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Merge pull request #23179 from savuor:port34_stddev_calib_fisheye

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Backport to 3.4 of the fisheye calibration uncertainty fix

* uncertainties fix

* trailing whitespace

* comment added
This commit is contained in:
Rostislav Vasilikhin
2023-01-28 10:56:13 +01:00
committed by GitHub
parent c67d4fc633
commit deaf632881
2 changed files with 9 additions and 4 deletions
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modules/calib3d/test/test_fisheye.cpp
+3 -3
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@@ -398,9 +398,9 @@ TEST_F(fisheyeTest, EstimateUncertainties)
cv::internal::EstimateUncertainties(objectPoints, imagePoints, param, rvec, tvec,
errors, err_std, thresh_cond, check_cond, rms);
EXPECT_MAT_NEAR(errors.f, cv::Vec2d(1.29837104202046, 1.31565641071524), 1e-10);
EXPECT_MAT_NEAR(errors.c, cv::Vec2d(0.890439368129246, 0.816096854937896), 1e-10);
EXPECT_MAT_NEAR(errors.k, cv::Vec4d(0.00516248605191506, 0.0168181467500934, 0.0213118690274604, 0.00916010877545648), 1e-10);
EXPECT_MAT_NEAR(errors.f, cv::Vec2d(1.34250246865020720, 1.36037536429654530), 1e-10);
EXPECT_MAT_NEAR(errors.c, cv::Vec2d(0.92070526160049848, 0.84383585812851514), 1e-10);
EXPECT_MAT_NEAR(errors.k, cv::Vec4d(0.0053379581373996041, 0.017389792901700545, 0.022036256089491224, 0.0094714594258908952), 1e-10);
EXPECT_MAT_NEAR(err_std, cv::Vec2d(0.187475975266883, 0.185678953263995), 1e-10);
CV_Assert(fabs(rms - 0.263782587133546) < 1e-10);
CV_Assert(errors.alpha == 0);