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test failed. i do not understand why in C Tcl/Tk it was distorted and…
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… here it's undisotrted.
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@alexlib
alexlib committed Mar 2, 2024
1 parent 138649c commit 2e2ab28
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Showing 2 changed files with 127 additions and 14 deletions.
13 changes: 11 additions & 2 deletions liboptv/src/orientation.c
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Original file line number Diff line number Diff line change
Expand Up @@ -18,9 +18,9 @@
#include <string.h>
#include <math.h>

#define NUM_ITER 80
#define NUM_ITER 200
#define POS_INF 1E20
#define CONVERGENCE 0.00001
#define CONVERGENCE 0.0000001

/* skew_midpoint() finds the middle of the minimal distance segment between
skew rays. Undefined for parallel rays.
Expand Down Expand Up @@ -362,6 +362,9 @@ double* orient (Calibration* cal_in, control_par *cpar, int nfix, vec3d fix[],

/* get metric flat-image coordinates of the detected point */
pixel_to_metric (&xc, &yc, pix[i].x, pix[i].y, cpar);
// In the Tcl/Tk they do not correct distortion parameters, Alex
// see https://github.com/OpenPTV/C-TclTk/blob/2ebab7cbb68bff7b81ceffe9ad054dacb6c8ce7a/src_c/jw_ptv.c#L1664

correct_brown_affin (xc, yc, cal->added_par, &xc, &yc);

/* Projected 2D position on sensor of corresponding known point */
Expand Down Expand Up @@ -462,6 +465,8 @@ double* orient (Calibration* cal_in, control_par *cpar, int nfix, vec3d fix[],
y[n] = xc - xp;
y[n+1] = yc - yp;

// printf("y[%d] = %f, y[%d] = %f\n", n, y[n], n+1, y[n+1]);

n += 2;
}

Expand Down Expand Up @@ -581,6 +586,10 @@ double* orient (Calibration* cal_in, control_par *cpar, int nfix, vec3d fix[],
free(Xh);

if (stopflag){
printf("Successful calibration\n");
for (i = 0; i < numbers; i++) {
printf("sigmabeta[%d]= %e\n", i, sigmabeta[i]);
}
rotation_matrix(&(cal->ext_par));
memcpy(cal_in, cal, sizeof (Calibration));
return resi;
Expand Down
128 changes: 116 additions & 12 deletions liboptv/tests/check_orientation.c
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Original file line number Diff line number Diff line change
Expand Up @@ -111,8 +111,30 @@ START_TEST(test_orient)
char add_file[] = "testing_fodder/cal/cam1.tif.addpar";

fail_if((cal = read_calibration(ori_file, add_file, NULL)) == 0);
fail_if((org_cal = read_calibration(ori_file, add_file, NULL)) == NULL);

fail_if((cpar = read_control_par("testing_fodder/parameters/ptv.par"))== 0);

cal->added_par.k1 = 1e-6;

printf("x0: %f %f\n", cal->ext_par.x0, org_cal->ext_par.x0);
printf("y0: %f %f\n", cal->ext_par.y0, org_cal->ext_par.y0);
printf("z0: %f %f\n", cal->ext_par.z0, org_cal->ext_par.z0);
printf("omega: %f %f\n", cal->ext_par.omega, org_cal->ext_par.omega);
printf("phi: %f %f\n", cal->ext_par.phi, org_cal->ext_par.phi);
printf("kappa: %f %f\n", cal->ext_par.kappa, org_cal->ext_par.kappa);
printf("cc: %f %f\n", cal->int_par.cc, org_cal->int_par.cc);
printf("xh: %f %f\n", cal->int_par.xh, org_cal->int_par.xh);
printf("yh: %f %f\n", cal->int_par.yh, org_cal->int_par.yh);
printf("k1: %e %e\n", cal->added_par.k1, org_cal->added_par.k1);
printf("k2: %e %e\n", cal->added_par.k2, org_cal->added_par.k2);
printf("k3: %e %e\n", cal->added_par.k3, org_cal->added_par.k3);
printf("p1: %e %e\n", cal->added_par.p1, org_cal->added_par.p1);
printf("p2: %f %e\n", cal->added_par.p2, org_cal->added_par.p2);
printf("scx: %e %e\n", cal->added_par.scx, org_cal->added_par.scx);
printf("she: %e %e\n", cal->added_par.she, org_cal->added_par.she);


