Use my forked assert.InDeltaSlic for testing.
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Chih-Wei Chang
parent
dcfe2940df
commit
3d399ffcc8
2 changed files with 79 additions and 51 deletions
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@ -30,10 +30,10 @@ double GcvCalibrateCamera_(VecPoint3f objPts, VecPoint2f imgPts,
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objPtsArr.push_back(objPts);
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imgPtsArr.push_back(imgPts);
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std::cout << "objPts " << std::endl << objPtsArr[0] << std::endl;
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std::cout << "imgPts " << std::endl << imgPtsArr[0] << std::endl;
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std::cout << "imgSize " << std::endl << imgSize << std::endl;
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std::cout << "Before CamMat " << std::endl << cameraMatrix << std::endl;
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/* std::cout << "objPts " << std::endl << objPtsArr[0] << std::endl; */
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/* std::cout << "imgPts " << std::endl << imgPtsArr[0] << std::endl; */
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/* std::cout << "imgSize " << std::endl << imgSize << std::endl; */
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/* std::cout << "Before CamMat " << std::endl << cameraMatrix << std::endl; */
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rtn = cv::calibrateCamera(objPtsArr, imgPtsArr, imgSize,
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cameraMatrix, distCoeffs,
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@ -42,11 +42,11 @@ double GcvCalibrateCamera_(VecPoint3f objPts, VecPoint2f imgPts,
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rvec = rvecs[0];
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tvec = tvecs[0];
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std::cout << "After CamMat " << std::endl << cameraMatrix << std::endl;
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std::cout << "distCoeffs " << std::endl << distCoeffs << std::endl;
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std::cout << "rvec " << std::endl << rvec << std::endl;
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std::cout << "tvec " << std::endl << tvec << std::endl;
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std::cout << "rms " << std::endl << rtn << std::endl;
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/* std::cout << "After CamMat " << std::endl << cameraMatrix << std::endl; */
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/* std::cout << "distCoeffs " << std::endl << distCoeffs << std::endl; */
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/* std::cout << "rvec " << std::endl << rvec << std::endl; */
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/* std::cout << "tvec " << std::endl << tvec << std::endl; */
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/* std::cout << "rms " << std::endl << rtn << std::endl; */
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return rtn;
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}
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@ -7,71 +7,99 @@ import (
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"github.com/stretchr/testify/assert"
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)
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const (
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DELTA float64 = 1e-5
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)
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func TestGcvInitCameraMatrix2D(t *testing.T) {
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objPts := mat64.NewDense(4, 3, []float64{
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0, 25, 0,
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0, -25, 0,
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-47, 25, 0,
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-47, -25, 0,
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objPts := mat64.NewDense(10, 3, []float64{
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-1.482676, -1.419348, 1.166475,
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-0.043819, -0.729445, 1.212821,
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0.960825, 1.147328, 0.485541,
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1.738245, 0.597865, 1.026016,
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-0.430206, -1.281281, 0.870726,
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-1.627323, -2.203264, -0.381758,
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0.166347, -0.571246, 0.428893,
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0.376266, 0.213996, -0.299131,
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-0.226950, 0.942377, -0.899869,
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-1.148912, 0.093725, 0.634745,
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})
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imgPts := mat64.NewDense(4, 2, []float64{
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1136.4140625, 1041.89208984,
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1845.33190918, 671.39581299,
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302.73373413, 634.79998779,
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1051.46154785, 352.76107788,
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imgPts := mat64.NewDense(10, 2, []float64{
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-0.384281, -0.299055,
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0.361833, 0.087737,
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1.370253, 1.753933,
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1.421390, 0.853312,
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0.107177, -0.443076,
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3.773328, 5.437829,
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0.624914, -0.280949,
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-0.825577, -0.245594,
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0.631444, -0.340257,
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-0.647580, 0.502113,
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})
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camMat := GcvInitCameraMatrix2D(objPts, imgPts)
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assert.Equal(t, camMat.Row(nil, 0), []float64{4828.129063751587, 0, 959.5})
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assert.Equal(t, camMat.Row(nil, 1), []float64{0, 4828.129063751587, 539.5})
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assert.Equal(t, camMat.Row(nil, 2), []float64{0, 0, 1})
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assert.InDeltaSlice(t, []float64{1.47219772e+03, 0.00000000e+00, 9.59500000e+02},
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camMat.Row(nil, 0), DELTA)
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assert.InDeltaSlice(t, []float64{0.00000000e+00, 1.47219772e+03, 5.39500000e+02},
