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Merge pull request #16011 from sebastien-wybo:fix_16007

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* Fix #16007 - colinearity computed using all 3 coordinates

* calib3d(test): estimateAffine3D regression 16007
This commit is contained in:
Sebastien Wybo 2019-12-19 10:59:18 +01:00 committed by Alexander Alekhin
parent a8345133ac
commit e801f0e954
2 changed files with 17 additions and 3 deletions
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6
modules/calib3d/src/ptsetreg.cpp
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@ -488,13 +488,13 @@ public:
for(j = 0; j < i; ++j)
{
Point3f d1 = ptr[j] - ptr[i];
float n1 = d1.x*d1.x + d1.y*d1.y;
float n1 = d1.x*d1.x + d1.y*d1.y + d1.z*d1.z;
for(k = 0; k < j; ++k)
{
Point3f d2 = ptr[k] - ptr[i];
float denom = (d2.x*d2.x + d2.y*d2.y)*n1;
float num = d1.x*d2.x + d1.y*d2.y;
float denom = (d2.x*d2.x + d2.y*d2.y + d2.z*d2.z)*n1;
float num = d1.x*d2.x + d1.y*d2.y + d1.z*d2.z;
if( num*num > threshold*threshold*denom )
return false;

14
modules/calib3d/test/test_affine3d_estimator.cpp
View File

@ -192,4 +192,18 @@ void CV_Affine3D_EstTest::run( int /* start_from */)
TEST(Calib3d_EstimateAffine3D, accuracy) { CV_Affine3D_EstTest test; test.safe_run(); }
TEST(Calib3d_EstimateAffine3D, regression_16007)
{
std::vector<cv::Point3f> m1, m2;
m1.push_back(Point3f(1.0f, 0.0f, 0.0f)); m2.push_back(Point3f(1.0f, 1.0f, 0.0f));
m1.push_back(Point3f(1.0f, 0.0f, 1.0f)); m2.push_back(Point3f(1.0f, 1.0f, 1.0f));
m1.push_back(Point3f(0.5f, 0.0f, 0.5f)); m2.push_back(Point3f(0.5f, 1.0f, 0.5f));
m1.push_back(Point3f(2.5f, 0.0f, 2.5f)); m2.push_back(Point3f(2.5f, 1.0f, 2.5f));
m1.push_back(Point3f(2.0f, 0.0f, 1.0f)); m2.push_back(Point3f(2.0f, 1.0f, 1.0f));
cv::Mat m3D, inl;
int res = cv::estimateAffine3D(m1, m2, m3D, inl);
EXPECT_EQ(1, res);
}
}} // namespace