Added test for jacobians
This commit is contained in:
Ilya Krylov
parent
9c7e0bfd33
commit
35e1b322cb
@ -1,18 +1,13 @@
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#include "test_precomp.hpp"
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#include <iostream>
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#include <fstream>
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#include <string>
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#include <climits>
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#include <algorithm>
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#include<fstream>
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#include <opencv2/ts/gpu_test.hpp>
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#include <opencv2/ts/ts_perf.hpp>
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#include <opencv2/ts/ts.hpp>
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#define DEF_PARAM_TEST(name, ...) typedef ::perf::TestBaseWithParam< std::tr1::tuple< __VA_ARGS__ > > name
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#define PARAM_TEST_CASE(name, ...) struct name : testing::TestWithParam< std::tr1::tuple< __VA_ARGS__ > >
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/// Change this parameter via CMake: cmake -DDATASETS_REPOSITORY_FOLDER=<path>
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//const static std::string datasets_repository_path = "DATASETS_REPOSITORY_FOLDER";
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const static std::string datasets_repository_path = "/home/krylov/data";
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namespace FishEye
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{
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@ -111,7 +106,7 @@ void readExtrinsics(const std::string& file, cv::OutputArray _R, cv::OutputArray
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if(_P1.needed()) P1.copyTo(_P1); if(_P2.needed()) P2.copyTo(_P2); if(_Q.needed()) Q.copyTo(_Q);
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}
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cv::Mat mergeRectification(const cv::Mat& l, const cv::Mat& r, double scale)
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cv::Mat mergeRectification(const cv::Mat& l, const cv::Mat& r)
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{
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CV_Assert(l.type() == r.type() && l.size() == r.size());
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cv::Mat merged(l.rows, l.cols * 2, l.type());
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@ -128,12 +123,6 @@ cv::Mat mergeRectification(const cv::Mat& l, const cv::Mat& r, double scale)
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}
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/// Change this parameter via CMake: cmake -DDATASETS_REPOSITORY_FOLDER=<path>
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//const static std::string datasets_repository_path = "DATASETS_REPOSITORY_FOLDER";
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const static std::string datasets_repository_path = "/home/krylov/data";
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TEST(FisheyeTest, projectPoints)
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{
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double cols = FishEye::imageSize.width,
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@ -213,7 +202,7 @@ TEST(FisheyeTest, undistortImage)
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TEST(FisheyeTest, jacobians)
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{
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int n = 10;
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cv::Mat X(1, n, CV_32FC4);
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cv::Mat X(1, n, CV_64FC3);
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cv::Mat om(3, 1, CV_64F), T(3, 1, CV_64F);
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cv::Mat f(2, 1, CV_64F), c(2, 1, CV_64F);
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cv::Mat k(4, 1, CV_64F);
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@ -221,7 +210,7 @@ TEST(FisheyeTest, jacobians)
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cv::RNG& r = cv::theRNG();
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r.fill(X, cv::RNG::NORMAL, 0, 1);
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r.fill(X, cv::RNG::NORMAL, 2, 1);
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X = cv::abs(X) * 10;
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r.fill(om, cv::RNG::NORMAL, 0, 1);
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@ -241,8 +230,68 @@ TEST(FisheyeTest, jacobians)
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alpha = 0.01*r.gaussian(1);
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cv::Mat x1, x2, xpred;
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cv::Matx33d K(f.at<double>(0), alpha * f.at<double>(0), c.at<double>(0),
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0, f.at<double>(1), c.at<double>(1),
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0, 0, 1);
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CV_Assert(!"/////////");
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cv::Mat jacobians;
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cv::Fisheye::projectPoints(X, x1, om, T, K, k, alpha, jacobians);
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//test on T:
