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bigger 2D2D registration error on opencv 4.6.0

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matlabbe
2026-05-28 21:41:30 -07:00
parent 8551e69f4f
commit ef1df73deb
1 changed files with 1 additions and 1 deletions
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corelib/test/test_registrationvis.cpp
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@@ -149,7 +149,7 @@ static Transform computeRegistration(
// Captured with Vis/CorType=0 (feature matching); also used for optical flow (CorType=1) within tolerance. // Captured with Vis/CorType=0 (feature matching); also used for optical flow (CorType=1) within tolerance.
// Shared by FM/OF, Vis/BundleAdjustment=0 and g2o BA=1. // Shared by FM/OF, Vis/BundleAdjustment=0 and g2o BA=1.
static constexpr float kGoldenTransTolM = 0.20f; static constexpr float kGoldenTransTolM = 0.20f;
static constexpr float kGoldenTransTolEpipolarM = 0.35f; // Epipolar RANSAC variance static constexpr float kGoldenTransTolEpipolarM = 0.60f; // Epipolar RANSAC variance: golden was captured on OpenCV 4.5.4; OpenCV 4.6.0 lands up to ~0.57 m away on the same input (the OpenCV changelog has no calib3d/findEssentialMat entry between those releases, so the drift is probably indirect -- RNG sequence, math/BLAS, etc.).
static constexpr float kGoldenAngleTolRad = 0.28f; static constexpr float kGoldenAngleTolRad = 0.28f;
static float goldenTransTolForEstimationType(int estimationType) static float goldenTransTolForEstimationType(int estimationType)