mirror/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2024-11-24 03:00:14 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Merge pull request #25050 from akretz:fix_issue_24330

Browse Source 
Handle degenerate cases in RQDecomp3x3 #25050

The point of the Givens rotations here is to iteratively set the lower left matrix entries to zero. If an element is zero already, we don't need to do anything. This resolves #24330.

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake
This commit is contained in:
Adrian Kretz 2024-02-27 06:10:21 +01:00 committed by GitHub
parent 4a9b0f2bf4
commit e0b489e917
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
2 changed files with 25 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
modules/calib3d/src/calibration.cpp
View File

@ -3188,8 +3188,8 @@ cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
Qx = ( 0 c s ), c = m33/sqrt(m32^2 + m33^2), s = m32/sqrt(m32^2 + m33^2)
( 0 -s c )
*/
s = matM[2][1];
c = matM[2][2];
s = std::abs(matM[2][1]) > DBL_EPSILON ? matM[2][1] : 0;
c = std::abs(matM[2][1]) > DBL_EPSILON ? matM[2][2] : 1;
z = 1./std::sqrt(c * c + s * s + DBL_EPSILON);
c *= z;
s *= z;
@ -3207,8 +3207,8 @@ cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
Qy = ( 0 1 0 ), c = m33/sqrt(m31^2 + m33^2), s = -m31/sqrt(m31^2 + m33^2)
( s 0 c )
*/
s = -matR[2][0];
c = matR[2][2];
s = std::abs(matR[2][0]) > DBL_EPSILON ? -matR[2][0] : 0;
c = std::abs(matR[2][0]) > DBL_EPSILON ? matR[2][2] : 1;
z = 1./std::sqrt(c * c + s * s + DBL_EPSILON);
c *= z;
s *= z;
@ -3227,8 +3227,8 @@ cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
( 0 0 1 )
*/
s = matM[1][0];
c = matM[1][1];
s = std::abs(matM[1][0]) > DBL_EPSILON ? matM[1][0] : 0;
c = std::abs(matM[1][0]) > DBL_EPSILON ? matM[1][1] : 1;
z = 1./std::sqrt(c * c + s * s + DBL_EPSILON);
c *= z;
s *= z;

19
modules/calib3d/test/test_decompose_projection.cpp
View File

@ -141,4 +141,23 @@ TEST(Calib3d_DecomposeProjectionMatrix, accuracy)
test.safe_run();
}
TEST(Calib3d_DecomposeProjectionMatrix, degenerate_cases)
{
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 2; j++)
{
cv::Matx34d P;
P(0, i) = 1;
P(1, (i + j + 1) % 3) = 1;
P(2, (i + 2 * j + 2) % 3) = 1;
cv::Matx33d K, R;
cv::Vec4d t;
decomposeProjectionMatrix(P, K, R, t);
EXPECT_LT(cv::norm(K * R, P.get_minor<3, 3>(0, 0), cv::NORM_INF), 1e-6);
}
}
}
}} // namespace