105 lines
3 KiB
Go
105 lines
3 KiB
Go
package gocv
|
|
|
|
import (
|
|
"testing"
|
|
|
|
"github.com/gonum/matrix/mat64"
|
|
"github.com/stretchr/testify/assert"
|
|
)
|
|
|
|
const (
|
|
DELTA float64 = 1e-5
|
|
)
|
|
|
|
func TestGcvInitCameraMatrix2D(t *testing.T) {
|
|
objPts := mat64.NewDense(10, 3, []float64{
|
|
-1.482676, -1.419348, 1.166475,
|
|
-0.043819, -0.729445, 1.212821,
|
|
0.960825, 1.147328, 0.485541,
|
|
1.738245, 0.597865, 1.026016,
|
|
-0.430206, -1.281281, 0.870726,
|
|
-1.627323, -2.203264, -0.381758,
|
|
0.166347, -0.571246, 0.428893,
|
|
0.376266, 0.213996, -0.299131,
|
|
-0.226950, 0.942377, -0.899869,
|
|
-1.148912, 0.093725, 0.634745,
|
|
})
|
|
|
|
imgPts := mat64.NewDense(10, 2, []float64{
|
|
-0.384281, -0.299055,
|
|
0.361833, 0.087737,
|
|
1.370253, 1.753933,
|
|
1.421390, 0.853312,
|
|
0.107177, -0.443076,
|
|
3.773328, 5.437829,
|
|
0.624914, -0.280949,
|
|
-0.825577, -0.245594,
|
|
0.631444, -0.340257,
|
|
-0.647580, 0.502113,
|
|
})
|
|
|
|
camMat := GcvInitCameraMatrix2D(objPts, imgPts)
|
|
assert.InDeltaSlice(t, []float64{1.47219772e+03, 0.00000000e+00, 9.59500000e+02},
|
|
camMat.Row(nil, 0), DELTA)
|
|
assert.InDeltaSlice(t, []float64{0.00000000e+00, 1.47219772e+03, 5.39500000e+02},
|
|
camMat.Row(nil, 1), DELTA)
|
|
assert.InDeltaSlice(t, []float64{0.00000000e+00, 0.00000000e+00, 1.00000000e+00},
|
|
camMat.Row(nil, 2), DELTA)
|
|
}
|
|
|
|
func TestGcvCalibrateCamera(t *testing.T) {
|
|
objPts := mat64.NewDense(10, 3, []float64{
|
|
-1.482676, -1.419348, 1.166475,
|
|
-0.043819, -0.729445, 1.212821,
|
|
0.960825, 1.147328, 0.485541,
|
|
1.738245, 0.597865, 1.026016,
|
|
-0.430206, -1.281281, 0.870726,
|
|
-1.627323, -2.203264, -0.381758,
|
|
0.166347, -0.571246, 0.428893,
|
|
0.376266, 0.213996, -0.299131,
|
|
-0.226950, 0.942377, -0.899869,
|
|
-1.148912, 0.093725, 0.634745,
|
|
})
|
|
|
|
imgPts := mat64.NewDense(10, 2, []float64{
|
|
-0.384281, -0.299055,
|
|
0.361833, 0.087737,
|
|
1.370253, 1.753933,
|
|
1.421390, 0.853312,
|
|
0.107177, -0.443076,
|
|
3.773328, 5.437829,
|
|
0.624914, -0.280949,
|
|
-0.825577, -0.245594,
|
|
0.631444, -0.340257,
|
|
-0.647580, 0.502113,
|
|
})
|
|
|
|
camMat := GcvInitCameraMatrix2D(objPts, imgPts)
|
|
|
|
camMat, rvec, tvec := GcvCalibrateCamera(objPts, imgPts, camMat)
|
|
|
|
// stackedMat := *mat64.NewDense(0, 0, nil)
|
|
// stackedMat.Augment(GcvRodrigues(rvec), tvec)
|
|
|
|
// camMat.Mul(camMat, &stackedMat)
|
|
|
|
assert.InDeltaSlice(t, []float64{-46.15296606, 0., 959.5}, camMat.Row(nil, 0), DELTA)
|
|
assert.InDeltaSlice(t, []float64{0., -46.15296606, 539.5}, camMat.Row(nil, 1), DELTA)
|
|
assert.InDeltaSlice(t, []float64{0., 0., 1.}, camMat.Row(nil, 2), DELTA)
|
|
|
|
assert.InDeltaSlice(t, []float64{-0.98405029, -0.93443411, -0.26304667}, rvec.Col(nil, 0), DELTA)
|
|
assert.InDeltaSlice(t, []float64{0.6804739, 0.47530207, -0.04833094}, tvec.Col(nil, 0), DELTA)
|
|
}
|
|
|
|
func TestGcvRodrigues(t *testing.T) {
|
|
rvec := mat64.NewDense(3, 1, []float64{
|
|
-0.98405029,
|
|
-0.93443411,
|
|
-0.26304667,
|
|
})
|
|
rmat := GcvRodrigues(rvec)
|
|
|
|
assert.InDeltaSlice(t, []float64{0.59922526, 0.57799222, -0.55394411}, rmat.Row(nil, 0), DELTA)
|
|
assert.InDeltaSlice(t, []float64{0.20413818, 0.558743, 0.80382452}, rmat.Row(nil, 1), DELTA)
|
|
assert.InDeltaSlice(t, []float64{0.77411672, -0.5947531, 0.21682264}, rmat.Row(nil, 2), DELTA)
|
|
}
|