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Merge remote-tracking branch 'upstream/3.4' into merge-3.4

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This commit is contained in:
Alexander Alekhin 2022-12-27 08:58:28 +00:00
commit 38f7cd7173
3 changed files with 56 additions and 34 deletions
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8
modules/calib3d/misc/java/test/Calib3dTest.java
View File

@ -835,10 +835,10 @@ public class Calib3dTest extends OpenCVTestCase {
D.put(2,0,-0.021509225493198905);
D.put(3,0,0.0043378096628297145);
K_new_truth.put(0,0, 387.4809086880343);
K_new_truth.put(0,2, 1036.669802754649);
K_new_truth.put(1,1, 373.6375700303157);
K_new_truth.put(1,2, 538.8373261247601);
K_new_truth.put(0,0, 387.5118215642316);
K_new_truth.put(0,2, 1033.936556777084);
K_new_truth.put(1,1, 373.6673784974842);
K_new_truth.put(1,2, 538.794152656429);
Calib3d.fisheye_estimateNewCameraMatrixForUndistortRectify(K,D,new Size(1920,1080),
new Mat().eye(3, 3, CvType.CV_64F), K_new, 0.0, new Size(1920,1080));

4
modules/calib3d/src/fisheye.cpp
View File

@ -403,7 +403,7 @@ void cv::fisheye::undistortPoints( InputArray distorted, OutputArray undistorted
if (!isEps || fabs(theta_d) > criteria.epsilon)
{
// compensate distortion iteratively
// compensate distortion iteratively using Newton method
for (int j = 0; j < maxCount; j++)
{
@ -611,7 +611,7 @@ void cv::fisheye::estimateNewCameraMatrixForUndistortRectify(InputArray K, Input
: K.getMat().at<double>(0,0)/K.getMat().at<double>(1,1);
// convert to identity ratio
cn[0] *= aspect_ratio;
cn[1] *= aspect_ratio;
for(size_t i = 0; i < points.total(); ++i)
pptr[i][1] *= aspect_ratio;

