105 lines
3 KiB
Go
105 lines
3 KiB
Go
package gocv
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import (
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"testing"
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"github.com/gonum/matrix/mat64"
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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(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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objPts.TCopy(objPts)
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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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imgPts.TCopy(imgPts)
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camMat := GcvInitCameraMatrix2D(objPts, imgPts)
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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(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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objPts.TCopy(objPts)
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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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imgPts.TCopy(imgPts)
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camMat := GcvInitCameraMatrix2D(objPts, imgPts)
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camMat, rvec, tvec := GcvCalibrateCamera(
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objPts, imgPts, camMat, [2]int{1920, 1080})
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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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-0.98405029,
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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.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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