1 package org.opencv.test.calib3d; 2 3 import org.opencv.calib3d.Calib3d; 4 import org.opencv.core.Core; 5 import org.opencv.core.CvType; 6 import org.opencv.core.Mat; 7 import org.opencv.core.MatOfDouble; 8 import org.opencv.core.MatOfPoint2f; 9 import org.opencv.core.MatOfPoint3f; 10 import org.opencv.core.Point; 11 import org.opencv.core.Scalar; 12 import org.opencv.core.Size; 13 import org.opencv.test.OpenCVTestCase; 14 import org.opencv.imgproc.Imgproc; 15 16 public class Calib3dTest extends OpenCVTestCase { 17 18 public void testCalibrateCameraListOfMatListOfMatSizeMatMatListOfMatListOfMat() { 19 fail("Not yet implemented"); 20 } 21 22 public void testCalibrateCameraListOfMatListOfMatSizeMatMatListOfMatListOfMatInt() { 23 fail("Not yet implemented"); 24 } 25 26 public void testCalibrationMatrixValues() { 27 fail("Not yet implemented"); 28 } 29 30 public void testComposeRTMatMatMatMatMatMat() { 31 Mat rvec1 = new Mat(3, 1, CvType.CV_32F); 32 rvec1.put(0, 0, 0.5302828, 0.19925919, 0.40105945); 33 Mat tvec1 = new Mat(3, 1, CvType.CV_32F); 34 tvec1.put(0, 0, 0.81438506, 0.43713298, 0.2487897); 35 Mat rvec2 = new Mat(3, 1, CvType.CV_32F); 36 rvec2.put(0, 0, 0.77310503, 0.76209372, 0.30779448); 37 Mat tvec2 = new Mat(3, 1, CvType.CV_32F); 38 tvec2.put(0, 0, 0.70243168, 0.4784472, 0.79219002); 39 40 Mat rvec3 = new Mat(); 41 Mat tvec3 = new Mat(); 42 43 Mat outRvec = new Mat(3, 1, CvType.CV_32F); 44 outRvec.put(0, 0, 1.418641, 0.88665926, 0.56020796); 45 Mat outTvec = new Mat(3, 1, CvType.CV_32F); 46 outTvec.put(0, 0, 1.4560841, 1.0680628, 0.81598103); 47 48 Calib3d.composeRT(rvec1, tvec1, rvec2, tvec2, rvec3, tvec3); 49 50 assertMatEqual(outRvec, rvec3, EPS); 51 assertMatEqual(outTvec, tvec3, EPS); 52 } 53 54 public void testComposeRTMatMatMatMatMatMatMat() { 55 fail("Not yet implemented"); 56 } 57 58 public void testComposeRTMatMatMatMatMatMatMatMat() { 59 fail("Not yet implemented"); 60 } 61 62 public void testComposeRTMatMatMatMatMatMatMatMatMat() { 63 fail("Not yet implemented"); 64 } 65 66 public void testComposeRTMatMatMatMatMatMatMatMatMatMat() { 67 fail("Not yet implemented"); 68 } 69 70 public void testComposeRTMatMatMatMatMatMatMatMatMatMatMat() { 71 fail("Not yet implemented"); 72 } 73 74 public void testComposeRTMatMatMatMatMatMatMatMatMatMatMatMat() { 75 fail("Not yet implemented"); 76 } 77 78 public void testComposeRTMatMatMatMatMatMatMatMatMatMatMatMatMat() { 79 fail("Not yet implemented"); 80 } 81 82 public void testComposeRTMatMatMatMatMatMatMatMatMatMatMatMatMatMat() { 83 fail("Not yet implemented"); 84 // Mat dr3dr1; 85 // Mat dr3dt1; 86 // Mat dr3dr2; 87 // Mat dr3dt2; 88 // Mat dt3dr1; 89 // Mat dt3dt1; 90 // Mat dt3dr2; 91 // Mat dt3dt2; 92 // , dr3dr1, dr3dt1, dr3dr2, dr3dt2, dt3dr1, dt3dt1, dt3dr2, dt3dt2); 93 // [0.97031879, -0.091774099, 0.38594806; 94 // 0.15181915, 0.98091727, -0.44186208; 95 // -0.39509675, 0.43839464, 0.93872648] 96 // [0, 0, 0; 97 // 0, 0, 0; 98 // 0, 0, 0] 99 // [1.0117353, 0.16348237, -0.083180845; 100 // -0.1980398, 1.006078, 0.30299222; 101 // 0.075766489, -0.32784501, 1.0163091] 102 // [0, 0, 