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CI: use ubuntu arm runners instead of QEMU (#1771)

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* CI: use ubuntu arm runners instead of QEMU

* removed focal deps docker image ci

* run tests in docker ci

* revert temporary test

* trigger ci jobs with modified files

* ldconfig

* arm64 ldconfig order

* No response filtering here: cv::goodFeaturesToTrack() already applies GFTT/QualityLevel, relative to the best corner's measure. Re-applying it as an absolute floor on KeyPoint::response double-filtered (~86% of keypoints ropped on OpenCV 4.5), and dropped *every* keypoint on OpenCV < 4.5, whose GFTTDetector leaves response at 0.

* fixing ExtractXYZCorrespondencesRANSAC ci error

* increased windows timeout (probably caused by gftt fix now extracting more features)
This commit is contained in:
matlabbe
2026-09-22 14:41:07 -07:00
committed by GitHub
parent 9ed83a71db
commit 16fb2f0541
30 changed files with 719 additions and 278 deletions
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corelib/src/Features2d.cpp
-14
View File
@@ -2282,20 +2282,6 @@ std::vector<cv::KeyPoint> GFTT::generateKeypointsImpl(const cv::Mat & image, con
_gftt->detect(imgRoi, keypoints, maskRoi); // Opencv keypoints
}
if(!_useHarrisDetector && _qualityLevel>0.0)
{
std::vector<cv::KeyPoint> bestKeypoints;
bestKeypoints.reserve(keypoints.size());
for(size_t i=0; i<keypoints.size(); ++i)
{
if(keypoints[i].response > _qualityLevel)
{
bestKeypoints.push_back(keypoints[i]);
}
}
return bestKeypoints;
}
return keypoints;
}
corelib/src/StereoCameraModel.cpp
+24
View File
@@ -598,6 +598,30 @@ float StereoCameraModel::computeDisparity(unsigned short depth) const
return baseline() * left().fx() / (float(depth)/1000.0f) - right().cx() + left().cx();
}
void StereoCameraModel::reproject(float x, float y, float z, float & uLeft, float & vLeft, float & uRight, float & vRight) const
{
UASSERT(z!=0.0f);
float invZ = 1.0f/z;
// CameraModel::reproject() doesn't apply Tx, as a camera model with a Tx set is
// also used to tag a left camera having stereo observations (see the stereo edges
// of the BA optimizers). Here Tx is the baseline of the rectified projection
// matrices (0 for the left camera, -fx*baseline for the right one), so that
// (uLeft-uRight) is the disparity of the point.
uLeft = (left_.fx()*x + left_.Tx())*invZ + left_.cx();
vLeft = (left_.fy()*y)*invZ + left_.cy();
uRight = (right_.fx()*x + right_.Tx())*invZ + right_.cx();
vRight = (right_.fy()*y)*invZ + right_.cy();
}
void StereoCameraModel::reproject(float x, float y, float z, int & uLeft, int & vLeft, int & uRight, int & vRight) const
{
float uLeftF, vLeftF, uRightF, vRightF;
this->reproject(x, y, z, uLeftF, vLeftF, uRightF, vRightF);
uLeft = uLeftF;
vLeft = vLeftF;
uRight = uRightF;
vRight = vRightF;
}
Transform StereoCameraModel::stereoTransform() const
{
if(!R_.empty() && !T_.empty())