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Merge pull request #25824 from j3knk:calib3d/fix_projectpoints

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calib3d: fix Rodrigues CV_32F and CV_64F type mismatch in projectPoints #25824

Fixes #25318

### 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
- [ ] 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:
j3knk 2024-07-15 14:10:08 +02:00 committed by GitHub
parent 81f33103fd
commit e90935e81c
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2 changed files with 21 additions and 4 deletions
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15
modules/calib3d/misc/python/test/test_calibration.py
View File

@ -67,7 +67,22 @@ class calibration_test(NewOpenCVTests):
self.assertLess(cv.norm(camera_matrix - cameraMatrixTest, cv.NORM_L1), normCamEps)
self.assertLess(cv.norm(dist_coefs - distCoeffsTest, cv.NORM_L1), normDistEps)
def test_projectPoints(self):
objectPoints = np.array([[181.24588 , 87.80361 , 11.421074],
[ 87.17948 , 184.75563 , 37.223446],
[ 22.558456, 45.495266, 246.05797 ]], dtype=np.float32)
rvec = np.array([[ 0.9357548 , -0.28316498, 0.21019171],
[ 0.30293274, 0.9505806 , -0.06803132],
[-0.18054008, 0.12733458, 0.9752903 ]], dtype=np.float32)
tvec = np.array([ 69.32692 , 17.602057, 135.77672 ], dtype=np.float32)
cameraMatrix = np.array([[214.0047 , 26.98735 , 253.37799 ],
[189.8172 , 10.038101, 18.862494],
[114.07123 , 200.87277 , 194.56332 ]], dtype=np.float32)
distCoeffs = distCoeffs = np.zeros((4, 1), dtype=np.float32)
imagePoints, jacobian = cv.projectPoints(objectPoints, rvec, tvec, cameraMatrix, distCoeffs)
self.assertTrue(imagePoints is not None)
self.assertTrue(jacobian is not None)
if __name__ == '__main__':
NewOpenCVTests.bootstrap()

10
modules/calib3d/src/calibration.cpp
View File

@ -538,11 +538,11 @@ static void cvProjectPoints2Internal( const CvMat* objectPoints,
int calc_derivatives;
const CvPoint3D64f* M;
CvPoint2D64f* m;
double r[3], R[9], dRdr[27], t[3], a[9], k[14] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0}, fx, fy, cx, cy;
double r[3], R[9], R_vec[9], dRdr[27], t[3], a[9], k[14] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0}, fx, fy, cx, cy;
Matx33d matTilt = Matx33d::eye();
Matx33d dMatTiltdTauX(0,0,0,0,0,0,0,-1,0);
Matx33d dMatTiltdTauY(0,0,0,0,0,0,1,0,0);
CvMat _r, _t, _a = cvMat( 3, 3, CV_64F, a ), _k;
CvMat _r, _r_vec, _t, _a = cvMat( 3, 3, CV_64F, a ), _k;
CvMat matR = cvMat( 3, 3, CV_64F, R ), _dRdr = cvMat( 3, 9, CV_64F, dRdr );
double *dpdr_p = 0, *dpdt_p = 0, *dpdk_p = 0, *dpdf_p = 0, *dpdc_p = 0;
double* dpdo_p = 0;
@ -593,9 +593,11 @@ static void cvProjectPoints2Internal( const CvMat* objectPoints,
if( r_vec->rows == 3 && r_vec->cols == 3 )
{
_r = cvMat( 3, 1, CV_64FC1, r );
cvRodrigues2( r_vec, &_r );
_r_vec = cvMat( r_vec->rows, r_vec->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(r_vec->type)), R_vec );
cvConvert( r_vec, &_r_vec );
cvRodrigues2( &_r_vec, &_r );
cvRodrigues2( &_r, &matR, &_dRdr );
cvCopy( r_vec, &matR );
cvCopy( &_r_vec, &matR );
}
else
{