0; 103 // 0, 0, 0; 104 // 0, 0, 0] 105 // [0, 0, 0; 106 // 0, 0, 0; 107 // 0, 0, 0] 108 // [0.69658804, 0.018115902, 0.7172426; 109 // 0.51114357, 0.68899536, -0.51382649; 110 // -0.50348526, 0.72453934, 0.47068608] 111 // [0.18536358, -0.20515044, -0.48834875; 112 // -0.25120571, 0.29043972, 0.60573936; 113 // 0.35370794, -0.69923931, 0.45781645] 114 // [1, 0, 0; 115 // 0, 1, 0; 116 // 0, 0, 1] 117 } 118 119 public void testConvertPointsFromHomogeneous() { 120 fail("Not yet implemented"); 121 } 122 123 public void testConvertPointsToHomogeneous() { 124 fail("Not yet implemented"); 125 } 126 127 public void testDecomposeProjectionMatrixMatMatMatMat() { 128 fail("Not yet implemented"); 129 } 130 131 public void testDecomposeProjectionMatrixMatMatMatMatMat() { 132 fail("Not yet implemented"); 133 } 134 135 public void testDecomposeProjectionMatrixMatMatMatMatMatMat() { 136 fail("Not yet implemented"); 137 } 138 139 public void testDecomposeProjectionMatrixMatMatMatMatMatMatMat() { 140 fail("Not yet implemented"); 141 } 142 143 public void testDecomposeProjectionMatrixMatMatMatMatMatMatMatMat() { 144 fail("Not yet implemented"); 145 } 146 147 public void testDrawChessboardCorners() { 148 fail("Not yet implemented"); 149 } 150 151 public void testEstimateAffine3DMatMatMatMat() { 152 fail("Not yet implemented"); 153 } 154 155 public void testEstimateAffine3DMatMatMatMatDouble() { 156 fail("Not yet implemented"); 157 } 158 159 public void testEstimateAffine3DMatMatMatMatDoubleDouble() { 160 fail("Not yet implemented"); 161 } 162 163 public void testFilterSpecklesMatDoubleIntDouble() { 164 gray_16s_1024.copyTo(dst); 165 Point center = new Point(gray_16s_1024.rows() / 2., gray_16s_1024.cols() / 2.); 166 Imgproc.circle(dst, center, 1, Scalar.all(4096)); 167 168 assertMatNotEqual(gray_16s_1024, dst); 169 Calib3d.filterSpeckles(dst, 1024.0, 100, 0.); 170 assertMatEqual(gray_16s_1024, dst); 171 } 172 173 public void testFilterSpecklesMatDoubleIntDoubleMat() { 174 fail("Not yet implemented"); 175 } 176 177 public void testFindChessboardCornersMatSizeMat() { 178 Size patternSize = new Size(9, 6); 179 MatOfPoint2f corners = new MatOfPoint2f(); 180 Calib3d.findChessboardCorners(grayChess, patternSize, corners); 181 assertTrue(!corners.empty()); 182 } 183 184 public void testFindChessboardCornersMatSizeMatInt() { 185 Size patternSize = new Size(9, 6); 186 MatOfPoint2f corners = new MatOfPoint2f(); 187 Calib3d.findChessboardCorners(grayChess, patternSize, corners, Calib3d.CALIB_CB_ADAPTIVE_THRESH + Calib3d.CALIB_CB_NORMALIZE_IMAGE 188 + Calib3d.CALIB_CB_FAST_CHECK); 189 assertTrue(!corners.empty()); 190 } 191 192 public void testFindCirclesGridMatSizeMat() { 193 int size = 300; 194 Mat img = new Mat(size, size, CvType.CV_8U); 195 img.setTo(new Scalar(255)); 196 Mat centers = new Mat(); 197 198 assertFalse(Calib3d.findCirclesGrid(img, new Size(5, 5), centers)); 199 200 for (int i = 0; i < 5; i++) 201 for (int j = 0; j < 5; j++) { 202 Point pt = new Point(size * (2 * i + 1) / 10, size * (2 * j + 1) / 10); 203 Imgproc.circle(img, pt, 10, new Scalar(0), -1); 204 } 