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Fix rectangle rounding in cvGetOptimalNewCameraMatrix. #24927

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Fix rectangle rounding in cvGetOptimalNewCameraMatrix. #24927

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6d38155
Fix rectangle rounding in cvGetOptimalNewCameraMatrix.
vrabaud Jan 26, 2024
bb70447
Add a tolerance to rectangle computation.
vrabaud Jan 30, 2024
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37 changes: 31 additions & 6 deletions modules/calib3d/src/calibration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2808,9 +2808,6 @@ void cvGetOptimalNewCameraMatrix( const CvMat* cameraMatrix, const CvMat* distCo
(double)((inner.y - cy0)*s + cy),
(double)(inner.width*s),
(double)(inner.height*s));
cv::Rect r(cvCeil(inner.x), cvCeil(inner.y), cvFloor(inner.width), cvFloor(inner.height));
r &= cv::Rect(0, 0, newImgSize.width, newImgSize.height);
*validPixROI = cvRect(r);
}
}
else
Expand Down Expand Up @@ -2840,11 +2837,39 @@ void cvGetOptimalNewCameraMatrix( const CvMat* cameraMatrix, const CvMat* distCo
if( validPixROI )
{
icvGetRectangles( cameraMatrix, distCoeffs, 0, &matM, imgSize, inner, outer );
cv::Rect r = inner;
r &= cv::Rect(0, 0, newImgSize.width, newImgSize.height);
*validPixROI = cvRect(r);
}
}
if( validPixROI )
{
// This tolerance defines how incomplete a pixel can be to still be considered complete.
// It has been chosen to get Calib3d_GetOptimalNewCameraMatrixNoDistortion.accuracy to pass.
constexpr double kTolerance = 1e-12;
Point p1, p2;
if( std::abs(inner.x-cvRound(inner.x))<kTolerance ) {
p1.x = cvRound(inner.x);
} else {
p1.x = cvCeil(inner.x);
}
if( std::abs(inner.y-cvRound(inner.y))<kTolerance ) {
p1.y = cvRound(inner.y);
} else {
p1.y = cvCeil(inner.y);
}
if( std::abs(inner.x+inner.width-cvRound(inner.x+inner.width))<kTolerance ) {
p2.x = cvRound(inner.x+inner.width);
} else {
p2.x = cvFloor(inner.x+inner.width);
}
if( std::abs(inner.y+inner.height-cvRound(inner.y+inner.height))<kTolerance ) {
p2.y = cvRound(inner.y+inner.height);
} else {
p2.y = cvCeil(inner.y+inner.height);
}
// +1 to make sure p2 is included.
cv::Rect r(p1, p2+cv::Point(1,1));
r &= cv::Rect(0, 0, newImgSize.width, newImgSize.height);
*validPixROI = cvRect(r);
}

cvConvert(&matM, newCameraMatrix);
}
Expand Down
11 changes: 10 additions & 1 deletion modules/calib3d/test/test_undistort.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -171,6 +171,7 @@ class CV_GetOptimalNewCameraMatrixNoDistortionTest : public cvtest::ArrayTest
cv::Mat camera_mat;
cv::Mat distortion_coeffs;
cv::Mat new_camera_mat;
cv::Rect validPixROI;

cv::Size img_size;
double alpha;
Expand All @@ -187,6 +188,8 @@ CV_GetOptimalNewCameraMatrixNoDistortionTest::CV_GetOptimalNewCameraMatrixNoDist
test_array[INPUT].push_back(NULL); // camera_mat
test_array[INPUT].push_back(NULL); // distortion_coeffs
test_array[OUTPUT].push_back(NULL); // new_camera_mat
test_array[OUTPUT].push_back(NULL); // validPixROI
test_array[REF_OUTPUT].push_back(NULL);
test_array[REF_OUTPUT].push_back(NULL);

alpha = 0.0;
Expand All @@ -199,7 +202,9 @@ void CV_GetOptimalNewCameraMatrixNoDistortionTest::get_test_array_types_and_size
cvtest::ArrayTest::get_test_array_types_and_sizes(test_case_idx, sizes, types);
RNG& rng = ts->get_rng();
matrix_type = types[INPUT][0] = types[INPUT][1] = types[OUTPUT][0] = types[REF_OUTPUT][0] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
types[OUTPUT][1] = types[REF_OUTPUT][1] = CV_32S;
sizes[INPUT][0] = sizes[OUTPUT][0] = sizes[REF_OUTPUT][0] = cvSize(3,3);
sizes[OUTPUT][1] = sizes[REF_OUTPUT][1] = Size(4,1);
sizes[INPUT][1] = cvSize(1,4);
}

Expand Down Expand Up @@ -240,17 +245,21 @@ int CV_GetOptimalNewCameraMatrixNoDistortionTest::prepare_test_case(int test_cas

void CV_GetOptimalNewCameraMatrixNoDistortionTest::run_func()
{
new_camera_mat = cv::getOptimalNewCameraMatrix(camera_mat, distortion_coeffs, img_size, alpha, img_size, NULL, center_principal_point);
new_camera_mat = cv::getOptimalNewCameraMatrix(camera_mat, distortion_coeffs, img_size, alpha, img_size, &validPixROI, center_principal_point);
}

void CV_GetOptimalNewCameraMatrixNoDistortionTest::prepare_to_validation(int /*test_case_idx*/)
{
const Mat& src = test_mat[INPUT][0];
Mat& dst = test_mat[REF_OUTPUT][0];
cvtest::copy(src, dst);
Mat& ref_validPixROI = test_mat[REF_OUTPUT][1];
cvtest::copy(cv::Mat(cv::Vec4i(0, 0, img_size.width, img_size.height)), ref_validPixROI);

Mat& output = test_mat[OUTPUT][0];
cvtest::convert(new_camera_mat, output, output.type());
Mat& output_validPixROI = test_mat[OUTPUT][1];
cvtest::copy(cv::Mat(cv::Vec4i(validPixROI.x, validPixROI.y, validPixROI.width, validPixROI.height)), output_validPixROI);
}

//---------
Expand Down
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