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Port stereoRectify grid fix #24035.

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This commit is contained in:
Alexander Smorkalov
2023-08-02 15:57:37 +03:00
parent 9ddf1e5c77
commit da28c62855
2 changed files with 52 additions and 4 deletions
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modules/stereo/test/test_geometry.cpp
+48
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@@ -178,6 +178,54 @@ TEST(StereoGeometry, regression_11131)
EXPECT_GE(roi2.area(), 400*300) << roi2;
}
TEST(StereoGeometry, regression_23305)
{
const Matx33d M1(
850, 0, 640,
0, 850, 640,
0, 0, 1
);
const Matx34d P1_gold(
850, 0, 640, 0,
0, 850, 640, 0,
0, 0, 1, 0
);
const Matx33d M2(
850, 0, 640,
0, 850, 640,
0, 0, 1
);
const Matx34d P2_gold(
850, 0, 640, -2*850, // correcponds to T(-2., 0., 0.)
0, 850, 640, 0,
0, 0, 1, 0
);
const Matx<double, 5, 1> D1(0, 0, 0, 0, 0);
const Matx<double, 5, 1> D2(0, 0, 0, 0, 0);
const Matx33d R(
1., 0., 0.,
0., 1., 0.,
0., 0., 1.
);
const Matx31d T(-2., 0., 0.);
const Size imageSize(1280, 1280);
Mat R1, R2, P1, P2, Q;
Rect roi1, roi2;
stereoRectify(M1, D1, M2, D2, imageSize, R, T,
R1, R2, P1, P2, Q,
STEREO_ZERO_DISPARITY, 0, imageSize, &roi1, &roi2);
EXPECT_EQ(cv::norm(P1, P1_gold), 0.);
EXPECT_EQ(cv::norm(P2, P2_gold), 0.);
}
class fisheyeTest : public ::testing::Test {
protected: