Maxim Smolskiy
e3ff6ce0cc
Merge pull request #25182 from MaximSmolskiy:increase-decomposeProjectionMatrix-precision-for-small-scales
...
Increase decomposeProjectionMatrix precision for small scales #25182
### Pull Request Readiness Checklist
Fix #23733
It is checked before that `|s| > DBL_EPSILON` (if not, then `s` will be equal to `0`, but `c` will be equal to `1`, then `z` will be equal to `1` and there will be no any problems with small values), so `sqrt(c^2 + s^2) >= |s| > DBL_EPSILON` and thus small values are already taken into account before and there is no need to add `DBL_EPSILON` to `c^2 + s^2` (and I think adding `DBL_EPSILON^2` instead of `DBL_EPSILON` would be more correct).
I ran `Python` script from issue.
`NumPy` and `SciPy` results
```
*Numpy*
P (case 1):
[[1. 0. 0. 0.]
[0. 1. 0. 0.]
[0. 0. 1. 0.]]
Numpy, R.T @ R - I:
[[0. 0. 0.]
[0. 0. 0.]
[0. 0. 0.]]
Numpy scaled 1e-6, R.T @ R - I:
[[0. 0. 0.]
[0. 0. 0.]
[0. 0. 0.]]
P (case 2):
[[52. -7. 4. 12.]
[-6. 49. 12. 8.]
[ 4. 17. 1. 0.]]
Numpy, R.T @ R - I:
[[-8.88178420e-16 -3.86302608e-16 -2.52050796e-17]
[-3.86302608e-16 -5.55111512e-16 7.11675423e-18]
[-2.52050796e-17 7.11675423e-18 -5.55111512e-16]]
Numpy scaled 1e-6, R.T @ R - I:
[[ 2.22044605e-16 -2.00683644e-16 -1.90063998e-17]
[-2.00683644e-16 0.00000000e+00 1.16926308e-17]
[-1.90063998e-17 1.16926308e-17 2.22044605e-16]]
*Scipy*
P (case 1):
[[1. 0. 0. 0.]
[0. 1. 0. 0.]
[0. 0. 1. 0.]]
Scipy, R.T @ R - I:
[[0. 0. 0.]
[0. 0. 0.]
[0. 0. 0.]]
Scipy scaled 1e-6, R.T @ R - I:
[[0. 0. 0.]
[0. 0. 0.]
[0. 0. 0.]]
P (case 2):
[[52. -7. 4. 12.]
[-6. 49. 12. 8.]
[ 4. 17. 1. 0.]]
Scipy, R.T @ R - I:
[[-1.11022302e-16 -8.74062812e-18 -1.26178867e-17]
[-8.74062812e-18 -1.11022302e-16 2.07820373e-17]
[-1.26178867e-17 2.07820373e-17 -1.11022302e-16]]
Scipy scaled 1e-6, R.T @ R - I:
[[0.00000000e+00 4.04691435e-17 1.12452918e-16]
[4.04691435e-17 4.44089210e-16 3.74164141e-16]
[1.12452918e-16 3.74164141e-16 4.44089210e-16]]
*Numpy*
Numpy, P' - P:
[[ 1.35525272e-20 -9.31736242e-21 8.47032947e-22 3.38813179e-21]
[-3.38813179e-21 6.77626358e-21 1.69406589e-21 0.00000000e+00]
[-1.69406589e-21 0.00000000e+00 0.00000000e+00 4.85524279e-22]]
*Scipy*
Scipy, P' - P:
[[0.00000000e+00 8.47032947e-22 3.38813179e-21 3.38813179e-21]
[3.38813179e-21 1.35525272e-20 1.52465931e-20 1.52465931e-20]
[8.47032947e-22 3.38813179e-21 2.54109884e-21 3.39866995e-21]]
```
`OpenCV` results before
```
*OpenCV*
P (case 1):
[[1. 0. 0. 0.]
[0. 1. 0. 0.]
[0. 0. 1. 0.]]
OpenCV, R.T @ R - I:
[[0. 0. 0.]
[0. 0. 0.]
[0. 0. 0.]]
OpenCV scaled 1e-6, R.T @ R - I:
[[0. 0. 0.]
[0. 0. 0.]
[0. 0. 0.]]
P (case 2):
[[52. -7. 4. 12.]
[-6. 49. 12. 8.]
[ 4. 17. 1. 0.]]
OpenCV, R.T @ R - I:
[[ 2.22044605e-16 -9.12253504e-17 -2.20527203e-19]
[-9.12253504e-17 0.00000000e+00 -9.12405093e-18]
[-2.20527203e-19 -9.12405093e-18 2.22044605e-16]]
OpenCV scaled 1e-6, R.T @ R - I:
[[-1.28197013e-06 1.30450769e-07 7.67357467e-09]
[ 1.30450769e-07 -1.52141637e-06 -9.92455574e-09]
[ 7.67357467e-09 -9.92455574e-09 -1.35328272e-06]]
*OpenCV*
OpenCV, P' - P:
[[-6.75449076e-11 1.73936564e-11 -4.94463312e-12 -1.61106020e-11]
[ 1.41759913e-11 -7.54512016e-11 -1.67717374e-11 -9.74644390e-12]
[-2.90254385e-12 -2.53521998e-11 -1.49130587e-12 4.00724440e-13]]
```
`OpenCV` results after
```
*OpenCV*
P (case 1):
[[1. 0. 0. 0.]
[0. 1. 0. 0.]
[0. 0. 1. 0.]]
OpenCV, R.T @ R - I:
[[0. 0. 0.]
[0. 0. 0.]
[0. 0. 0.]]
OpenCV scaled 1e-6, R.T @ R - I:
[[0. 0. 0.]
[0. 0. 0.]
[0. 0. 0.]]
P (case 2):
[[52. -7. 4. 12.]
[-6. 49. 12. 8.]
[ 4. 17. 1. 0.]]
OpenCV, R.T @ R - I:
[[ 2.22044605e-16 -9.12253504e-17 -2.20527203e-19]
[-9.12253504e-17 0.00000000e+00 -9.12405093e-18]
[-2.20527203e-19 -9.12405093e-18 2.22044605e-16]]
OpenCV scaled 1e-6, R.T @ R - I:
[[ 0.00000000e+00 4.36198333e-17 -2.66855078e-17]
[ 4.36198333e-17 2.22044605e-16 3.17216400e-17]
[-2.66855078e-17 3.17216400e-17 -2.22044605e-16]]
*OpenCV*
OpenCV, P' - P:
[[ 6.77626358e-21 0.00000000e+00 -8.47032947e-22 1.69406589e-21]
[-1.69406589e-21 6.77626358e-21 0.00000000e+00 3.38813179e-21]
[ 8.47032947e-22 3.38813179e-21 2.11758237e-22 1.45657284e-21]]
```
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
2024-03-27 12:43:56 +03:00
Adrian Kretz
e0b489e917
Merge pull request #25050 from akretz:fix_issue_24330
...
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
2024-02-27 08:10:21 +03:00
