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Merge branch 4.x

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This commit is contained in:
Alexander Alekhin
2023-01-09 11:08:02 +00:00
parent 8a62b03761 2ab46d9553
commit 593a376566
880 changed files with 83958 additions and 9368 deletions
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modules/stereo/include/opencv2/stereo.hpp
+18 -4
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@@ -89,11 +89,18 @@ coordinates. The function distinguishes the following two cases:
\end{bmatrix}\f]
\f[\texttt{P2} = \begin{bmatrix}
f & 0 & cx_2 & T_x*f \\
f & 0 & cx_2 & T_x \cdot f \\
0 & f & cy & 0 \\
0 & 0 & 1 & 0
\end{bmatrix} ,\f]
\f[\texttt{Q} = \begin{bmatrix}
1 & 0 & 0 & -cx_1 \\
0 & 1 & 0 & -cy \\
0 & 0 & 0 & f \\
0 & 0 & -\frac{1}{T_x} & \frac{cx_1 - cx_2}{T_x}
\end{bmatrix} \f]
where \f$T_x\f$ is a horizontal shift between the cameras and \f$cx_1=cx_2\f$ if
@ref STEREO_ZERO_DISPARITY is set.
@@ -109,10 +116,17 @@ coordinates. The function distinguishes the following two cases:
\f[\texttt{P2} = \begin{bmatrix}
f & 0 & cx & 0 \\
0 & f & cy_2 & T_y*f \\
0 & f & cy_2 & T_y \cdot f \\
0 & 0 & 1 & 0
\end{bmatrix},\f]
\f[\texttt{Q} = \begin{bmatrix}
1 & 0 & 0 & -cx \\
0 & 1 & 0 & -cy_1 \\
0 & 0 & 0 & f \\
0 & 0 & -\frac{1}{T_y} & \frac{cy_1 - cy_2}{T_y}
\end{bmatrix} \f]
where \f$T_y\f$ is a vertical shift between the cameras and \f$cy_1=cy_2\f$ if
@ref STEREO_ZERO_DISPARITY is set.
@@ -148,8 +162,8 @@ CV_EXPORTS_W void stereoRectify( InputArray cameraMatrix1, InputArray distCoeffs
@param H2 Output rectification homography matrix for the second image.
@param threshold Optional threshold used to filter out the outliers. If the parameter is greater
than zero, all the point pairs that do not comply with the epipolar geometry (that is, the points
for which \f$|\texttt{points2[i]}^T*\texttt{F}*\texttt{points1[i]}|>\texttt{threshold}\f$ ) are
rejected prior to computing the homographies. Otherwise, all the points are considered inliers.
for which \f$|\texttt{points2[i]}^T \cdot \texttt{F} \cdot \texttt{points1[i]}|>\texttt{threshold}\f$ )
are rejected prior to computing the homographies. Otherwise, all the points are considered inliers.
The function computes the rectification transformations without knowing intrinsic parameters of the
cameras and their relative position in the space, which explains the suffix "uncalibrated". Another