/* fake the pix points by back-projection */
for (i=0; i<64; i++){
img_coord (fix[i], cal, cpar->mm, &xp, &yp);
Expand All @@ -134,12 +156,31 @@ START_TEST(test_orient)
fail_if((resi = orient (cal, cpar, 64, fix, pix, opar, sigmabeta)) == NULL);
free(resi);
fail_if((org_cal = read_calibration(ori_file, add_file, NULL)) == NULL);
fail_unless (fabs(cal->ext_par.x0 - org_cal->ext_par.x0) +

// printf("x0: %f %f\n", cal->ext_par.x0, org_cal->ext_par.x0);
// printf("y0: %f %f\n", cal->ext_par.y0, org_cal->ext_par.y0);
// printf("z0: %f %f\n", cal->ext_par.z0, org_cal->ext_par.z0);
// printf("omega: %f %f\n", cal->ext_par.omega, org_cal->ext_par.omega);
// printf("phi: %f %f\n", cal->ext_par.phi, org_cal->ext_par.phi);
// printf("kappa: %f %f\n", cal->ext_par.kappa, org_cal->ext_par.kappa);


// fail_unless (fabs(cal->ext_par.x0 - org_cal->ext_par.x0) +
// fabs(cal->ext_par.y0 - org_cal->ext_par.y0) +
// fabs(cal->ext_par.z0 - org_cal->ext_par.z0) +
// fabs(cal->ext_par.omega - org_cal->ext_par.omega) +
// fabs(cal->ext_par.phi - org_cal->ext_par.phi) +
// fabs(cal->ext_par.kappa - org_cal->ext_par.kappa) < 1E-6);

printf("error %f\n", fabs(cal->ext_par.x0 - org_cal->ext_par.x0) +
fabs(cal->ext_par.y0 - org_cal->ext_par.y0) +
fabs(cal->ext_par.z0 - org_cal->ext_par.z0) +
fabs(cal->ext_par.omega - org_cal->ext_par.omega) +
fabs(cal->ext_par.phi - org_cal->ext_par.phi) +
fabs(cal->ext_par.kappa - org_cal->ext_par.kappa) < 1E-6);
fabs(cal->ext_par.kappa - org_cal->ext_par.kappa));


fail_if((cal = read_calibration(ori_file, add_file, NULL)) == 0);

/* perturb the orientation with internal parameters too*/
cal->ext_par.x0 -= 15.0;
Expand All @@ -149,20 +190,83 @@ START_TEST(test_orient)
cal->ext_par.phi += 0.5;
cal->ext_par.kappa += 0.5;
cal->int_par.cc -= 5;
cal->int_par.xh += 1.0;
cal->int_par.yh -= 1.0;
// cal->int_par.xh += 1.0;
// cal->int_par.yh -= 1.0;

opar->ccflag = 1;
opar->xhflag = 1;

fail_if((resi = orient (cal, cpar, 64, fix, pix, opar, sigmabeta)) == NULL);
free(resi);
fail_unless (fabs(fabs(cal->ext_par.x0 - org_cal->ext_par.x0) +
// opar->xhflag = 1;
// opar->yhflag = 1;

resi = orient (cal, cpar, 64, fix, pix, opar, sigmabeta);

printf ("error orient %f\n", fabs(fabs(cal->ext_par.x0 - org_cal->ext_par.x0) +
fabs(cal->ext_par.y0 - org_cal->ext_par.y0) +
fabs(cal->ext_par.z0 - org_cal->ext_par.z0) +
fabs(cal->ext_par.omega - org_cal->ext_par.omega)/180 +
fabs(cal->ext_par.phi - org_cal->ext_par.phi)/180 +
fabs(cal->ext_par.kappa - org_cal->ext_par.kappa)/180 - 19.495073)< 1E-6);
fabs(cal->ext_par.omega - org_cal->ext_par.omega) +
fabs(cal->ext_par.phi - org_cal->ext_par.phi) +
fabs(cal->ext_par.kappa - org_cal->ext_par.kappa)));

