992.0642578801213);
|
||
|
|
K.put(1,2,549.2682624212172);
|
||
|
|
|
||
|
|
D.put(0,0,-0.05090103223466704);
|
||
|
|
D.put(1,0,0.030944413642173308);
|
||
|
|
D.put(2,0,-0.021509225493198905);
|
||
|
|
D.put(3,0,0.0043378096628297145);
|
||
|
|
|
||
|
|
K_new_truth.put(0,0, 387.4809086880343);
|
||
|
|
K_new_truth.put(0,2, 1036.669802754649);
|
||
|
|
K_new_truth.put(1,1, 373.6375700303157);
|
||
|
|
K_new_truth.put(1,2, 538.8373261247601);
|
||
|
|
|
||
|
|
Calib3d.fisheye_estimateNewCameraMatrixForUndistortRectify(K,D,new Size(1920,1080),
|
||
|
|
new Mat().eye(3, 3, CvType.CV_64F), K_new, 0.0, new Size(1920,1080));
|
||
|
|
|
||
|
|
assertMatEqual(K_new, K_new_truth, EPS);
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|