205 206 assertTrue(Calib3d.findCirclesGrid(img, new Size(5, 5), centers)); 207 208 assertEquals(25, centers.rows()); 209 assertEquals(1, centers.cols()); 210 assertEquals(CvType.CV_32FC2, centers.type()); 211 } 212 213 public void testFindCirclesGridMatSizeMatInt() { 214 int size = 300; 215 Mat img = new Mat(size, size, CvType.CV_8U); 216 img.setTo(new Scalar(255)); 217 Mat centers = new Mat(); 218 219 assertFalse(Calib3d.findCirclesGrid(img, new Size(3, 5), centers, Calib3d.CALIB_CB_CLUSTERING 220 | Calib3d.CALIB_CB_ASYMMETRIC_GRID)); 221 222 int step = size * 2 / 15; 223 int offsetx = size / 6; 224 int offsety = (size - 4 * step) / 2; 225 for (int i = 0; i < 3; i++) 226 for (int j = 0; j < 5; j++) { 227 Point pt = new Point(offsetx + (2 * i + j % 2) * step, offsety + step * j); 228 Imgproc.circle(img, pt, 10, new Scalar(0), -1); 229 } 230 231 assertTrue(Calib3d.findCirclesGrid(img, new Size(3, 5), centers, Calib3d.CALIB_CB_CLUSTERING 232 | Calib3d.CALIB_CB_ASYMMETRIC_GRID)); 233 234 assertEquals(15, centers.rows()); 235 assertEquals(1, centers.cols()); 236 assertEquals(CvType.CV_32FC2, centers.type()); 237 } 238 239 public void testFindFundamentalMatListOfPointListOfPoint() { 240 int minFundamentalMatPoints = 8; 241 242 MatOfPoint2f pts = new MatOfPoint2f(); 243 pts.alloc(minFundamentalMatPoints); 244 245 for (int i = 0; i < minFundamentalMatPoints; i++) { 246 double x = Math.random() * 100 - 50; 247 double y = Math.random() * 100 - 50; 248 pts.put(i, 0, x, y); //add(new Point(x, y)); 249 } 250 251 Mat fm = Calib3d.findFundamentalMat(pts, pts); 252 253 truth = new Mat(3, 3, CvType.CV_64F); 254 truth.put(0, 0, 0, -0.577, 0.288, 0.577, 0, 0.288, -0.288, -0.288, 0); 255 assertMatEqual(truth, fm, EPS); 256 } 257 258 public void testFindFundamentalMatListOfPointListOfPointInt() { 259 fail("Not yet implemented"); 260 } 261 262 public void testFindFundamentalMatListOfPointListOfPointIntDouble() { 263 fail("Not yet implemented"); 264 } 265 266 public void testFindFundamentalMatListOfPointListOfPointIntDoubleDouble() { 267 fail("Not yet implemented"); 268 } 269 270 public void testFindFundamentalMatListOfPointListOfPointIntDoubleDoubleMat() { 271 fail("Not yet implemented"); 272 } 273 274 public void testFindHomographyListOfPointListOfPoint() { 275 final int NUM = 20; 276 277 MatOfPoint2f originalPoints = new MatOfPoint2f(); 278 originalPoints.alloc(NUM); 279 MatOfPoint2f transformedPoints = new MatOfPoint2f(); 280 transformedPoints.alloc(NUM); 281 282 for (int i = 0; i < NUM; i++) { 283 double x = Math.random() * 100 - 50; 284 double y = Math.random() * 100 - 50; 285 originalPoints.put(i, 0, x, y); 286 transformedPoints.put(i, 0, y, x); 287 } 288 289 Mat hmg = Calib3d.findHomography(originalPoints, transformedPoints); 290 291 truth = new Mat(3, 3, CvType.CV_64F); 292 truth.put(0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1); 293 294 assertMatEqual(truth, hmg, EPS); 295 } 296 297 public void testFindHomographyListOfPointListOfPointInt() { 298 fail("Not yet implemented"); 299 } 300 301 public void testFindHomographyListOfPointListOfPointIntDouble() { 