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Merge branch 4.x

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This commit is contained in:
Alexander Smorkalov
2023-07-12 13:42:01 +03:00
parent eb717a7e91 3c0b71bcec
commit cea26341a5
128 changed files with 9936 additions and 932 deletions
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modules/3d/src/usac/quality.cpp
+2 -2
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@@ -410,9 +410,9 @@ public:
* 1. Check whether j-th data point is consistent with the
* model
* 2. Compute the likelihood ratio λj eq. (1)
* 3. If λj > A, decide the model is ’bad’ (model ”re-jected”),
* 3. If λj > A, decide the model is ’bad’ (model "re-jected"),
* else increment j or continue testing
* 4. If j = N the number of correspondences decide model ”accepted”
* 4. If j = N the number of correspondences decide model "accepted"
*
* Verifies model and returns model score.
modules/3d/test/test_odometry.cpp
+1 -1
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@@ -420,7 +420,7 @@ void OdometryTest::prepareFrameCheck()
odf.getPyramidAt(normi, OdometryFramePyramidType::PYR_NORM, i);
ASSERT_FALSE(normi.empty());
double nnorm = cv::norm(normi, gtNormal, NORM_INF, normmaski);
EXPECT_LE(nnorm, 1.8e-7) << "Normals diff is too big at pyr level " << i;
EXPECT_LE(nnorm, 3.3e-7) << "Normals diff is too big at pyr level " << i;
if (i == 0)
{