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Fix stereoRectify image boundaries.

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This should hav ebeen fixed with https://github.com/opencv/opencv/issues/23304
This commit is contained in:
Vincent Rabaud
2023-07-20 17:54:42 +02:00
committed by Alexander Smorkalov
parent 1794cdc03c
commit 15815fb54d
2 changed files with 52 additions and 4 deletions
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modules/calib3d/test/test_cameracalibration.cpp
+48
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@@ -2150,6 +2150,54 @@ TEST(Calib3d_StereoCalibrate, regression_11131)
EXPECT_GE(roi2.area(), 400*300) << roi2;
}
TEST(Calib3d_StereoCalibrate, regression_23305)
{
const Matx33d M1(
850, 0, 640,
0, 850, 640,
0, 0, 1
);
const Matx34d P1_gold(
850, 0, 640, 0,
0, 850, 640, 0,
0, 0, 1, 0
);
const Matx33d M2(
850, 0, 640,
0, 850, 640,
0, 0, 1
);
const Matx34d P2_gold(
850, 0, 640, -2*850, // correcponds to T(-2., 0., 0.)
0, 850, 640, 0,
0, 0, 1, 0
);
const Matx<double, 5, 1> D1(0, 0, 0, 0, 0);
const Matx<double, 5, 1> D2(0, 0, 0, 0, 0);
const Matx33d R(
1., 0., 0.,
0., 1., 0.,
0., 0., 1.
);
const Matx31d T(-2., 0., 0.);
const Size imageSize(1280, 1280);
Mat R1, R2, P1, P2, Q;
Rect roi1, roi2;
stereoRectify(M1, D1, M2, D2, imageSize, R, T,
R1, R2, P1, P2, Q,
CALIB_ZERO_DISPARITY, 0, imageSize, &roi1, &roi2);
EXPECT_EQ(cv::norm(P1, P1_gold), 0.);
EXPECT_EQ(cv::norm(P2, P2_gold), 0.);
}
TEST(Calib3d_Triangulate, accuracy)
{
// the testcase from http://code.opencv.org/issues/4334