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Port stereoRectify grid fix #24035.

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This commit is contained in:
Alexander Smorkalov 2023-08-02 15:57:37 +03:00
parent 9ddf1e5c77
commit da28c62855
2 changed files with 52 additions and 4 deletions
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8
modules/stereo/src/stereo_geom.cpp
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@ -255,11 +255,11 @@ void stereoRectify( InputArray _cameraMatrix1, InputArray _distCoeffs1,
if( alpha >= 0 ) if( alpha >= 0 )
{ {
double s0 = std::max(std::max(std::max((double)cx1/(cx1_0 - inner1.x), (double)cy1/(cy1_0 - inner1.y)), 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.width - 1 - cx1)/(inner1.x + inner1.width - cx1_0)),
(double)(newImgSize.height - cy1)/(inner1.y + inner1.height - cy1_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)), 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.width - 1 - cx2)/(inner2.x + inner2.width - cx2_0)),
(double)(newImgSize.height - cy2)/(inner2.y + inner2.height - cy2_0)), (double)(newImgSize.height - 1 - cy2)/(inner2.y + inner2.height - cy2_0)),
s0); s0);
double s1 = std::min(std::min(std::min((double)cx1/(cx1_0 - outer1.x), (double)cy1/(cy1_0 - outer1.y)), double s1 = std::min(std::min(std::min((double)cx1/(cx1_0 - outer1.x), (double)cy1/(cy1_0 - outer1.y)),

48
modules/stereo/test/test_geometry.cpp
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@ -178,6 +178,54 @@ TEST(StereoGeometry, regression_11131)
EXPECT_GE(roi2.area(), 400*300) << roi2; EXPECT_GE(roi2.area(), 400*300) << roi2;
} }
TEST(StereoGeometry, 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,
STEREO_ZERO_DISPARITY, 0, imageSize, &roi1, &roi2);
EXPECT_EQ(cv::norm(P1, P1_gold), 0.);
EXPECT_EQ(cv::norm(P2, P2_gold), 0.);
}
class fisheyeTest : public ::testing::Test { class fisheyeTest : public ::testing::Test {
protected: protected: