Re-ordered and cleaned up tests, added derivative tests for image center
Frank dellaert
parent
83d0b9d3ff
commit
4f07aeb859
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@ -10,17 +10,18 @@
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* -------------------------------------------------------------------------- */
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/**
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* @file testCal3Fisheye.cpp
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* @file testCal3DFisheye.cpp
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* @brief Unit tests for fisheye calibration class
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* @author ghaggin
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*/
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/base/Testable.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <gtsam/geometry/Cal3Fisheye.h>
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#include <gtsam/geometry/Point3.h>
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#include <CppUnitLite/TestHarness.h>
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using namespace gtsam;
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GTSAM_CONCEPT_TESTABLE_INST(Cal3Fisheye)
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@ -30,12 +31,27 @@ static const double fx = 250, fy = 260, s = 0.1, u0 = 320, v0 = 240;
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static Cal3Fisheye K(fx, fy, s, u0, v0, -0.013721808247486035,
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0.020727425669427896, -0.012786476702685545,
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0.0025242267320687625);
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static Point2 p(2, 3);
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static Point2 kTestPoint2(2, 3);
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/* ************************************************************************* */
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TEST(Cal3Fisheye, assert_equal) { CHECK(assert_equal(K, K, 1e-5)); }
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/* ************************************************************************* */
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TEST(Cal3Fisheye, retract) {
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Cal3Fisheye expected(K.fx() + 1, K.fy() + 2, K.skew() + 3, K.px() + 4,
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K.py() + 5, K.k1() + 6, K.k2() + 7, K.k3() + 8,
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K.k4() + 9);
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Vector d(9);
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d << 1, 2, 3, 4, 5, 6, 7, 8, 9;
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Cal3Fisheye actual = K.retract(d);
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CHECK(assert_equal(expected, actual, 1e-7));
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CHECK(assert_equal(d, K.localCoordinates(actual), 1e-7));
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}
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/* ************************************************************************* */
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TEST(Cal3Fisheye, uncalibrate1) {
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// Calculate the solution
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const double xi = p.x(), yi = p.y();
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const double xi = kTestPoint2.x(), yi = kTestPoint2.y();
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const double r = sqrt(xi * xi + yi * yi);
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const double t = atan(r);
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const double tt = t * t, t4 = tt * tt, t6 = tt * t4, t8 = t4 * t4;
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@ -46,32 +62,42 @@ TEST(Cal3Fisheye, uncalibrate1) {
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Point2 uv_sol(v[0] / v[2], v[1] / v[2]);
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Point2 uv = K.uncalibrate(p);
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Point2 uv = K.uncalibrate(kTestPoint2);
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CHECK(assert_equal(uv, uv_sol));
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}
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/* ************************************************************************* */
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/**
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* Check that a point at (0,0) projects to the
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* image center.
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*/
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TEST(Cal3Fisheye, uncalibrate2) {
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Point2 pz(0, 0);
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auto uv = K.uncalibrate(pz);
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CHECK(assert_equal(uv, Point2(u0, v0)));
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// For numerical derivatives
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Point2 f(const Cal3Fisheye& k, const Point2& pt) { return k.uncalibrate(pt); }
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/* ************************************************************************* */
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TEST(Cal3Fisheye, Derivatives) {
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Matrix H1, H2;
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K.uncalibrate(kTestPoint2, H1, H2);
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CHECK(assert_equal(numericalDerivative21(f, K, kTestPoint2, 1e-7), H1, 1e-5));
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CHECK(assert_equal(numericalDerivative22(f, K, kTestPoint2, 1e-7), H2, 1e-5));
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}
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/* ************************************************************************* */
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/**
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* This test uses cv2::fisheye::projectPoints to test that uncalibrate
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* properly projects a point into the image plane. One notable difference
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* between opencv and the Cal3Fisheye::uncalibrate function is the skew
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* parameter. The equivalence is alpha = s/fx.
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*
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*
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* Python script to project points with fisheye model in OpenCv
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* (script run with OpenCv version 4.2.0 and Numpy version 1.18.2)
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*/
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// Check that a point at (0,0) projects to the image center.
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TEST(Cal3Fisheye, uncalibrate2) {
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Point2 pz(0, 0);
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Matrix H1, H2;
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auto uv = K.uncalibrate(pz, H1, H2);
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CHECK(assert_equal(uv, Point2(u0, v0)));
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CHECK(assert_equal(numericalDerivative21(f, K, pz, 1e-7), H1, 1e-5));
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// TODO(frank): the second jacobian is all NaN for the image center!
