Merge pull request #6955 from snosov1:fix-6836

modules/calib3d/test/test_cameracalibration.cpp

@@ -1346,6 +1346,108 @@ void CV_ProjectPointsTest_CPP::project( const Mat& objectPoints, const Mat& rvec
 
 ///////////////////////////////// Stereo Calibration /////////////////////////////////////
 
+class CV_StereoCalibrationCornerTest : public cvtest::BaseTest
+{
+public:
+    CV_StereoCalibrationCornerTest();
+    ~CV_StereoCalibrationCornerTest();
+    void clear();
+protected:
+    void run(int);
+};
+
+CV_StereoCalibrationCornerTest::CV_StereoCalibrationCornerTest()
+{
+}
+
+
+CV_StereoCalibrationCornerTest::~CV_StereoCalibrationCornerTest()
+{
+    clear();
+}
+
+void CV_StereoCalibrationCornerTest::clear()
+{
+    cvtest::BaseTest::clear();
+}
+
+static bool resizeCameraMatrix(const Mat &in_cm, Mat &dst_cm, double scale)
+{
+    if (in_cm.empty() || in_cm.cols != 3 || in_cm.rows != 3 || in_cm.type() != CV_64FC1)
+        return false;
+    dst_cm = in_cm * scale;
+    dst_cm.at<double>(2, 2) = 1.0;
+    return true;
+}
+
+// see https://github.com/opencv/opencv/pull/6836 for details
+void CV_StereoCalibrationCornerTest::run(int)
+{
+    const Matx33d M1(906.7857732303256, 0.0, 1026.456125870669,
+                            0.0, 906.7857732303256, 540.0531577669913,
+                            0.0, 0.0, 1.0);
+    const Matx33d M2(906.782205162265, 0.0, 1014.619997352785,
+                            0.0, 906.782205162265, 561.9990018887295,
+                            0.0, 0.0, 1.0);
+    const Matx<double, 5, 1> D1(0.0064836857220181504, 0.033880363848984636, 0.0, 0.0, -0.042996356352306114);
+    const Matx<double, 5, 1> D2(0.023754068600491646, -0.02364619610835259, 0.0, 0.0, 0.0015014971456262652);
+
+    const Size imageSize(2048, 1088);
+    const double scale = 0.25;
+
+    const Matx33d Rot(0.999788461750194, -0.015696495349844446, -0.013291041528534329,
+                             0.015233019205877604, 0.999296086451901, -0.034282455101525826,
+                             0.01381980018141639, 0.03407274036010432, 0.9993238021218641);
+    const Matx31d T(-1.552005597952028, 0.0019508251875105093, -0.023335501616116062);
+
+    // generate camera matrices for resized image rectification.
+    Mat srcM1(M1), srcM2(M2);
+    Mat rszM1, rszM2;
+    resizeCameraMatrix(srcM1, rszM1, scale);
+    resizeCameraMatrix(srcM2, rszM2, scale);
+    Size rszImageSize(cvRound(scale * imageSize.width), cvRound(scale * imageSize.height));
+    Size srcImageSize = imageSize;
+    // apply stereoRectify
+    Mat srcR[2], srcP[2], srcQ;
+    Mat rszR[2], rszP[2], rszQ;
+    stereoRectify(srcM1, D1, srcM2, D2, srcImageSize, Rot, T,
+                  srcR[0], srcR[1], srcP[0], srcP[1], srcQ,
+                  CALIB_ZERO_DISPARITY, 0);
+    stereoRectify(rszM1, D1, rszM2, D2, rszImageSize, Rot, T,
+                  rszR[0], rszR[1], rszP[0], rszP[1], rszQ,
+                  CALIB_ZERO_DISPARITY, 0);
+    // generate remap maps
+    Mat srcRmap[2], rszRmap[2];
+    initUndistortRectifyMap(srcM1, D1, srcR[0], srcP[0], srcImageSize, CV_32FC2, srcRmap[0], srcRmap[1]);
+    initUndistortRectifyMap(rszM1, D1, rszR[0], rszP[0], rszImageSize, CV_32FC2, rszRmap[0], rszRmap[1]);
+
+    // generate source image
+    // it's an artificial pattern with white rect in the center
+    Mat image(imageSize, CV_8UC3);
+    image.setTo(0);
+    image(cv::Rect(imageSize.width / 3, imageSize.height / 3, imageSize.width / 3, imageSize.height / 3)).setTo(255);
+
+    // perform remap-resize
+    Mat src_result;
+    remap(image, src_result, srcRmap[0], srcRmap[1], INTER_LINEAR);
+    resize(src_result, src_result, Size(), scale, scale, INTER_LINEAR);
+    // perform resize-remap
+    Mat rsz_result;
+    resize(image, rsz_result, Size(), scale, scale, INTER_LINEAR);
+    remap(rsz_result, rsz_result, rszRmap[0], rszRmap[1], INTER_LINEAR);
+
+    // modifying the camera matrix with resizeCameraMatrix must yield the same
+    // result as calibrating the downscaled images
+    int cnz = countNonZero((cv::Mat(src_result - rsz_result) != 0)(
+                               cv::Rect(src_result.cols / 3, src_result.rows / 3,
+                                        (int)(src_result.cols / 3.1), int(src_result.rows / 3.1))));
+    if (cnz)
+    {
+        ts->printf( cvtest::TS::LOG, "The camera matrix is wrong for downscaled image\n");
+        ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
+    }
+}
+
 class CV_StereoCalibrationTest : public cvtest::BaseTest
 {
 public:
@@ -1949,7 +2051,7 @@ TEST(Calib3d_ProjectPoints_C, accuracy) { CV_ProjectPointsTest_C  test; test.saf
 TEST(Calib3d_ProjectPoints_CPP, regression) { CV_ProjectPointsTest_CPP test; test.safe_run(); }
 TEST(Calib3d_StereoCalibrate_C, regression) { CV_StereoCalibrationTest_C test; test.safe_run(); }
 TEST(Calib3d_StereoCalibrate_CPP, regression) { CV_StereoCalibrationTest_CPP test; test.safe_run(); }
-
+TEST(Calib3d_StereoCalibrateCorner, regression) { CV_StereoCalibrationCornerTest test; test.safe_run(); }
 
 TEST(Calib3d_Triangulate, accuracy)
 {