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Merge pull request #28829 from vrabaud:triangulate

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Fix triangulatePoints with 2-channel arrays.
This commit is contained in:
Alexander Smorkalov
2026-04-20 11:59:55 +03:00
committed by GitHub
parent c244bc3279 7d3a764ba5
commit ad08edab42
2 changed files with 37 additions and 13 deletions
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modules/3d/src/triangulate.cpp
+2 -2
View File
@@ -71,7 +71,7 @@ void triangulatePoints( InputArray _P1, InputArray _P2,
{
npoints1 = points1.rows + points1.cols - 1;
ystep1 = 1;
pstep1 = points1.rows == 1 ? 2 : (int)(points1.step/points1.elemSize());
pstep1 = 2;
}
else
{
@@ -84,7 +84,7 @@ void triangulatePoints( InputArray _P1, InputArray _P2,
{
npoints2 = points2.rows + points2.cols - 1;
ystep2 = 1;
pstep2 = points2.rows == 1 ? 2 : (int)(points2.step/points2.elemSize());
pstep2 = 2;
}
else
{
modules/3d/test/test_cameras.cpp
+35 -11
View File
@@ -1071,21 +1071,45 @@ TEST(Calib3d_Triangulate, accuracy)
float x1data[] = { 200.f, 0.f };
float x2data[] = { 170.f, 1.f };
float Xdata[] = { 0.f, -5.f, 25/3.f };
Mat x1(2, 1, CV_32F, x1data);
Mat x2(2, 1, CV_32F, x2data);
Mat res0(1, 3, CV_32F, Xdata);
constexpr int num_points = 5;
Mat1f res0(num_points, 3);
for(int i = 0; i < num_points; ++i) {
for(int j = 0; j < 3; ++j) {
res0(i, j) = Xdata[j];
}
}
Mat res_, res;
triangulatePoints(P1, P2, x1, x2, res_);
cv::transpose(res_, res_); // TODO cvtest (transpose doesn't support inplace)
convertPointsFromHomogeneous(res_, res);
res = res.reshape(1, 1);
for(int test : {0, 1}) {
if (test == 0) {
// 2xN and 1xN 2-channel.
Mat1f x1(2, num_points);
Mat2f x2(1, num_points);
for(int i = 0; i < 2; ++i) {
for(int j = 0; j < num_points; ++j) {
x1(i, j) = x1data[i];
x2(0, j)[i] = x2data[i];
}
}
triangulatePoints(P1, P2, x1, x2, res_);
} else {
// Array and vector.
std::array<cv::Point2f, num_points> x1;
x1.fill({x1data[0], x1data[1]});
std::vector<cv::Point2f> x2(num_points, {x2data[0], x2data[1]});
triangulatePoints(P1, P2, x1, x2, res_);
}
cv::transpose(res_, res_); // TODO cvtest (transpose doesn't support inplace)
convertPointsFromHomogeneous(res_, res);
res = res.reshape(1, num_points);
cout << "[1]:" << endl;
cout << "\tres0: " << res0 << endl;
cout << "\tres: " << res << endl;
cout << "[1]:" << endl;
cout << "\tres0: " << res0 << endl;
cout << "\tres: " << res << endl;
ASSERT_LE(cvtest::norm(res, res0, NORM_INF), 1e-1);
ASSERT_LE(cvtest::norm(res, res0, NORM_INF), 1e-1);
}
}
// another testcase http://code.opencv.org/issues/3461