mirror/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2024-11-25 11:40:44 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Merge pull request #14718 from rasmus25:3.4

Browse Source 
* Revert the bad parts of b085158d59 to fix https://github.com/opencv/opencv/issues/11131
but preserve the good parts to keep https://github.com/opencv/opencv/issues/10791 fixed

* calib3d: add regression test for stereoCalibrate to fix https://github.com/opencv/opencv/issues/11131
This commit is contained in:
rasmus25 2019-06-04 18:43:42 +03:00 committed by Alexander Alekhin
parent fa96507fe7
commit 394bc91e07
2 changed files with 47 additions and 32 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

41
modules/calib3d/src/calibration.cpp
View File

@ -2297,7 +2297,7 @@ void cvStereoRectify( const CvMat* _cameraMatrix1, const CvMat* _cameraMatrix2,
CvRect* roi1, CvRect* roi2 )
{
double _om[3], _t[3] = {0}, _uu[3]={0,0,0}, _r_r[3][3], _pp[3][4];
double _ww[3], _wr[3][3], _z[3] = {0,0,0}, _ri[3][3], _w3[3];
double _ww[3], _wr[3][3], _z[3] = {0,0,0}, _ri[3][3];
cv::Rect_<float> inner1, inner2, outer1, outer2;
CvMat om = cvMat(3, 1, CV_64F, _om);
@ -2306,13 +2306,11 @@ void cvStereoRectify( const CvMat* _cameraMatrix1, const CvMat* _cameraMatrix2,
CvMat r_r = cvMat(3, 3, CV_64F, _r_r);
CvMat pp = cvMat(3, 4, CV_64F, _pp);
CvMat ww = cvMat(3, 1, CV_64F, _ww); // temps
CvMat w3 = cvMat(3, 1, CV_64F, _w3); // temps
CvMat wR = cvMat(3, 3, CV_64F, _wr);
CvMat Z = cvMat(3, 1, CV_64F, _z);
CvMat Ri = cvMat(3, 3, CV_64F, _ri);
double nx = imageSize.width, ny = imageSize.height;
int i, k;
double nt, nw;
if( matR->rows == 3 && matR->cols == 3 )
cvRodrigues2(matR, &om); // get vector rotation
@ -2323,36 +2321,15 @@ void cvStereoRectify( const CvMat* _cameraMatrix1, const CvMat* _cameraMatrix2,
cvMatMul(&r_r, matT, &t);
int idx = fabs(_t[0]) > fabs(_t[1]) ? 0 : 1;
double c = _t[idx], nt = cvNorm(&t, 0, CV_L2);
_uu[idx] = c > 0 ? 1 : -1;
// if idx == 0
// e1 = T / ||T||
// e2 = e1 x [0,0,1]
// if idx == 1
// e2 = T / ||T||
// e1 = e2 x [0,0,1]
// e3 = e1 x e2
_uu[2] = 1;
cvCrossProduct(&uu, &t, &ww);
nt = cvNorm(&t, 0, CV_L2);
CV_Assert(fabs(nt) > 0);
nw = cvNorm(&ww, 0, CV_L2);
CV_Assert(fabs(nw) > 0);
cvConvertScale(&ww, &ww, 1 / nw);
cvCrossProduct(&t, &ww, &w3);
nw = cvNorm(&w3, 0, CV_L2);
CV_Assert(fabs(nw) > 0);
cvConvertScale(&w3, &w3, 1 / nw);
_uu[2] = 0;
for (i = 0; i < 3; ++i)
{
_wr[idx][i] = -_t[i] / nt;
_wr[idx ^ 1][i] = -_ww[i];
_wr[2][i] = _w3[i] * (1 - 2 * idx); // if idx == 1 -> opposite direction
}
// calculate global Z rotation
cvCrossProduct(&t,&uu,&ww);
double nw = cvNorm(&ww, 0, CV_L2);
if (nw > 0.0)
cvConvertScale(&ww, &ww, acos(fabs(c)/nt)/nw);
cvRodrigues2(&ww, &wR);
// apply to both views
cvGEMM(&wR, &r_r, 1, 0, 0, &Ri, CV_GEMM_B_T);

38
modules/calib3d/test/test_cameracalibration.cpp
View File

@ -2332,6 +2332,44 @@ TEST(Calib3d_StereoCalibrate, regression_10791)
EXPECT_GE(roi2.area(), 400*300) << roi2;
}
TEST(Calib3d_StereoCalibrate, regression_11131)
{
const Matx33d M1(
1457.572438721727, 0, 1212.945694211622,
0, 1457.522226502963, 1007.32058848921,
0, 0, 1
);
const Matx33d M2(
1460.868570835972, 0, 1215.024068023046,
0, 1460.791367088, 1011.107202932225,
0, 0, 1
);
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(
0.9985404059825475, 0.02963547172078553, -0.04515303352041626,
-0.03103795276460111, 0.9990471552537432, -0.03068268351343364,
0.04420071389006859, 0.03203935697372317, 0.9985087763742083
);
const Matx31d T(0.9995500167379527, 0.0116311595111068, 0.02764923448462666);
const Size imageSize(2456, 2058);
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, 1, imageSize, &roi1, &roi2);
EXPECT_GT(P1.at<double>(0, 0), 0);
EXPECT_GT(P2.at<double>(0, 0), 0);
EXPECT_GT(R1.at<double>(0, 0), 0);
EXPECT_GT(R2.at<double>(0, 0), 0);
EXPECT_GE(roi1.area(), 400*300) << roi1;
EXPECT_GE(roi2.area(), 400*300) << roi2;
}
TEST(Calib3d_Triangulate, accuracy)
{
// the testcase from http://code.opencv.org/issues/4334