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cv::Mat dT(3, 1, CV_64FC1);
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r.fill(dT, cv::RNG::NORMAL, 0, 1);
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dT *= 1e-9*cv::norm(T);
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cv::Mat T2 = T + dT;
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cv::Fisheye::projectPoints(X, x2, om, T2, K, k, alpha, cv::noArray());
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xpred = x1 + cv::Mat(jacobians.colRange(11,14) * dT).reshape(2, 1);
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CV_Assert (cv::norm(x2 - xpred) < 1e-12);
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//test on om:
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cv::Mat dom(3, 1, CV_64FC1);
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r.fill(dom, cv::RNG::NORMAL, 0, 1);
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dom *= 1e-9*cv::norm(om);
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cv::Mat om2 = om + dom;
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cv::Fisheye::projectPoints(X, x2, om2, T, K, k, alpha, cv::noArray());
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xpred = x1 + cv::Mat(jacobians.colRange(8,11) * dom).reshape(2, 1);
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CV_Assert (cv::norm(x2 - xpred) < 1e-12);
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//test on f:
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cv::Mat df(2, 1, CV_64FC1);
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r.fill(df, cv::RNG::NORMAL, 0, 1);
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df *= 1e-9*cv::norm(f);
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cv::Matx33d K2 = K + cv::Matx33d(df.at<double>(0), df.at<double>(0) * alpha, 0, 0, df.at<double>(1), 0, 0, 0, 0);
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cv::Fisheye::projectPoints(X, x2, om, T, K2, k, alpha, cv::noArray());
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xpred = x1 + cv::Mat(jacobians.colRange(0,2) * df).reshape(2, 1);
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CV_Assert (cv::norm(x2 - xpred) < 1e-12);
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//test on c:
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cv::Mat dc(2, 1, CV_64FC1);
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r.fill(dc, cv::RNG::NORMAL, 0, 1);
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dc *= 1e-9*cv::norm(c);
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K2 = K + cv::Matx33d(0, 0, dc.at<double>(0), 0, 0, dc.at<double>(1), 0, 0, 0);
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cv::Fisheye::projectPoints(X, x2, om, T, K2, k, alpha, cv::noArray());
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xpred = x1 + cv::Mat(jacobians.colRange(2,4) * dc).reshape(2, 1);
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CV_Assert (cv::norm(x2 - xpred) < 1e-12);
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//test on k:
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cv::Mat dk(4, 1, CV_64FC1);
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r.fill(dk, cv::RNG::NORMAL, 0, 1);
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dk *= 1e-9*cv::norm(k);
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cv::Mat k2 = k + dk;
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cv::Fisheye::projectPoints(X, x2, om, T, K, k2, alpha, cv::noArray());
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xpred = x1 + cv::Mat(jacobians.colRange(4,8) * dk).reshape(2, 1);
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CV_Assert (cv::norm(x2 - xpred) < 1e-12);
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//test on alpha:
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cv::Mat dalpha(1, 1, CV_64FC1);
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r.fill(dalpha, cv::RNG::NORMAL, 0, 1);
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dalpha *= 1e-9*cv::norm(f);
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double alpha2 = alpha + dalpha.at<double>(0);
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K2 = K + cv::Matx33d(0, f.at<double>(0) * dalpha.at<double>(0), 0, 0, 0, 0, 0, 0, 0);
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cv::Fisheye::projectPoints(X, x2, om, T, K, k, alpha2, cv::noArray());
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xpred = x1 + cv::Mat(jacobians.col(14) * dalpha).reshape(2, 1);
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CV_Assert (cv::norm(x2 - xpred) < 1e-12);
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}
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TEST(FisheyeTest, Calibration)
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@ -407,7 +456,7 @@ TEST(FisheyeTest, rectify)
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cv::remap(l, lundist, lmapx, lmapy, cv::INTER_LINEAR);
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cv::remap(r, rundist, rmapx, rmapy, cv::INTER_LINEAR);
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cv::Mat rectification = mergeRectification(lundist, rundist, 0.75);
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cv::Mat rectification = mergeRectification(lundist, rundist);
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cv::Mat correct = cv::imread(combine_format(folder, "test_rectify/rectification_AB_%03d.png", i));
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if (correct.empty())
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