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Use testify to make real assertions.

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This commit is contained in:
Chih-Wei Chang 2015-02-17 12:41:39 +08:00
parent 51f567bae2
commit dcfe2940df
4 changed files with 69 additions and 11 deletions
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17
gocv/gocv_calib3d.cpp
View file

@ -30,12 +30,27 @@ double GcvCalibrateCamera_(VecPoint3f objPts, VecPoint2f imgPts,
objPtsArr.push_back(objPts);
imgPtsArr.push_back(imgPts);
std::cout << "objPts " << std::endl << objPtsArr[0] << std::endl;
std::cout << "imgPts " << std::endl << imgPtsArr[0] << std::endl;
std::cout << "imgSize " << std::endl << imgSize << std::endl;
std::cout << "Before CamMat " << std::endl << cameraMatrix << std::endl;
rtn = cv::calibrateCamera(objPtsArr, imgPtsArr, imgSize,
cameraMatrix, distCoeffs,
rvecs, tvecs);
rvecs, tvecs, 14575);
rvec = rvecs[0];
tvec = tvecs[0];
std::cout << "After CamMat " << std::endl << cameraMatrix << std::endl;
std::cout << "distCoeffs " << std::endl << distCoeffs << std::endl;
std::cout << "rvec " << std::endl << rvec << std::endl;
std::cout << "tvec " << std::endl << tvec << std::endl;
std::cout << "rms " << std::endl << rtn << std::endl;
return rtn;
}
void GcvRodrigues_(cv::Mat src, cv::Mat& dst) {
cv::Rodrigues(src, dst);
}

12
gocv/gocv_calib3d.go
View file

@ -65,7 +65,17 @@ func GcvCalibrateCamera(objPts, imgPts, camMat *mat64.Dense) (calCamMat, rvec, t
rvec = GcvMatToMat64(_rvec)
tvec = GcvMatToMat64(_tvec)
return camMat, rvec, tvec
return calCamMat, rvec, tvec
}
// Same as cv::Rodrigues
func GcvRodrigues(src *mat64.Dense) (dst *mat64.Dense) {
gcvSrc := Mat64ToGcvMat(src)
gcvDst := NewGcvMat()
GcvRodrigues_(gcvSrc, gcvDst)
dst = GcvMatToMat64(gcvDst)
return dst
}
// func mat64ToGcvPoint3f32Vector(mat *mat64.Dense) NewGcvPoint3f32Vector {

2
gocv/gocv_calib3d.hpp
View file

@ -10,3 +10,5 @@ cv::Mat GcvInitCameraMatrix2D_(VecPoint3f objPts, VecPoint2f imgPts);
double GcvCalibrateCamera_(VecPoint3f objPts, VecPoint2f imgPts,
cv::Size2i imgSize, cv::Mat& cameraMatrix,
cv::Mat& rvec, cv::Mat& tvec);
void GcvRodrigues_(cv::Mat src, cv::Mat& dst);

49
gocv/gocv_calib3d_test.go
View file

@ -3,8 +3,8 @@ package gocv
import (
"testing"
"github.com/davecgh/go-spew/spew"
"github.com/gonum/matrix/mat64"
"github.com/stretchr/testify/assert"
)
func TestGcvInitCameraMatrix2D(t *testing.T) {
@ -12,16 +12,20 @@ func TestGcvInitCameraMatrix2D(t *testing.T) {
0, 25, 0,
0, -25, 0,
-47, 25, 0,
-47, -25, 0})
-47, -25, 0,
})
imgPts := mat64.NewDense(4, 2, []float64{
1136.4140625, 1041.89208984,
1845.33190918, 671.39581299,
302.73373413, 634.79998779,
1051.46154785, 352.76107788})
1051.46154785, 352.76107788,
})
camMat := GcvInitCameraMatrix2D(objPts, imgPts)
spew.Dump(camMat)
assert.Equal(t, camMat.Row(nil, 0), []float64{4828.129063751587, 0, 959.5})
assert.Equal(t, camMat.Row(nil, 1), []float64{0, 4828.129063751587, 539.5})
assert.Equal(t, camMat.Row(nil, 2), []float64{0, 0, 1})
}
func TestGcvCalibrateCamera(t *testing.T) {
@ -29,18 +33,45 @@ func TestGcvCalibrateCamera(t *testing.T) {
0, 25, 0,
0, -25, 0,
-47, 25, 0,
-47, -25, 0})
-47, -25, 0,
})
imgPts := mat64.NewDense(4, 2, []float64{
1136.4140625, 1041.89208984,
1845.33190918, 671.39581299,
302.73373413, 634.79998779,
1051.46154785, 352.76107788})
1051.46154785, 352.76107788,
})
camMat := GcvInitCameraMatrix2D(objPts, imgPts)
camMat, rvec, tvec := GcvCalibrateCamera(objPts, imgPts, camMat)
spew.Dump(camMat)
spew.Dump(rvec)
spew.Dump(tvec)
assert.Equal(t, camMat.Row(nil, 0), []float64{5.47022369e+03, 0.00000000e+00, 9.59500000e+02})
assert.Equal(t, camMat.Row(nil, 1), []float64{0.00000000e+00, 5.47022369e+03, 5.39500000e+02})
assert.Equal(t, camMat.Row(nil, 2), []float64{0.00000000e+00, 0.00000000e+00, 1.00000000e+00})
assert.Equal(t, rvec.Col(nil, 0), []float64{-0.99458984, 0.54674764, -2.69721055})
assert.Equal(t, tvec.Col(nil, 0), []float64{-23.25417757, -12.6155423, -227.64212085})
}
func TestGcvRodrigues(t *testing.T) {
rvec := mat64.NewDense(3, 1, []float64{
-0.99458984,
0.54674764,
-2.69721055,
})
rmat := GcvRodrigues(rvec)
assert.InDelta(t, rmat.At(0, 0), -0.74853587, 1e-6)
assert.InDelta(t, rmat.At(0, 1), 0.07139127, 1e-6)
assert.InDelta(t, rmat.At(0, 2), 0.65923997, 1e-6)
assert.InDelta(t, rmat.At(1, 0), -0.32247419, 1e-6)
assert.InDelta(t, rmat.At(1, 1), -0.90789575, 1e-6)
assert.InDelta(t, rmat.At(1, 2), -0.26783521, 1e-6)
assert.InDelta(t, rmat.At(2, 0), 0.57940008, 1e-6)
assert.InDelta(t, rmat.At(2, 1), -0.41307214, 1e-6)
assert.InDelta(t, rmat.At(2, 2), 0.70261437, 1e-6)
}