calib3d: add regression test for stereoCalibrate

Author: alalek

modules/calib3d/test/test_cameracalibration.cpp

@@ -2118,6 +2118,44 @@ TEST(Calib3d_StereoCalibrate_CPP, extended)
     EXPECT_TRUE(err.total() == 2);
 }
 
+TEST(Calib3d_StereoCalibrate, regression_10791)
+{
+    const Matx33d M1(
+        853.1387981631528, 0, 704.154907802121,
+        0, 853.6445089162528, 520.3600712930319,
+        0, 0, 1
+    );
+    const Matx33d M2(
+        848.6090216909176, 0, 701.6162856852185,
+        0, 849.7040162357157, 509.1864036137,
+        0, 0, 1
+    );
+    const Matx<double, 14, 1> D1(-6.463598629567206, 79.00104930508179, -0.0001006144444464403, -0.0005437499822299972,
+        12.56900616588467, -6.056719942752855, 76.3842481414836, 45.57460250612659,
+        0, 0, 0, 0, 0, 0);
+    const Matx<double, 14, 1> D2(0.6123436439798265, -0.4671756923224087, -0.0001261947899033442, -0.000597334584036978,
+        -0.05660119809538371, 1.037075740629769, -0.3076042835831711, -0.2502169324283623,
+        0, 0, 0, 0, 0, 0);
+
+    const Matx33d R(
+        0.9999926627018476, -0.0001095586963765905, 0.003829169539302921,
+        0.0001021735876758584, 0.9999981346680941, 0.0019287874145156,
+        -0.003829373712065528, -0.001928382022437616, 0.9999908085776333
+    );
+    const Matx31d T(-58.9161771697128, -0.01581306249996402, -0.8492960216760961);
+
+    const Size imageSize(1280, 960);
+
+    Mat R1, R2, P1, P2, Q;
+    Rect roi1, roi2;
+    stereoRectify(M1, D1, M2, D2, imageSize, R, T,
+                  R1, R2, P1, P2, Q,
+                  CALIB_ZERO_DISPARITY, 1, imageSize, &roi1, &roi2);
+
+    EXPECT_GE(roi1.area(), 400*300) << roi1;
+    EXPECT_GE(roi2.area(), 400*300) << roi2;
+}
+
 TEST(Calib3d_Triangulate, accuracy)
 {
     // the testcase from http://code.opencv.org/issues/4334