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Merge pull request #13601 from JimZhou-001:JimZhou-001

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* Fix the bug in case determinant of rotation matrix is -1

* calib3d(test): check det(R) == 1
This commit is contained in:
Jim Zhou 2019-01-11 21:58:47 +08:00 committed by Alexander Alekhin
parent 7812a805ad
commit 78bd55c8df
2 changed files with 40 additions and 0 deletions
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8
modules/calib3d/src/homography_decomp.cpp
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@ -185,6 +185,10 @@ bool HomographyDecompZhang::findMotionFrom_tstar_n(const cv::Vec3d& tstar, const
temp(1, 1) += 1.0;
temp(2, 2) += 1.0;
motion.R = getHnorm() * temp.inv();
if (cv::determinant(motion.R) < 0)
{
motion.R *= -1;
}
motion.t = motion.R * tstar;
motion.n = n;
return passesSameSideOfPlaneConstraint(motion);
@ -312,6 +316,10 @@ void HomographyDecompInria::findRmatFrom_tstar_n(const cv::Vec3d& tstar, const c
0.0, 0.0, 1.0);
R = getHnorm() * (I - (2/v) * tstar_m * n_m.t() );
if (cv::determinant(R) < 0)
{
R *= -1;
}
}
void HomographyDecompInria::decompose(std::vector<CameraMotion>& camMotions)

32
modules/calib3d/test/test_homography_decomp.cpp
View File

@ -134,4 +134,36 @@ private:
TEST(Calib3d_DecomposeHomography, regression) { CV_HomographyDecompTest test; test.safe_run(); }
TEST(Calib3d_DecomposeHomography, issue_4978)
{
Matx33d K(
1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
0.0, 0.0, 1.0
);
Matx33d H(
-0.102896, 0.270191, -0.0031153,
0.0406387, 1.19569, -0.0120456,
0.445351, 0.0410889, 1
);
vector<Mat> rotations;
vector<Mat> translations;
vector<Mat> normals;
decomposeHomographyMat(H, K, rotations, translations, normals);
ASSERT_GT(rotations.size(), (size_t)0u);
for (size_t i = 0; i < rotations.size(); i++)
{
// check: det(R) = 1
EXPECT_TRUE(std::fabs(cv::determinant(rotations[i]) - 1.0) < 0.01)
<< "R: det=" << cv::determinant(rotations[0]) << std::endl << rotations[i] << std::endl
<< "T:" << std::endl << translations[i] << std::endl;
}
}
}} // namespace