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// CHECK(assert_equal(numericalDerivative22(f, K, pz, 1e-7), H2, 1e-5));
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}
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/* ************************************************************************* */
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// This test uses cv2::fisheye::projectPoints to test that uncalibrate
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// properly projects a point into the image plane. One notable difference
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// between opencv and the Cal3Fisheye::uncalibrate function is the skew
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// parameter. The equivalence is alpha = s/fx.
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//
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// Python script to project points with fisheye model in OpenCv
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// (script run with OpenCv version 4.2.0 and Numpy version 1.18.2)
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// clang-format off
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/*
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===========================================================
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@ -94,6 +120,7 @@ tvec = np.float64([[0.,0.,0.]]);
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imagePoints, jacobian = cv2.fisheye.projectPoints(objpts, rvec, tvec, cameraMatrix, distCoeffs, alpha=alpha)
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np.set_printoptions(precision=14)
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print(imagePoints)
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===========================================================
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* Script output: [[[457.82638130304935 408.18905848512986]]]
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*/
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@ -134,21 +161,18 @@ TEST(Cal3Fisheye, calibrate1) {
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}
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/* ************************************************************************* */
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/**
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* Check that calibrate returns (0,0) for the image center
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*/
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// Check that calibrate returns (0,0) for the image center
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TEST(Cal3Fisheye, calibrate2) {
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Point2 uv(u0, v0);
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auto xi_hat = K.calibrate(uv);
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CHECK(assert_equal(xi_hat, Point2(0, 0)))
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}
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/**
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* Run calibrate on OpenCv test from uncalibrate3
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* (script shown above)
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* 3d point: (23, 27, 31)
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* 2d point in image plane: (457.82638130304935, 408.18905848512986)
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*/
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/* ************************************************************************* */
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// Run calibrate on OpenCv test from uncalibrate3
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// (script shown above)
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// 3d point: (23, 27, 31)
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// 2d point in image plane: (457.82638130304935, 408.18905848512986)
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TEST(Cal3Fisheye, calibrate3) {
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Point3 p3(23, 27, 31);
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Point2 xi(p3.x() / p3.z(), p3.y() / p3.z());
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@ -157,47 +181,6 @@ TEST(Cal3Fisheye, calibrate3) {
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CHECK(assert_equal(xi_hat, xi));
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}
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/* ************************************************************************* */
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// For numerical derivatives
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Point2 uncalibrate_(const Cal3Fisheye& k, const Point2& pt) {
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return k.uncalibrate(pt);
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}
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/* ************************************************************************* */
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TEST(Cal3Fisheye, Duncalibrate1) {
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Matrix computed;
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K.uncalibrate(p, computed, boost::none);
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Matrix numerical = numericalDerivative21(uncalibrate_, K, p, 1e-7);
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CHECK(assert_equal(numerical, computed, 1e-5));
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Matrix separate = K.D2d_calibration(p);
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CHECK(assert_equal(numerical, separate, 1e-5));
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}
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/* ************************************************************************* */
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TEST(Cal3Fisheye, Duncalibrate2) {
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Matrix computed;
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K.uncalibrate(p, boost::none, computed);
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Matrix numerical = numericalDerivative22(uncalibrate_, K, p, 1e-7);
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CHECK(assert_equal(numerical, computed, 1e-5));
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Matrix separate = K.D2d_intrinsic(p);
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CHECK(assert_equal(numerical, separate, 1e-5));
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}
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/* ************************************************************************* */
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TEST(Cal3Fisheye, assert_equal) { CHECK(assert_equal(K, K, 1e-5)); }
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/* ************************************************************************* */
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TEST(Cal3Fisheye, retract) {
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Cal3Fisheye expected(K.fx() + 1, K.fy() + 2, K.skew() + 3, K.px() + 4,
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K.py() + 5, K.k1() + 6, K.k2() + 7, K.k3() + 8,
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K.k4() + 9);
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Vector d(9);
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d << 1, 2, 3, 4, 5, 6, 7, 8, 9;
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Cal3Fisheye actual = K.retract(d);
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CHECK(assert_equal(expected, actual, 1e-7));
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CHECK(assert_equal(d, K.localCoordinates(actual), 1e-7));
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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