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camMat.Row(nil, 1), DELTA)
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assert.InDeltaSlice(t, []float64{0.00000000e+00, 0.00000000e+00, 1.00000000e+00},
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camMat.Row(nil, 2), DELTA)
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}
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func TestGcvCalibrateCamera(t *testing.T) {
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objPts := mat64.NewDense(4, 3, []float64{
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0, 25, 0,
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0, -25, 0,
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-47, 25, 0,
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-47, -25, 0,
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objPts := mat64.NewDense(10, 3, []float64{
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-1.482676, -1.419348, 1.166475,
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-0.043819, -0.729445, 1.212821,
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0.960825, 1.147328, 0.485541,
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1.738245, 0.597865, 1.026016,
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-0.430206, -1.281281, 0.870726,
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-1.627323, -2.203264, -0.381758,
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0.166347, -0.571246, 0.428893,
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0.376266, 0.213996, -0.299131,
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-0.226950, 0.942377, -0.899869,
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-1.148912, 0.093725, 0.634745,
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})
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imgPts := mat64.NewDense(4, 2, []float64{
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1136.4140625, 1041.89208984,
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1845.33190918, 671.39581299,
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302.73373413, 634.79998779,
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1051.46154785, 352.76107788,
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imgPts := mat64.NewDense(10, 2, []float64{
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-0.384281, -0.299055,
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0.361833, 0.087737,
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1.370253, 1.753933,
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1.421390, 0.853312,
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0.107177, -0.443076,
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3.773328, 5.437829,
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0.624914, -0.280949,
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-0.825577, -0.245594,
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0.631444, -0.340257,
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-0.647580, 0.502113,
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})
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camMat := GcvInitCameraMatrix2D(objPts, imgPts)
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camMat, rvec, tvec := GcvCalibrateCamera(objPts, imgPts, camMat)
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assert.Equal(t, camMat.Row(nil, 0), []float64{5.47022369e+03, 0.00000000e+00, 9.59500000e+02})
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assert.Equal(t, camMat.Row(nil, 1), []float64{0.00000000e+00, 5.47022369e+03, 5.39500000e+02})
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assert.Equal(t, camMat.Row(nil, 2), []float64{0.00000000e+00, 0.00000000e+00, 1.00000000e+00})
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// stackedMat := *mat64.NewDense(0, 0, nil)
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// stackedMat.Augment(GcvRodrigues(rvec), tvec)
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assert.Equal(t, rvec.Col(nil, 0), []float64{-0.99458984, 0.54674764, -2.69721055})
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assert.Equal(t, tvec.Col(nil, 0), []float64{-23.25417757, -12.6155423, -227.64212085})
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// camMat.Mul(camMat, &stackedMat)
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assert.InDeltaSlice(t, []float64{-46.15296606, 0., 959.5}, camMat.Row(nil, 0), DELTA)
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assert.InDeltaSlice(t, []float64{0., -46.15296606, 539.5}, camMat.Row(nil, 1), DELTA)
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assert.InDeltaSlice(t, []float64{0., 0., 1.}, camMat.Row(nil, 2), DELTA)
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assert.InDeltaSlice(t, []float64{-0.98405029, -0.93443411, -0.26304667}, rvec.Col(nil, 0), DELTA)
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assert.InDeltaSlice(t, []float64{0.6804739, 0.47530207, -0.04833094}, tvec.Col(nil, 0), DELTA)
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}
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func TestGcvRodrigues(t *testing.T) {
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rvec := mat64.NewDense(3, 1, []float64{
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-0.99458984,
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0.54674764,
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-2.69721055,
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-0.98405029,
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-0.93443411,
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-0.26304667,
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})
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rmat := GcvRodrigues(rvec)
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assert.InDelta(t, rmat.At(0, 0), -0.74853587, 1e-6)
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assert.InDelta(t, rmat.At(0, 1), 0.07139127, 1e-6)
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assert.InDelta(t, rmat.At(0, 2), 0.65923997, 1e-6)
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assert.InDelta(t, rmat.At(1, 0), -0.32247419, 1e-6)
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assert.InDelta(t, rmat.At(1, 1), -0.90789575, 1e-6)
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assert.InDelta(t, rmat.At(1, 2), -0.26783521, 1e-6)
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assert.InDelta(t, rmat.At(2, 0), 0.57940008, 1e-6)
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assert.InDelta(t, rmat.At(2, 1), -0.41307214, 1e-6)
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assert.InDelta(t, rmat.At(2, 2), 0.70261437, 1e-6)
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assert.InDeltaSlice(t, []float64{0.59922526, 0.57799222, -0.55394411}, rmat.Row(nil, 0), DELTA)
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assert.InDeltaSlice(t, []float64{0.20413818, 0.558743, 0.80382452}, rmat.Row(nil, 1), DELTA)
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assert.InDeltaSlice(t, []float64{0.77411672, -0.5947531, 0.21682264}, rmat.Row(nil, 2), DELTA)
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}
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