The new C++ code is copy/pasted from OpenCV5:
- functions initIntrinsicParams2D, subMatrix (the first 160 lines)
- function prepareDistCoeffs
- the different asserts
Not all the API/code is ported to C++ yet to ease the review.
Backport C++ stereo/stereo_geom.cpp:5.x to calib3d/stereo_geom.cpp:4.x #26437
### 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.
- [x] The feature is well documented and sample code can be built with the project CMake
use the same approach like in fisheye calibration: instead of setting
masked out rows to zero, remove them from the equation system.
This way JtJ does not become singular and we can use the much faster LU
decomposition instead of SVD.
This results in a speedup of the Calibrate unit tests of 3x-10x.
