Merge pull request #23305 from bhavitp:fix/calib3d/undistortion_grid

Resolves https://github.com/opencv/opencv/issues/23304 Fixes the incorrect pixel grid Switches type to double to avoid precision loss as all callers use doubles ### 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
2026-07-30 07:43:03 +04:00 · 2023-03-10 01:50:36 -05:00
parent 8ad8ec679f
commit 7ea6b356c7
2 changed files with 115 additions and 16 deletions
@@ -157,6 +157,104 @@ void CV_DefaultNewCameraMatrixTest::prepare_to_validation( int /*test_case_idx*/

 //---------

+class CV_GetOptimalNewCameraMatrixNoDistortionTest : public cvtest::ArrayTest
+{
+public:
+    CV_GetOptimalNewCameraMatrixNoDistortionTest();
+protected:
+    int prepare_test_case (int test_case_idx);
+    void prepare_to_validation(int test_case_idx);
+    void get_test_array_types_and_sizes(int test_case_idx, vector<vector<Size> >& sizes, vector<vector<int> >& types);
+    void run_func();
+
+private:
+    cv::Mat camera_mat;
+    cv::Mat distortion_coeffs;
+    cv::Mat new_camera_mat;
+
+    cv::Size img_size;
+    double alpha;
+    bool center_principal_point;
+
+    int matrix_type;
+
+    static const int MAX_X = 2048;
+    static const int MAX_Y = 2048;
+};
+
+CV_GetOptimalNewCameraMatrixNoDistortionTest::CV_GetOptimalNewCameraMatrixNoDistortionTest()
+{
+    test_array[INPUT].push_back(NULL); // camera_mat
+    test_array[INPUT].push_back(NULL); // distortion_coeffs
+    test_array[OUTPUT].push_back(NULL); // new_camera_mat
+    test_array[REF_OUTPUT].push_back(NULL);
+
+    alpha = 0.0;
+    center_principal_point = false;
+    matrix_type = 0;
+}
+
+void CV_GetOptimalNewCameraMatrixNoDistortionTest::get_test_array_types_and_sizes(int test_case_idx, vector<vector<Size> >& sizes, vector<vector<int> >& types)
+{
+    cvtest::ArrayTest::get_test_array_types_and_sizes(test_case_idx, sizes, types);
+    RNG& rng = ts->get_rng();
+    matrix_type = types[INPUT][0] = types[INPUT][1] = types[OUTPUT][0] = types[REF_OUTPUT][0] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
+    sizes[INPUT][0] = sizes[OUTPUT][0] = sizes[REF_OUTPUT][0] = cvSize(3,3);
+    sizes[INPUT][1] = cvSize(1,4);
+}
+
+int CV_GetOptimalNewCameraMatrixNoDistortionTest::prepare_test_case(int test_case_idx)
+{
+    int code = cvtest::ArrayTest::prepare_test_case( test_case_idx );
+
+    if (code <= 0)
+        return code;
+
+    RNG& rng = ts->get_rng();
+
+    alpha = cvtest::randReal(rng);
+    center_principal_point = ((cvtest::randInt(rng) % 2)!=0);
+
+    // Generate random camera matrix. Use floating point precision for source to avoid precision loss
+    img_size.width = cvtest::randInt(rng) % MAX_X + 1;
+    img_size.height = cvtest::randInt(rng) % MAX_Y + 1;
+    const float aspect_ratio = static_cast<float>(img_size.width) / img_size.height;
+    float cam_array[9] = {0,0,0,0,0,0,0,0,1};
+    cam_array[2] = static_cast<float>((img_size.width - 1)*0.5);  // center
+    cam_array[5] = static_cast<float>((img_size.height - 1)*0.5); // center
+    cam_array[0] = static_cast<float>(MAX(img_size.width, img_size.height)/(0.9 - cvtest::randReal(rng)*0.6));
+    cam_array[4] = aspect_ratio*cam_array[0];
+
+    Mat& input_camera_mat = test_mat[INPUT][0];
+    cvtest::convert(Mat(3, 3, CV_32F, cam_array), input_camera_mat, input_camera_mat.type());
+    camera_mat = input_camera_mat;
+
+    // Generate zero distortion matrix
+    const Mat zero_dist_coeffs = Mat::zeros(1, 4, CV_32F);
+    Mat& input_dist_coeffs = test_mat[INPUT][1];
+    cvtest::convert(zero_dist_coeffs, input_dist_coeffs, input_dist_coeffs.type());
+    distortion_coeffs = input_dist_coeffs;
+
+    return code;
+}
+
+void CV_GetOptimalNewCameraMatrixNoDistortionTest::run_func()
+{
+    new_camera_mat = cv::getOptimalNewCameraMatrix(camera_mat, distortion_coeffs, img_size, alpha, img_size, NULL, center_principal_point);
+}
+
+void CV_GetOptimalNewCameraMatrixNoDistortionTest::prepare_to_validation(int /*test_case_idx*/)
+{
+    const Mat& src = test_mat[INPUT][0];
+    Mat& dst = test_mat[REF_OUTPUT][0];
+    cvtest::copy(src, dst);
+
+    Mat& output = test_mat[OUTPUT][0];
+    cvtest::convert(new_camera_mat, output, output.type());
+}
+
+//---------
+
 class CV_UndistortPointsTest : public cvtest::ArrayTest
 {
 public:
@@ -935,6 +1033,7 @@ double CV_InitUndistortRectifyMapTest::get_success_error_level( int /*test_case_
 //////////////////////////////////////////////////////////////////////////////////////////////////////

 TEST(Calib3d_DefaultNewCameraMatrix, accuracy) { CV_DefaultNewCameraMatrixTest test; test.safe_run(); }
+TEST(Calib3d_GetOptimalNewCameraMatrixNoDistortion, accuracy) { CV_GetOptimalNewCameraMatrixNoDistortionTest test; test.safe_run(); }
 TEST(Calib3d_UndistortPoints, accuracy) { CV_UndistortPointsTest test; test.safe_run(); }
 TEST(Calib3d_InitUndistortRectifyMap, accuracy) { CV_InitUndistortRectifyMapTest test; test.safe_run(); }