void evaluateCluster()
{
int turn;
cv::Mat leftPoints(LeftCluster.size(), 2, CV_32F);
cv::Mat rightPoints(RightCluster.size(), 2, CV_32F);
left_turn_point = switchRows(leftPoints, LeftCluster);
right_turn_point = switchRows(rightPoints, RightCluster);
if (left_turn_point > 400 && right_turn_point > 400)
{
//we say its time to turn
turn_over(leftPoints, LeftCluster)
turn_over(rightPoints, RightCluster)
turnPub.publish(turnPoses);
turnPoses.poses.clear();
}
else
{
straight(leftPoints, LeftCluster);
straight(rightPoints, RightCluster);
//Publish four points KAYL
straightPub.publish(straightPoses);
straightPoses.poses.clear();
}
}
TEST_F(fisheyeTest, stereoCalibrateFixIntrinsic)
{
const int n_images = 34;
const std::string folder =combine(datasets_repository_path, "calib-3_stereo_from_JY");
std::vector<std::vector<cv::Point2d> > leftPoints(n_images);
std::vector<std::vector<cv::Point2d> > rightPoints(n_images);
std::vector<std::vector<cv::Point3d> > objectPoints(n_images);
cv::FileStorage fs_left(combine(folder, "left.xml"), cv::FileStorage::READ);
CV_Assert(fs_left.isOpened());
for(int i = 0; i < n_images; ++i)
fs_left[cv::format("image_%d", i )] >> leftPoints[i];
fs_left.release();
cv::FileStorage fs_right(combine(folder, "right.xml"), cv::FileStorage::READ);
CV_Assert(fs_right.isOpened());
for(int i = 0; i < n_images; ++i)
fs_right[cv::format("image_%d", i )] >> rightPoints[i];
fs_right.release();
cv::FileStorage fs_object(combine(folder, "object.xml"), cv::FileStorage::READ);
CV_Assert(fs_object.isOpened());
for(int i = 0; i < n_images; ++i)
fs_object[cv::format("image_%d", i )] >> objectPoints[i];
fs_object.release();
cv::Matx33d theR;
cv::Vec3d theT;
int flag = 0;
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::fisheye::CALIB_CHECK_COND;
flag |= cv::fisheye::CALIB_FIX_SKEW;
flag |= cv::fisheye::CALIB_FIX_INTRINSIC;
cv::Matx33d K1 (561.195925927249, 0, 621.282400272412,
0, 562.849402029712, 380.555455380889,
0, 0, 1);
cv::Matx33d K2 (560.395452535348, 0, 678.971652040359,
0, 561.90171021422, 380.401340535339,
0, 0, 1);
cv::Vec4d D1 (-7.44253716539556e-05, -0.00702662033932424, 0.00737569823650885, -0.00342230256441771);
cv::Vec4d D2 (-0.0130785435677431, 0.0284434505383497, -0.0360333869900506, 0.0144724062347222);
cv::fisheye::stereoCalibrate(objectPoints, leftPoints, rightPoints,
K1, D1, K2, D2, imageSize, theR, theT, flag,
cv::TermCriteria(3, 12, 0));
cv::Matx33d R_correct( 0.9975587205950972, 0.06953016383322372, 0.006492709911733523,
-0.06956823121068059, 0.9975601387249519, 0.005833595226966235,
-0.006071257768382089, -0.006271040135405457, 0.9999619062167968);
cv::Vec3d T_correct(-0.099402724724121, 0.00270812139265413, 0.00129330292472699);
EXPECT_MAT_NEAR(theR, R_correct, 1e-10);
EXPECT_MAT_NEAR(theT, T_correct, 1e-10);
}