78
modules/calib3d/test/test_fisheye.cpp
View File

@ -152,6 +152,15 @@ TEST_F(fisheyeTest, distortUndistortPoints)
TEST_F(fisheyeTest, undistortImage)
{
// we use it to reduce patch size for images in testdata
auto throwAwayHalf = [](Mat img)
{
int whalf = img.cols / 2, hhalf = img.rows / 2;
Rect tl(0, 0, whalf, hhalf), br(whalf, hhalf, whalf, hhalf);
img(tl) = 0;
img(br) = 0;
};
cv::Matx33d theK = this->K;
cv::Mat theD = cv::Mat(this->D);
std::string file = combine(datasets_repository_path, "/calib-3_stereo_from_JY/left/stereo_pair_014.jpg");
@ -161,32 +170,41 @@ TEST_F(fisheyeTest, undistortImage)
newK(0, 0) = 100;
newK(1, 1) = 100;
cv::fisheye::undistortImage(distorted, undistorted, theK, theD, newK);
cv::Mat correct = cv::imread(combine(datasets_repository_path, "new_f_100.png"));
if (correct.empty())
CV_Assert(cv::imwrite(combine(datasets_repository_path, "new_f_100.png"), undistorted));
else
EXPECT_MAT_NEAR(correct, undistorted, 1e-10);
std::string imageFilename = combine(datasets_repository_path, "new_f_100.png");
cv::Mat correct = cv::imread(imageFilename);
ASSERT_FALSE(correct.empty()) << "Correct image " << imageFilename.c_str() << " can not be read" << std::endl;
throwAwayHalf(correct);
throwAwayHalf(undistorted);
EXPECT_MAT_NEAR(correct, undistorted, 1e-10);
}
{
double balance = 1.0;
cv::fisheye::estimateNewCameraMatrixForUndistortRectify(theK, theD, distorted.size(), cv::noArray(), newK, balance);
cv::fisheye::undistortImage(distorted, undistorted, theK, theD, newK);
cv::Mat correct = cv::imread(combine(datasets_repository_path, "balance_1.0.png"));
if (correct.empty())
CV_Assert(cv::imwrite(combine(datasets_repository_path, "balance_1.0.png"), undistorted));
else
EXPECT_MAT_NEAR(correct, undistorted, 1e-10);
std::string imageFilename = combine(datasets_repository_path, "balance_1.0.png");
cv::Mat correct = cv::imread(imageFilename);
ASSERT_FALSE(correct.empty()) << "Correct image " << imageFilename.c_str() << " can not be read" << std::endl;
throwAwayHalf(correct);
throwAwayHalf(undistorted);
EXPECT_MAT_NEAR(correct, undistorted, 1e-10);
}
{
double balance = 0.0;
cv::fisheye::estimateNewCameraMatrixForUndistortRectify(theK, theD, distorted.size(), cv::noArray(), newK, balance);
cv::fisheye::undistortImage(distorted, undistorted, theK, theD, newK);
cv::Mat correct = cv::imread(combine(datasets_repository_path, "balance_0.0.png"));
if (correct.empty())
CV_Assert(cv::imwrite(combine(datasets_repository_path, "balance_0.0.png"), undistorted));
else
EXPECT_MAT_NEAR(correct, undistorted, 1e-10);
std::string imageFilename = combine(datasets_repository_path, "balance_0.0.png");
cv::Mat correct = cv::imread(imageFilename);
ASSERT_FALSE(correct.empty()) << "Correct image " << imageFilename.c_str() << " can not be read" << std::endl;
throwAwayHalf(correct);
throwAwayHalf(undistorted);
EXPECT_MAT_NEAR(correct, undistorted, 1e-10);
}
}
@ -288,7 +306,9 @@ TEST_F(fisheyeTest, undistortAndDistortImage)
EXPECT_MAT_NEAR(dist_point_4, dist_point_4_gt, 1e-2);
EXPECT_MAT_NEAR(dist_point_5, dist_point_5_gt, 1e-2);
CV_Assert(cv::imwrite(combine(datasets_repository_path, "new_distortion.png"), image_projected));
// Add the "--test_debug" to arguments for file output
if (cvtest::debugLevel > 0)
cv::imwrite(combine(datasets_repository_path, "new_distortion.png"), image_projected);
}
TEST_F(fisheyeTest, jacobians)
@ -619,19 +639,19 @@ TEST_F(fisheyeTest, stereoRectify)
0.002076471801477729, 0.006463478587068991, 0.9999769555891836
);
cv::Matx34d P1_ref(
420.8551870450913, 0, 586.501617798451, 0,
0, 420.8551870450913, 374.7667511986098, 0,
420.9684016542647, 0, 586.3059567784627, 0,
0, 420.9684016542647, 374.8571836462291, 0,
0, 0, 1, 0
);
cv::Matx34d P2_ref(
420.8551870450913, 0, 586.501617798451, -41.77758076597302,
0, 420.8551870450913, 374.7667511986098, 0,
420.9684016542647, 0, 586.3059567784627, -41.78881938824554,
0, 420.9684016542647, 374.8571836462291, 0,
0, 0, 1, 0
);
cv::Matx44d Q_ref(
1, 0, 0, -586.501617798451,
0, 1, 0, -374.7667511986098,
0, 0, 0, 420.8551870450913,
1, 0, 0, -586.3059567784627,
0, 1, 0, -374.8571836462291,
0, 0, 0, 420.9684016542647,
0, 0, 10.07370889670733, -0
);
@ -686,7 +706,9 @@ TEST_F(fisheyeTest, stereoRectify)
cv::Mat rectification;
merge4(l, r, lundist, rundist, rectification);
cv::imwrite(cv::format("fisheye_rectification_AB_%03d.png", i), rectification);
// Add the "--test_debug" to arguments for file output
if (cvtest::debugLevel > 0)
cv::imwrite(cv::format("fisheye_rectification_AB_%03d.png", i), rectification);
}
}
@ -987,13 +1009,13 @@ TEST_F(fisheyeTest, estimateNewCameraMatrixForUndistortRectify)
cv::Mat K_new_truth(3, 3, cv::DataType<double>::type);
K_new_truth.at<double>(0, 0) = 387.4809086880343;
K_new_truth.at<double>(0, 0) = 387.5118215642316;
K_new_truth.at<double>(0, 1) = 0.0;
K_new_truth.at<double>(0, 2) = 1036.669802754649;
K_new_truth.at<double>(0, 2) = 1033.936556777084;
K_new_truth.at<double>(1, 0) = 0.0;
K_new_truth.at<double>(1, 1) = 373.6375700303157;
K_new_truth.at<double>(1, 2) = 538.8373261247601;
K_new_truth.at<double>(1, 1) = 373.6673784974842;
K_new_truth.at<double>(1, 2) = 538.794152656429;
K_new_truth.at<double>(2, 0) = 0.0;
K_new_truth.at<double>(2, 1) = 0.0;