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fix test_cameracalibration bug#19860

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NerdToMars wants to merge 3 commits intoopencv:masterfrom
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fix test_cameracalibration bug#19860
NerdToMars wants to merge 3 commits intoopencv:masterfrom
NerdToMars:master

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@NerdToMars NerdToMars commented Apr 5, 2021

fix the rotation matrix transpose issue, resolve the hug difference between perViewErrors and goodPerviewErrors via:

  1. remove rotation matrix transpose in calibration test
  2. add rotation matrix transpose to match good rotation matrix.

for details, please refer to this issue: #19849

Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

  • I agree to contribute to the project under Apache 2 License.
  • To the best of my knowledge, the proposed patch is not based on a code under GPL or other license that is incompatible with OpenCV
  • The PR is proposed to proper branch
  • There is reference to original bug report and related work
  • There is accuracy test, performance test and test data in opencv_extra repository, if applicable
    Patch to opencv_extra has the same branch name.
  • The feature is well documented and sample code can be built with the project CMake

@NerdToMars
fix rotation error via removing transpose
cbc8b86 
1. remove transpose operation when return camera rotation matrix
@NerdToMars
transpose rotMatrs in test to match goodRotMatrs
bb92f66 
1. transpose rotMatrs to match goodRotMatrs.
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asenyaev commented Apr 8, 2021

jenkins cn please retry a build

@asmorkalov asmorkalov requested a review from vpisarev April 12, 2021 09:17
@vpisarev vpisarev self-assigned this Jun 4, 2021
@asmorkalov asmorkalov added the test label Jun 4, 2021
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asmorkalov commented Jul 27, 2021 •
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@NerdToMars Thanks for the patch! @vpisarev is very busy now.
The change affects project call results. In case, if it reduces difference between perViewErrors and goodPerviewErrors than it's logical to reduce threshold at line: code = compare(&perViewErrors[0], &goodPerViewErrors[0], numImages, 1.1, "per view errors vector");

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asmorkalov commented Jul 27, 2021

Also the same issue exists in 3.4 branch. OpenCV team merges 3.4 to master on weekly or be-weekly bases, so all changes will appear in master too. The PR was created from master branch and cannot be re-targeted to 3.4 easily. Please create PR with fix from topic brianch derived from 3.4 and point it to 3.4..

@asmorkalov asmorkalov added pr: needs rebase Rebase patch (and squash fixup commits) on the top of target branch incomplete labels Jul 29, 2021
alalek
alalek reviewed Aug 2, 2021
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modules/calib3d/test/test_cameracalibration.cpp
{
Mat r9;
cvtest::Rodrigues( rvecs[i], r9 );
cv::transpose(r9, r9);
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@alalek alalek Aug 2, 2021

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added by @vpisarev here #13081

https://github.com/opencv/opencv/pull/13081/files#diff-3122fe7397a59cc808249e6c0ac6e1a089997df71021aade6778799f59b925f7R815

There is not such line on 3.4 branch.

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asmorkalov commented Sep 3, 2021

@NerdToMars Friendly reminder.

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asmorkalov commented Oct 5, 2021

@NerdToMars Friendly reminder.

@asmorkalov asmorkalov mentioned this pull request Oct 5, 2021
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asmorkalov commented Oct 5, 2021

Replaced by #20810

@asmorkalov asmorkalov closed this Oct 5, 2021
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