mirror/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2024-11-27 20:50:25 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Fix stereoRectify image boundaries.

Browse Source 
This should hav ebeen fixed with https://github.com/opencv/opencv/issues/23304
This commit is contained in:
Vincent Rabaud 2023-07-20 17:54:42 +02:00 committed by Alexander Smorkalov
parent 1794cdc03c
commit 15815fb54d
2 changed files with 52 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
modules/calib3d/src/calibration.cpp
View File

@ -2699,11 +2699,11 @@ void cvStereoRectify( const CvMat* _cameraMatrix1, const CvMat* _cameraMatrix2,
if( alpha >= 0 )
{
double s0 = std::max(std::max(std::max((double)cx1/(cx1_0 - inner1.x), (double)cy1/(cy1_0 - inner1.y)),
(double)(newImgSize.width - cx1)/(inner1.x + inner1.width - cx1_0)),
(double)(newImgSize.height - cy1)/(inner1.y + inner1.height - cy1_0));
(double)(newImgSize.width - 1 - cx1)/(inner1.x + inner1.width - cx1_0)),
(double)(newImgSize.height - 1 - cy1)/(inner1.y + inner1.height - cy1_0));
s0 = std::max(std::max(std::max(std::max((double)cx2/(cx2_0 - inner2.x), (double)cy2/(cy2_0 - inner2.y)),
(double)(newImgSize.width - cx2)/(inner2.x + inner2.width - cx2_0)),
(double)(newImgSize.height - cy2)/(inner2.y + inner2.height - cy2_0)),
(double)(newImgSize.width - 1 - cx2)/(inner2.x + inner2.width - cx2_0)),
(double)(newImgSize.height - 1 - cy2)/(inner2.y + inner2.height - cy2_0)),
s0);
double s1 = std::min(std::min(std::min((double)cx1/(cx1_0 - outer1.x), (double)cy1/(cy1_0 - outer1.y)),

48
modules/calib3d/test/test_cameracalibration.cpp
View File

@ -2150,6 +2150,54 @@ TEST(Calib3d_StereoCalibrate, regression_11131)
EXPECT_GE(roi2.area(), 400*300) << roi2;
}
TEST(Calib3d_StereoCalibrate, regression_23305)
{
const Matx33d M1(
850, 0, 640,
0, 850, 640,
0, 0, 1
);
const Matx34d P1_gold(
850, 0, 640, 0,
0, 850, 640, 0,
0, 0, 1, 0
);
const Matx33d M2(
850, 0, 640,
0, 850, 640,
0, 0, 1
);
const Matx34d P2_gold(
850, 0, 640, -2*850, // correcponds to T(-2., 0., 0.)
0, 850, 640, 0,
0, 0, 1, 0
);
const Matx<double, 5, 1> D1(0, 0, 0, 0, 0);
const Matx<double, 5, 1> D2(0, 0, 0, 0, 0);
const Matx33d R(
1., 0., 0.,
0., 1., 0.,
0., 0., 1.
);
const Matx31d T(-2., 0., 0.);
const Size imageSize(1280, 1280);
Mat R1, R2, P1, P2, Q;
Rect roi1, roi2;
stereoRectify(M1, D1, M2, D2, imageSize, R, T,
R1, R2, P1, P2, Q,
CALIB_ZERO_DISPARITY, 0, imageSize, &roi1, &roi2);
EXPECT_EQ(cv::norm(P1, P1_gold), 0.);
EXPECT_EQ(cv::norm(P2, P2_gold), 0.);
}
TEST(Calib3d_Triangulate, accuracy)
{
// the testcase from http://code.opencv.org/issues/4334