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Merge branch 4.x

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This commit is contained in:
Alexander Smorkalov
2024-02-16 18:45:22 +03:00
parent d4fd5157fa 12aa0fe898
commit f084a229b4
26 changed files with 441 additions and 89 deletions
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modules/calib/test/test_fisheye.cpp
+11 -6
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@@ -100,6 +100,11 @@ TEST_F(fisheyeTest, Calibration)
{
const int n_images = 34;
const cv::Matx33d goldK(558.4780870585967, 0, 620.4585053962692,
0, 560.5067667343917, 381.9394122875291,
0, 0, 1);
const cv::Vec4d goldD(-0.00146136, -0.00329847, 0.00605742, -0.00374201);
std::vector<std::vector<cv::Point2d> > imagePoints(n_images);
std::vector<std::vector<cv::Point3d> > objectPoints(n_images);
@@ -127,8 +132,8 @@ TEST_F(fisheyeTest, Calibration)
cv::fisheye::calibrate(objectPoints, imagePoints, imageSize, theK, theD,
cv::noArray(), cv::noArray(), flag, cv::TermCriteria(3, 20, 1e-6));
EXPECT_MAT_NEAR(theK, this->K, 1e-10);
EXPECT_MAT_NEAR(theD, this->D, 1e-10);
EXPECT_MAT_NEAR(theK, goldK, 1e-8);
EXPECT_MAT_NEAR(theD, goldD, 1e-8);
}
TEST_F(fisheyeTest, CalibrationWithFixedFocalLength)
@@ -287,10 +292,10 @@ 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(1.34250246865020720, 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);
EXPECT_MAT_NEAR(errors.f, cv::Vec2d(1.34250246865020720, 1.36037536429654530), 1e-6);
EXPECT_MAT_NEAR(errors.c, cv::Vec2d(0.92070526160049848, 0.84383585812851514), 1e-6);
EXPECT_MAT_NEAR(errors.k, cv::Vec4d(0.0053379581373996041, 0.017389792901700545, 0.022036256089491224, 0.0094714594258908952), 1e-7);
EXPECT_MAT_NEAR(err_std, cv::Vec2d(0.187475975266883, 0.185678953263995), 1e-7);
CV_Assert(fabs(rms - 0.263782587133546) < 1e-10);
CV_Assert(errors.alpha == 0);
}