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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 |
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| .. | ||
| opencl | ||
| test_affine2d_estimator.cpp | ||
| test_affine3.cpp | ||
| test_affine3d_estimator.cpp | ||
| test_affine_partial2d_estimator.cpp | ||
| test_calibration_hand_eye.cpp | ||
| test_cameracalibration_artificial.cpp | ||
| test_cameracalibration_badarg.cpp | ||
| test_cameracalibration_tilt.cpp | ||
| test_cameracalibration.cpp | ||
| test_chessboardgenerator.cpp | ||
| test_chessboardgenerator.hpp | ||
| test_chesscorners_badarg.cpp | ||
| test_chesscorners_timing.cpp | ||
| test_chesscorners.cpp | ||
| test_compose_rt.cpp | ||
| test_cornerssubpix.cpp | ||
| test_decompose_projection.cpp | ||
| test_filter_homography_decomp.cpp | ||
| test_fisheye.cpp | ||
| test_fundam.cpp | ||
| test_homography_decomp.cpp | ||
| test_homography.cpp | ||
| test_main.cpp | ||
| test_modelest.cpp | ||
| test_posit.cpp | ||
| test_precomp.hpp | ||
| test_reproject_image_to_3d.cpp | ||
| test_solvepnp_ransac.cpp | ||
| test_stereomatching.cpp | ||
| test_translation3d_estimator.cpp | ||
| test_undistort_badarg.cpp | ||
| test_undistort_points.cpp | ||
| test_undistort.cpp | ||
| test_usac.cpp | ||