-1, 5), Point3f pmax = Point3f(1, 1, 10));
void generateCameraMatrix(Mat& cameraMatrix);
void generateDistCoeffs(Mat& distCoeffs, int count);
+ cv::Mat generateRotationVector();
double thresh = 1.0e-2;
};
distCoeffs.at<double>(i,0) = theRNG().uniform(-0.1, 0.1);
}
+cv::Mat UndistortPointsTest::generateRotationVector()
+{
+ Mat rvec(1, 3, CV_64F);
+ theRNG().fill(rvec, RNG::UNIFORM, -0.2, 0.2);
+
+ return rvec;
+}
+
TEST_F(UndistortPointsTest, accuracy)
{
Mat intrinsics, distCoeffs;
vector<Point3f> points(500);
generate3DPointCloud(points);
- vector<Point2f> projectedPoints;
- projectedPoints.resize(points.size());
+ Mat rvec = generateRotationVector();
+ Mat R;
+ cv::Rodrigues(rvec, R);
+
int modelMembersCount[] = {4,5,8};
for (int idx = 0; idx < 3; idx++)
{
generateDistCoeffs(distCoeffs, modelMembersCount[idx]);
+ /* Project points with distortion */
+ vector<Point2f> projectedPoints;
projectPoints(Mat(points), Mat::zeros(3,1,CV_64FC1),
Mat::zeros(3,1,CV_64FC1), intrinsics,
distCoeffs, projectedPoints);
+ /* Project points without distortion */
vector<Point2f> realUndistortedPoints;
- projectPoints(Mat(points), Mat::zeros(3,1,CV_64FC1),
+ projectPoints(Mat(points), rvec,
Mat::zeros(3,1,CV_64FC1), intrinsics,
Mat::zeros(4,1,CV_64FC1), realUndistortedPoints);
+ /* Undistort points */
Mat undistortedPoints;
- undistortPoints(Mat(projectedPoints), undistortedPoints, intrinsics, distCoeffs);
-
- Mat p;
- perspectiveTransform(undistortedPoints, p, intrinsics);
- undistortedPoints = p;
+ undistortPoints(Mat(projectedPoints), undistortedPoints, intrinsics, distCoeffs, R, intrinsics);
EXPECT_MAT_NEAR(realUndistortedPoints, undistortedPoints.t(), thresh);
}
TermCriteria criteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 100, maxError);
std::vector<Point2d> pt_undist_vec;
- undistortPoints(pt_distorted_vec, pt_undist_vec, cameraMatrix, distCoeffs, noArray(), noArray(), criteria);
+ Mat rVec = Mat(Matx31d(0.1, -0.2, 0.2));
+ Mat R;
+ cv::Rodrigues(rVec, R);
+
+ undistortPoints(pt_distorted_vec, pt_undist_vec, cameraMatrix, distCoeffs, R, noArray(), criteria);
std::vector<Point3d> pt_undist_vec_homogeneous;
pt_undist_vec_homogeneous.emplace_back(pt_undist_vec[0].x, pt_undist_vec[0].y, 1.0 );
std::vector<Point2d> pt_redistorted_vec;
- projectPoints(pt_undist_vec_homogeneous, Mat::zeros(3,1,CV_64F),
+ projectPoints(pt_undist_vec_homogeneous, -rVec,
Mat::zeros(3,1,CV_64F), cameraMatrix, distCoeffs, pt_redistorted_vec);
const double obtainedError = sqrt( pow(pt_distorted.x - pt_redistorted_vec[0].x, 2) + pow(pt_distorted.y - pt_redistorted_vec[0].y, 2) );