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Merge pull request #23150 from savuor:port5_stereo_calib_per_obj

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### Changes

* Port of #22519 to 5.x
* Distortion coefficients were not copied properly, fixed
* Minor coding style chages

### 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
This commit is contained in:
Rostislav Vasilikhin
2023-02-02 14:44:28 +01:00
committed by GitHub
parent 29dc07b1f3
commit 23dec329b4
5 changed files with 271 additions and 118 deletions
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modules/calib/test/test_fisheye.cpp
+11 -10
View File
@@ -883,7 +883,7 @@ TEST_F(fisheyeTest, CalibrationWithDifferentPointsNumber)
cv::noArray(), cv::noArray(), flag, cv::TermCriteria(3, 20, 1e-6));
}
#if 0 // not ported: #22519
TEST_F(fisheyeTest, stereoCalibrateWithPerViewTransformations)
{
const int n_images = 34;
@@ -924,10 +924,11 @@ TEST_F(fisheyeTest, stereoCalibrateWithPerViewTransformations)
flag |= cv::fisheye::CALIB_FIX_SKEW;
double rmsErrorStereoCalib = cv::fisheye::stereoCalibrate(objectPoints, leftPoints, rightPoints,
K1, D1, K2, D2, imageSize, theR, theT, rvecs, tvecs, flag,
cv::TermCriteria(3, 12, 0));
K1, D1, K2, D2, imageSize, theR, theT, rvecs, tvecs, flag,
cv::TermCriteria(3, 12, 0));
std::vector<cv::Point2d> reprojectedImgPts[2] = {std::vector<cv::Point2d>(n_images), std::vector<cv::Point2d>(n_images)};
std::vector<cv::Point2d> reprojectedImgPts[2] = { std::vector<cv::Point2d>(n_images),
std::vector<cv::Point2d>(n_images) };
size_t totalPoints = 0;
double totalMSError[2] = { 0, 0 };
for( size_t i = 0; i < n_images; i++ )
@@ -969,12 +970,12 @@ TEST_F(fisheyeTest, stereoCalibrateWithPerViewTransformations)
-0.006071257768382089, -0.006271040135405457, 0.9999619062167968);
cv::Vec3d T_correct(-0.099402724724121, 0.00270812139265413, 0.00129330292472699);
cv::Matx33d K1_correct (561.195925927249, 0, 621.282400272412,
0, 562.849402029712, 380.555455380889,
0, 0, 1);
0, 562.849402029712, 380.555455380889,
0, 0, 1);
cv::Matx33d K2_correct (560.395452535348, 0, 678.971652040359,
0, 561.90171021422, 380.401340535339,
0, 0, 1);
cv::Matx33d K2_correct (560.395452535348, 0, 678.971652040359,
0, 561.90171021422, 380.401340535339,
0, 0, 1);
cv::Vec4d D1_correct (-7.44253716539556e-05, -0.00702662033932424, 0.00737569823650885, -0.00342230256441771);
cv::Vec4d D2_correct (-0.0130785435677431, 0.0284434505383497, -0.0360333869900506, 0.0144724062347222);
@@ -990,7 +991,7 @@ TEST_F(fisheyeTest, stereoCalibrateWithPerViewTransformations)
EXPECT_NEAR(rmsErrorStereoCalib, rmsErrorFromReprojectedImgPts, 1e-4);
}
#endif
TEST_F(fisheyeTest, estimateNewCameraMatrixForUndistortRectify)
{