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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/test/test_cameramodel.cpp
+39
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@@ -298,6 +298,45 @@ TEST_F(CameraModelTest, ReprojectInt)
EXPECT_NEAR(v, static_cast<int>(cy_), 1);
}
TEST_F(CameraModelTest, ReprojectIgnoresTx)
{
// A Tx set on a single camera model tags a left camera having stereo
// observations (the BA optimizers read the baseline from it to build their
// stereo edges), so reprojection stays that of the camera itself. Use
// StereoCameraModel::reproject() to get both images of a stereo pair.
double baseline = 0.12;
CameraModel withTx(fx_, fy_, cx_, cy_, CameraModel::opticalRotation(), -baseline*fx_, imageSize_);
CameraModel withoutTx(fx_, fy_, cx_, cy_, CameraModel::opticalRotation(), 0.0, imageSize_);
EXPECT_DOUBLE_EQ(withTx.Tx(), -baseline*fx_);
float x = 0.3f, y = -0.2f, z = 2.0f;
float u, v, uNoTx, vNoTx;
withTx.reproject(x, y, z, u, v);
withoutTx.reproject(x, y, z, uNoTx, vNoTx);
EXPECT_FLOAT_EQ(u, uNoTx);
EXPECT_FLOAT_EQ(v, vNoTx);
EXPECT_FLOAT_EQ(u, static_cast<float>(fx_*x/z + cx_));
EXPECT_FLOAT_EQ(v, static_cast<float>(fy_*y/z + cy_));
}
TEST_F(CameraModelTest, ReprojectProjectRoundTripNoTx)
{
CameraModel model(fx_, fy_, cx_, cy_, CameraModel::opticalRotation(), 0.0, imageSize_);
float x = 0.35f, y = -0.15f, z = 2.5f;
float u, v;
model.reproject(x, y, z, u, v);
float x2, y2, z2;
model.project(u, v, z, x2, y2, z2);
EXPECT_NEAR(x2, x, 0.001f);
EXPECT_NEAR(y2, y, 0.001f);
EXPECT_FLOAT_EQ(z2, z);
}
// Field of View Tests
TEST_F(CameraModelTest, FieldOfView)