302 fail("Not yet implemented"); 303 } 304 305 public void testFindHomographyListOfPointListOfPointIntDoubleMat() { 306 fail("Not yet implemented"); 307 } 308 309 public void testGetOptimalNewCameraMatrixMatMatSizeDouble() { 310 fail("Not yet implemented"); 311 } 312 313 public void testGetOptimalNewCameraMatrixMatMatSizeDoubleSize() { 314 fail("Not yet implemented"); 315 } 316 317 public void testGetOptimalNewCameraMatrixMatMatSizeDoubleSizeRect() { 318 fail("Not yet implemented"); 319 } 320 321 public void testGetOptimalNewCameraMatrixMatMatSizeDoubleSizeRectBoolean() { 322 fail("Not yet implemented"); 323 } 324 325 public void testGetValidDisparityROI() { 326 fail("Not yet implemented"); 327 } 328 329 public void testInitCameraMatrix2DListOfMatListOfMatSize() { 330 fail("Not yet implemented"); 331 } 332 333 public void testInitCameraMatrix2DListOfMatListOfMatSizeDouble() { 334 fail("Not yet implemented"); 335 } 336 337 public void testMatMulDeriv() { 338 fail("Not yet implemented"); 339 } 340 341 public void testProjectPointsMatMatMatMatMatMat() { 342 fail("Not yet implemented"); 343 } 344 345 public void testProjectPointsMatMatMatMatMatMatMat() { 346 fail("Not yet implemented"); 347 } 348 349 public void testProjectPointsMatMatMatMatMatMatMatDouble() { 350 fail("Not yet implemented"); 351 } 352 353 public void testRectify3Collinear() { 354 fail("Not yet implemented"); 355 } 356 357 public void testReprojectImageTo3DMatMatMat() { 358 Mat transformMatrix = new Mat(4, 4, CvType.CV_64F); 359 transformMatrix.put(0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1); 360 361 Mat disparity = new Mat(matSize, matSize, CvType.CV_32F); 362 363 float[] disp = new float[matSize * matSize]; 364 for (int i = 0; i < matSize; i++) 365 for (int j = 0; j < matSize; j++) 366 disp[i * matSize + j] = i - j; 367 disparity.put(0, 0, disp); 368 369 Mat _3dPoints = new Mat(); 370 371 Calib3d.reprojectImageTo3D(disparity, _3dPoints, transformMatrix); 372 373 assertEquals(CvType.CV_32FC3, _3dPoints.type()); 374 assertEquals(matSize, _3dPoints.rows()); 375 assertEquals(matSize, _3dPoints.cols()); 376 377 truth = new Mat(matSize, matSize, CvType.CV_32FC3); 378 379 float[] _truth = new float[matSize * matSize * 3]; 380 for (int i = 0; i < matSize; i++) 381 for (int j = 0; j < matSize; j++) { 382 _truth[(i * matSize + j) * 3 + 0] = i; 383 _truth[(i * matSize + j) * 3 + 1] = j; 384 _truth[(i * matSize + j) * 3 + 2] = i - j; 385 } 386 truth.put(0, 0, _truth); 387 388 assertMatEqual(truth, _3dPoints, EPS); 389 } 390 391 public void testReprojectImageTo3DMatMatMatBoolean() { 392 Mat transformMatrix = new Mat(4, 4, CvType.CV_64F); 393 transformMatrix.put(0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1); 394 395 Mat disparity = new Mat(matSize, matSize, CvType.CV_32F); 396 397 float[] disp = new float[matSize * matSize]; 398 for (int i = 0; i < matSize; i++) 399 for (int j = 0; j < matSize; j++) 400 disp[i * matSize + j] = i - j; 401 disp[0] = -Float.MAX_VALUE; 402 disparity.put(0, 0, disp); 403 404 Mat _3dPoints = new Mat(); 405 406 