* add findEssentialMat for two different cameras
* added smoke test for the newly added variant of findEssentialMatrix
Co-authored-by: tompollok <tom.pollok@gmail.com>
fix instable fisheye undistortPoints
* remove artefacts when (un)distorting fisheye images with large distortion coefficient values
* fix fisheye undistortion when theta is close to zero
* add fisheye image undistort and distort test
* Fixed type conversion warnings
* fixed trailing whitespace
* Fixed indexing in prefilter
* Initialised prefilter
* Initialised prefilter with value initialisation
* Added TC to trigger different Mem Allocs in BufferBM
* Optimize cases with only needed conditions
added estimateTranslation3D to calib3d/ptsetreg
* added estimateTranslation3D; follows API and implementation structure for estimateAffine3D, but only allows for translation
* void variables in null function to suppress compiler warnings
* added test for estimateTranslation3D
* changed to Matx13d datatype for translation vector in ptsetreg and test; used short license in test
* removed iostream include
* calib3d: code cleanup
Image sharpness, as well as brightness, are a critical parameter for
accuracte camera calibration. For accessing these parameters for
filtering out problematic calibraiton images, this method calculates
edge profiles by traveling from black to white chessboard cell centers.
Based on this, the number of pixels is calculated required to transit
from black to white. This width of the transition area is a good
indication of how sharp the chessboard is imaged and should be below
~3.0 pixels.
Based on this also motion blur can be detectd by comparing sharpness in
vertical and horizontal direction. All unsharp images should be excluded
from calibration as they will corrupt the calibration result. The same
is true for overexposued images due to a none-linear sensor response.
This can be detected by looking at the average cell brightness of the
detected chessboard.
Lets the user choose the maximum number of iterations the robust
estimator runs for, similary to findHomography. This can significantly
improve performance (at a computational cost).
Changes:
* UMat for blur + rotate resulting in a speedup of around 2X on an i7
* support for boards larger than specified allowing to cover full FOV
* support for markers moving the origin into the center of the board
* increase detection accuracy
The main change is for supporting boards that are larger than the FOV of
the camera and have their origin in the board center. This allows
building OEM calibration targets similar to the one from intel real
sense utilizing corner points as close as possible to the image border.
Added type check for solvePnPGeneric | Issue: #16049
* Added type check
* Added checks before type fix
* Tests for 16049
* calib3d: update solvePnP regression check (16049)
