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Merge branch 4.x

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This commit is contained in:
Alexander Alekhin
2022-08-21 14:55:48 +00:00
parent 99d216c8d4 925ff6241f
commit c25f776151
538 changed files with 84703 additions and 5374 deletions
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modules/calib/test/test_cameracalibration.cpp
+3 -23
View File
@@ -484,7 +484,8 @@ void CV_CameraCalibrationTest::run( int start_from )
for( i = 0; i < 3; i++ )
for( j = 0; j < 3; j++ )
{
values_read = fscanf(file, "%lf", &goodRotMatrs[currImage].val[i*3+j]);
// Yes, load with transpose
values_read = fscanf(file, "%lf", &goodRotMatrs[currImage].val[j*3+i]);
CV_Assert(values_read == 1);
}
}
@@ -568,12 +569,7 @@ void CV_CameraCalibrationTest::run( int start_from )
/* ----- Compute reprojection error ----- */
double dx,dy;
double rx,ry;
double meanDx,meanDy;
double maxDx = 0.0;
double maxDy = 0.0;
meanDx = 0;
meanDy = 0;
for( currImage = 0; currImage < numImages; currImage++ )
{
double imageMeanDx = 0;
@@ -585,20 +581,8 @@ void CV_CameraCalibrationTest::run( int start_from )
dx = rx - imagePoints[currImage][currPoint].x;
dy = ry - imagePoints[currImage][currPoint].y;
meanDx += dx;
meanDy += dy;
imageMeanDx += dx*dx;
imageMeanDy += dy*dy;
dx = fabs(dx);
dy = fabs(dy);
if( dx > maxDx )
maxDx = dx;
if( dy > maxDy )
maxDy = dy;
}
goodPerViewErrors[currImage] = sqrt( (imageMeanDx + imageMeanDy) /
(etalonSize.width * etalonSize.height));
@@ -609,9 +593,6 @@ void CV_CameraCalibrationTest::run( int start_from )
perViewErrors[currImage] = goodPerViewErrors[currImage];
}
meanDx /= numImages * etalonSize.width * etalonSize.height;
meanDy /= numImages * etalonSize.width * etalonSize.height;
/* ========= Compare parameters ========= */
CV_Assert(cameraMatrix.type() == CV_64F && cameraMatrix.size() == Size(3, 3));
CV_Assert(distortion.type() == CV_64F);
@@ -681,7 +662,7 @@ void CV_CameraCalibrationTest::run( int start_from )
/* ----- Compare per view re-projection errors ----- */
CV_Assert(perViewErrors.size() == (size_t)numImages);
code = compare(&perViewErrors[0], &goodPerViewErrors[0], numImages, 1.1, "per view errors vector");
code = compare(&perViewErrors[0], &goodPerViewErrors[0], numImages, 0.1, "per view errors vector");
if( code < 0 )
break;
@@ -812,7 +793,6 @@ void CV_CameraCalibrationTest_CPP::calibrate(Size imageSize,
{
Mat r9;
Rodrigues( rvecs[i], r9 );
cv::transpose(r9, r9);
r9.convertTo(rotationMatrices[i], CV_64F);
tvecs[i].convertTo(translationVectors[i], CV_64F);
}