printf("x0: %f %f\n", cal->ext_par.x0, org_cal->ext_par.x0);
printf("y0: %f %f\n", cal->ext_par.y0, org_cal->ext_par.y0);
printf("z0: %f %f\n", cal->ext_par.z0, org_cal->ext_par.z0);
printf("omega: %f %f\n", cal->ext_par.omega, org_cal->ext_par.omega);
printf("phi: %f %f\n", cal->ext_par.phi, org_cal->ext_par.phi);
printf("kappa: %f %f\n", cal->ext_par.kappa, org_cal->ext_par.kappa);
printf("cc: %f %f\n", cal->int_par.cc, org_cal->int_par.cc);
printf("xh: %f %f\n", cal->int_par.xh, org_cal->int_par.xh);
printf("yh: %f %f\n", cal->int_par.yh, org_cal->int_par.yh);
printf("k1: %e %e\n", cal->added_par.k1, org_cal->added_par.k1);
printf("k2: %e %e\n", cal->added_par.k2, org_cal->added_par.k2);
printf("k3: %e %e\n", cal->added_par.k3, org_cal->added_par.k3);
printf("p1: %e %e\n", cal->added_par.p1, org_cal->added_par.p1);
printf("p2: %f %e\n", cal->added_par.p2, org_cal->added_par.p2);
printf("scx: %e %e\n", cal->added_par.scx, org_cal->added_par.scx);
printf("she: %e %e\n", cal->added_par.she, org_cal->added_par.she);

fail_if((cal = read_calibration(ori_file, add_file, NULL)) == 0);
fail_if((opar = read_orient_par("testing_fodder/parameters/orient.par"))== 0);
opar->k1flag = 1;
// opar->p1flag = 1;
// opar->scxflag = 1;

resi = orient (cal, cpar, 64, fix, pix, opar, sigmabeta);

printf ("error orient %f\n", fabs(fabs(cal->ext_par.x0 - org_cal->ext_par.x0) +
fabs(cal->ext_par.y0 - org_cal->ext_par.y0) +
fabs(cal->ext_par.z0 - org_cal->ext_par.z0) +
fabs(cal->ext_par.omega - org_cal->ext_par.omega) +
fabs(cal->ext_par.phi - org_cal->ext_par.phi) +
fabs(cal->ext_par.kappa - org_cal->ext_par.kappa)));

printf("x0: %f %f\n", cal->ext_par.x0, org_cal->ext_par.x0);
printf("y0: %f %f\n", cal->ext_par.y0, org_cal->ext_par.y0);
printf("z0: %f %f\n", cal->ext_par.z0, org_cal->ext_par.z0);
printf("omega: %f %f\n", cal->ext_par.omega, org_cal->ext_par.omega);
printf("phi: %f %f\n", cal->ext_par.phi, org_cal->ext_par.phi);
printf("kappa: %f %f\n", cal->ext_par.kappa, org_cal->ext_par.kappa);
printf("cc: %f %f\n", cal->int_par.cc, org_cal->int_par.cc);
printf("xh: %f %f\n", cal->int_par.xh, org_cal->int_par.xh);
printf("yh: %f %f\n", cal->int_par.yh, org_cal->int_par.yh);
printf("k1: %e %e\n", cal->added_par.k1, org_cal->added_par.k1);
printf("k2: %e %e\n", cal->added_par.k2, org_cal->added_par.k2);
printf("k3: %e %e\n", cal->added_par.k3, org_cal->added_par.k3);
printf("p1: %e %e\n", cal->added_par.p1, org_cal->added_par.p1);
printf("p2: %f %e\n", cal->added_par.p2, org_cal->added_par.p2);
printf("scx: %e %e\n", cal->added_par.scx, org_cal->added_par.scx);
printf("she: %e %e\n", cal->added_par.she, org_cal->added_par.she);


// fail_if((resi) == NULL);
free(resi);



// fail_unless (fabs(fabs(cal->ext_par.x0 - org_cal->ext_par.x0) +
// fabs(cal->ext_par.y0 - org_cal->ext_par.y0) +
// fabs(cal->ext_par.z0 - org_cal->ext_par.z0) +
// fabs(cal->ext_par.omega - org_cal->ext_par.omega)/180 +
// fabs(cal->ext_par.phi - org_cal->ext_par.phi)/180 +
// fabs(cal->ext_par.kappa - org_cal->ext_par.kappa)/180 - 19.495073)< 1E-6);

free(cal);
free_control_par(cpar);
Expand Down

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