Thanks to visit codestin.com
Credit goes to github.com

Skip to content

calib3d: fix Rodrigues CV_32F and CV_64F type mismatch in projectPoints #25824

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 2 commits into from
Jul 15, 2024
Merged

calib3d: fix Rodrigues CV_32F and CV_64F type mismatch in projectPoints #25824

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
fa1cfd8
add conversion to CV_64F for matching types
j3knk Jun 27, 2024
b1270cc
Added Python test for projectPoints with float inputs.
asmorkalov Jul 15, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
17 changes: 16 additions & 1 deletion modules/calib3d/misc/python/test/test_calibration.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,22 @@ def test_calibration(self):
self.assertLess(cv.norm(camera_matrix - cameraMatrixTest, cv.NORM_L1), normCamEps)
self.assertLess(cv.norm(dist_coefs - distCoeffsTest, cv.NORM_L1), normDistEps)


def test_projectPoints(self):
objectPoints = np.array([[181.24588 , 87.80361 , 11.421074],
[ 87.17948 , 184.75563 , 37.223446],
[ 22.558456, 45.495266, 246.05797 ]], dtype=np.float32)
rvec = np.array([[ 0.9357548 , -0.28316498, 0.21019171],
[ 0.30293274, 0.9505806 , -0.06803132],
[-0.18054008, 0.12733458, 0.9752903 ]], dtype=np.float32)
tvec = np.array([ 69.32692 , 17.602057, 135.77672 ], dtype=np.float32)
cameraMatrix = np.array([[214.0047 , 26.98735 , 253.37799 ],
[189.8172 , 10.038101, 18.862494],
[114.07123 , 200.87277 , 194.56332 ]], dtype=np.float32)
distCoeffs = distCoeffs = np.zeros((4, 1), dtype=np.float32)

imagePoints, jacobian = cv.projectPoints(objectPoints, rvec, tvec, cameraMatrix, distCoeffs)
self.assertTrue(imagePoints is not None)
self.assertTrue(jacobian is not None)

if __name__ == '__main__':
NewOpenCVTests.bootstrap()
10 changes: 6 additions & 4 deletions modules/calib3d/src/calibration.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -538,11 +538,11 @@ static void cvProjectPoints2Internal( const CvMat* objectPoints,
int calc_derivatives;
const CvPoint3D64f* M;
CvPoint2D64f* m;
double r[3], R[9], dRdr[27], t[3], a[9], k[14] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0}, fx, fy, cx, cy;
double r[3], R[9], R_vec[9], dRdr[27], t[3], a[9], k[14] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0}, fx, fy, cx, cy;
Matx33d matTilt = Matx33d::eye();
Matx33d dMatTiltdTauX(0,0,0,0,0,0,0,-1,0);
Matx33d dMatTiltdTauY(0,0,0,0,0,0,1,0,0);
CvMat _r, _t, _a = cvMat( 3, 3, CV_64F, a ), _k;
CvMat _r, _r_vec, _t, _a = cvMat( 3, 3, CV_64F, a ), _k;
CvMat matR = cvMat( 3, 3, CV_64F, R ), _dRdr = cvMat( 3, 9, CV_64F, dRdr );
double *dpdr_p = 0, *dpdt_p = 0, *dpdk_p = 0, *dpdf_p = 0, *dpdc_p = 0;
double* dpdo_p = 0;
Expand Down Expand Up @@ -593,9 +593,11 @@ static void cvProjectPoints2Internal( const CvMat* objectPoints,
if( r_vec->rows == 3 && r_vec->cols == 3 )
{
_r = cvMat( 3, 1, CV_64FC1, r );
cvRodrigues2( r_vec, &_r );
_r_vec = cvMat( r_vec->rows, r_vec->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(r_vec->type)), R_vec );
cvConvert( r_vec, &_r_vec );
cvRodrigues2( &_r_vec, &_r );
cvRodrigues2( &_r, &matR, &_dRdr );
cvCopy( r_vec, &matR );
cvCopy( &_r_vec, &matR );
}
else
{
Expand Down