Calib3d.reprojectImageTo3D(disparity, _3dPoints, transformMatrix, true); 407 408 assertEquals(CvType.CV_32FC3, _3dPoints.type()); 409 assertEquals(matSize, _3dPoints.rows()); 410 assertEquals(matSize, _3dPoints.cols()); 411 412 truth = new Mat(matSize, matSize, CvType.CV_32FC3); 413 414 float[] _truth = new float[matSize * matSize * 3]; 415 for (int i = 0; i < matSize; i++) 416 for (int j = 0; j < matSize; j++) { 417 _truth[(i * matSize + j) * 3 + 0] = i; 418 _truth[(i * matSize + j) * 3 + 1] = j; 419 _truth[(i * matSize + j) * 3 + 2] = i - j; 420 } 421 _truth[2] = 10000; 422 truth.put(0, 0, _truth); 423 424 assertMatEqual(truth, _3dPoints, EPS); 425 } 426 427 public void testReprojectImageTo3DMatMatMatBooleanInt() { 428 Mat transformMatrix = new Mat(4, 4, CvType.CV_64F); 429 transformMatrix.put(0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1); 430 431 Mat disparity = new Mat(matSize, matSize, CvType.CV_32F); 432 433 float[] disp = new float[matSize * matSize]; 434 for (int i = 0; i < matSize; i++) 435 for (int j = 0; j < matSize; j++) 436 disp[i * matSize + j] = i - j; 437 disparity.put(0, 0, disp); 438 439 Mat _3dPoints = new Mat(); 440 441 Calib3d.reprojectImageTo3D(disparity, _3dPoints, transformMatrix, false, CvType.CV_16S); 442 443 assertEquals(CvType.CV_16SC3, _3dPoints.type()); 444 assertEquals(matSize, _3dPoints.rows()); 445 assertEquals(matSize, _3dPoints.cols()); 446 447 truth = new Mat(matSize, matSize, CvType.CV_16SC3); 448 449 short[] _truth = new short[matSize * matSize * 3]; 450 for (short i = 0; i < matSize; i++) 451 for (short j = 0; j < matSize; j++) { 452 _truth[(i * matSize + j) * 3 + 0] = i; 453 _truth[(i * matSize + j) * 3 + 1] = j; 454 _truth[(i * matSize + j) * 3 + 2] = (short) (i - j); 455 } 456 truth.put(0, 0, _truth); 457 458 assertMatEqual(truth, _3dPoints, EPS); 459 } 460 461 public void testRodriguesMatMat() { 462 Mat r = new Mat(3, 1, CvType.CV_32F); 463 Mat R = new Mat(3, 3, CvType.CV_32F); 464 465 r.put(0, 0, Math.PI, 0, 0); 466 467 Calib3d.Rodrigues(r, R); 468 469 truth = new Mat(3, 3, CvType.CV_32F); 470 truth.put(0, 0, 1, 0, 0, 0, -1, 0, 0, 0, -1); 471 assertMatEqual(truth, R, EPS); 472 473 Mat r2 = new Mat(); 474 Calib3d.Rodrigues(R, r2); 475 476 assertMatEqual(r, r2, EPS); 477 } 478 479 public void testRodriguesMatMatMat() { 480 fail("Not yet implemented"); 481 } 482 483 public void testRQDecomp3x3MatMatMat() { 484 fail("Not yet implemented"); 485 } 486 487 public void testRQDecomp3x3MatMatMatMat() { 488 fail("Not yet implemented"); 489 } 490 491 public void testRQDecomp3x3MatMatMatMatMat() { 492 fail("Not yet implemented"); 493 } 494 495 public void testRQDecomp3x3MatMatMatMatMatMat() { 496 fail("Not yet implemented"); 497 } 498 499 public void testSolvePnPListOfPoint3ListOfPointMatMatMatMat() { 500 Mat intrinsics = Mat.eye(3, 3, CvType.CV_32F); 501 intrinsics.put(0, 0, 400); 502 intrinsics.put(1, 1, 400); 503 intrinsics.put(0, 2, 640 / 2); 504 intrinsics.put(1, 2, 480 / 2); 505 506 final int minPnpPointsNum = 4; 507 508 MatOfPoint3f points3d = new MatOfPoint3f(); 509 points3d.alloc(minPnpPointsNum); 510 MatOfPoint2f