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Fix Homography computation. #25665

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Merged
merged 3 commits into from
May 31, 2024
Merged

Fix Homography computation. #25665

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ef7fd0e
Fix Jacobian computation.
vrabaud May 29, 2024
e8545f0
Normalize the homography.
vrabaud May 29, 2024
3b90aa0
Add test for HomographyRefineCallback
dkurt May 30, 2024
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11 changes: 6 additions & 5 deletions modules/calib3d/src/fundam.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -261,11 +261,11 @@ class HomographyRefineCallback CV_FINAL : public LMSolver::Callback
if( Jptr )
{
Jptr[0] = Mx*ww; Jptr[1] = My*ww; Jptr[2] = ww;
Jptr[6] = -Mx*ww*xi; Jptr[7] = -My*ww*xi;
Jptr[11] = Mx*ww; Jptr[12] = My*ww; Jptr[13] = ww;
Jptr[14] = -Mx*ww*yi; Jptr[15] = -My*ww*yi;
Jptr[6] = -Mx*ww*xi; Jptr[7] = -My*ww*xi; Jptr[8] = -ww*xi;
Jptr[12] = Mx*ww; Jptr[13] = My*ww; Jptr[14] = ww;
Jptr[15] = -Mx*ww*yi; Jptr[16] = -My*ww*yi; Jptr[17] = -ww*yi;

Jptr += 16;
Jptr += 18;
}
}

Expand All @@ -274,7 +274,7 @@ class HomographyRefineCallback CV_FINAL : public LMSolver::Callback

Mat src, dst;
};
} // end namesapce cv
} // end namespace cv

namespace cv{
static bool createAndRunRHORegistrator(double confidence,
Expand Down Expand Up @@ -426,6 +426,7 @@ cv::Mat cv::findHomography( InputArray _points1, InputArray _points2,
cb->runKernel( src, dst, H );
Mat H8(9, 1, CV_64F, H.ptr<double>());
LMSolver::create(makePtr<HomographyRefineCallback>(src, dst), 10)->run(H8);
H.convertTo(H, H.type(), scaleFor(H.at<double>(2,2)));
}
}

Expand Down
36 changes: 36 additions & 0 deletions modules/calib3d/test/test_homography.cpp
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Expand Up @@ -727,4 +727,40 @@ TEST(Calib3d_Homography, not_normalized)
}
}

TEST(Calib3d_Homography, Refine)
{
Mat_<double> p1({10, 2}, {41, -86, -87, 99, 66, -96, -86, -8, -67, 24,
-87, -76, -19, 89, 37, -4, -86, -86, -66, -53});
Mat_<double> p2({10, 2}, {
0.007723226608700208, -1.177541410622515,
-0.1909072353027552, -0.4247610181930323,
-0.134992319993638, -0.6469949816560389,
-0.3570627451405215, 0.1811469436293486,
-0.3005671881038939, -0.02325733734262935,
-0.4404509481789249, 0.4851526464158342,
0.6343346428859541, -3.396187657072353,
-0.3539383967092603, 0.1469447227353143,
-0.4526924606856586, 0.5296757109061794,
-0.4309974583614644, 0.4522732662733471
});
hconcat(p1, Mat::ones(p1.rows, 1, CV_64F), p1);
hconcat(p2, Mat::ones(p2.rows, 1, CV_64F), p2);

for(int method : std::vector<int>({0, RANSAC, LMEDS}))
{
Mat h = findHomography(p1, p2, method);
EXPECT_NEAR(h.at<double>(2, 2), 1.0, 1e-7);

Mat proj = p1 * h.t();
proj.col(0) /= proj.col(2);
proj.col(1) /= proj.col(2);

Mat error;
cv::pow(p2.colRange(0, 2) - proj.colRange(0, 2), 2, error);
cv::reduce(error, error, 1, REDUCE_SUM);
cv::reduce(error, error, 0, REDUCE_AVG);
EXPECT_LE(sqrt(error.at<double>(0, 0)), method == LMEDS ? 7e-4 : 7e-5);
}
}

}} // namespace