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

modules/calib3d/misc/java/test/Calib3dTest.java

@@ -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(0,0, 387.5118215642316);
-        K_new_truth.put(0,2, 1036.669802754649);
+        K_new_truth.put(0,2, 1033.936556777084);
-        K_new_truth.put(1,1, 373.6375700303157);
+        K_new_truth.put(1,1, 373.6673784974842);
-        K_new_truth.put(1,2, 538.8373261247601);
+        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));

modules/calib3d/src/fisheye.cpp

@@ -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;
 

modules/calib3d/test/test_fisheye.cpp

@@ -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"));
+        std::string imageFilename = combine(datasets_repository_path, "new_f_100.png");
-        if (correct.empty())
+        cv::Mat correct = cv::imread(imageFilename);
-            CV_Assert(cv::imwrite(combine(datasets_repository_path, "new_f_100.png"), undistorted));
+        ASSERT_FALSE(correct.empty()) << "Correct image " << imageFilename.c_str() << " can not be read" << std::endl;
-        else
+
-            EXPECT_MAT_NEAR(correct, undistorted, 1e-10);
+        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"));
+        std::string imageFilename = combine(datasets_repository_path, "balance_1.0.png");
-        if (correct.empty())
+        cv::Mat correct = cv::imread(imageFilename);
-            CV_Assert(cv::imwrite(combine(datasets_repository_path, "balance_1.0.png"), undistorted));
+        ASSERT_FALSE(correct.empty()) << "Correct image " << imageFilename.c_str() << " can not be read" << std::endl;
-        else
+
-            EXPECT_MAT_NEAR(correct, undistorted, 1e-10);
+        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"));
+        std::string imageFilename = combine(datasets_repository_path, "balance_0.0.png");
-        if (correct.empty())
+        cv::Mat correct = cv::imread(imageFilename);
-            CV_Assert(cv::imwrite(combine(datasets_repository_path, "balance_0.0.png"), undistorted));
+        ASSERT_FALSE(correct.empty()) << "Correct image " << imageFilename.c_str() << " can not be read" << std::endl;
-        else
+
-            EXPECT_MAT_NEAR(correct, undistorted, 1e-10);
+        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,
+        420.9684016542647, 0, 586.3059567784627, 0,
-        0, 420.8551870450913, 374.7667511986098, 0,
+        0, 420.9684016542647, 374.8571836462291, 0,
         0, 0, 1, 0
     );
     cv::Matx34d P2_ref(
-        420.8551870450913, 0, 586.501617798451, -41.77758076597302,
+        420.9684016542647, 0, 586.3059567784627, -41.78881938824554,
-        0, 420.8551870450913, 374.7667511986098, 0,
+        0, 420.9684016542647, 374.8571836462291, 0,
         0, 0, 1, 0
     );
     cv::Matx44d Q_ref(
-        1, 0, 0, -586.501617798451,
+        1, 0, 0, -586.3059567784627,
-        0, 1, 0, -374.7667511986098,
+        0, 1, 0, -374.8571836462291,
-        0, 0, 0, 420.8551870450913,
+        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, 1) = 373.6673784974842;
-    K_new_truth.at<double>(1, 2) = 538.8373261247601;
+    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;