points2d = new MatOfPoint2f(); 511 points2d.alloc(minPnpPointsNum); 512 513 for (int i = 0; i < minPnpPointsNum; i++) { 514 double x = Math.random() * 100 - 50; 515 double y = Math.random() * 100 - 50; 516 points2d.put(i, 0, x, y); //add(new Point(x, y)); 517 points3d.put(i, 0, 0, y, x); // add(new Point3(0, y, x)); 518 } 519 520 Mat rvec = new Mat(); 521 Mat tvec = new Mat(); 522 Calib3d.solvePnP(points3d, points2d, intrinsics, new MatOfDouble(), rvec, tvec); 523 524 Mat truth_rvec = new Mat(3, 1, CvType.CV_64F); 525 truth_rvec.put(0, 0, 0, Math.PI / 2, 0); 526 527 Mat truth_tvec = new Mat(3, 1, CvType.CV_64F); 528 truth_tvec.put(0, 0, -320, -240, 400); 529 530 assertMatEqual(truth_rvec, rvec, EPS); 531 assertMatEqual(truth_tvec, tvec, EPS); 532 } 533 534 public void testSolvePnPListOfPoint3ListOfPointMatMatMatMatBoolean() { 535 fail("Not yet implemented"); 536 } 537 538 public void testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMat() { 539 fail("Not yet implemented"); 540 } 541 542 public void testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBoolean() { 543 fail("Not yet implemented"); 544 } 545 546 public void testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBooleanInt() { 547 fail("Not yet implemented"); 548 } 549 550 public void testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBooleanIntFloat() { 551 fail("Not yet implemented"); 552 } 553 554 public void testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBooleanIntFloatInt() { 555 fail("Not yet implemented"); 556 } 557 558 public void testSolvePnPRansacListOfPoint3ListOfPointMatMatMatMatBooleanIntFloatIntMat() { 559 fail("Not yet implemented"); 560 } 561 562 public void testStereoCalibrateListOfMatListOfMatListOfMatMatMatMatMatSizeMatMatMatMat() { 563 fail("Not yet implemented"); 564 } 565 566 public void testStereoCalibrateListOfMatListOfMatListOfMatMatMatMatMatSizeMatMatMatMatTermCriteria() { 567 fail("Not yet implemented"); 568 } 569 570 public void testStereoCalibrateListOfMatListOfMatListOfMatMatMatMatMatSizeMatMatMatMatTermCriteriaInt() { 571 fail("Not yet implemented"); 572 } 573 574 public void testStereoRectifyUncalibratedMatMatMatSizeMatMat() { 575 fail("Not yet implemented"); 576 } 577 578 public void testStereoRectifyUncalibratedMatMatMatSizeMatMatDouble() { 579 fail("Not yet implemented"); 580 } 581 582 public void testValidateDisparityMatMatIntInt() { 583 fail("Not yet implemented"); 584 } 585 586 public void testValidateDisparityMatMatIntIntInt() { 587 fail("Not yet implemented"); 588 } 589 590 public void testComputeCorrespondEpilines() 591 { 592 Mat fundamental = new Mat(3, 3, CvType.CV_64F); 593 fundamental.put(0, 0, 0, -0.577, 0.288, 0.577, 0, 0.288, -0.288, -0.288, 0); 594 MatOfPoint2f left = new MatOfPoint2f(); 595 left.alloc(1); 596 left.put(0, 0, 2, 3); //add(new Point(x, y)); 597 Mat lines = new Mat(); 598 Mat truth = new Mat(1, 1, CvType.CV_32FC3); 599 truth.put(0, 0, -0.70735186, 0.70686162, -0.70588124); 600 Calib3d.computeCorrespondEpilines(left, 1, fundamental, lines); 601 assertMatEqual(truth, lines, EPS); 602 } 603 } 604
