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Merge branch '2.4'

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This commit is contained in:
Andrey Kamaev 2013-01-30 15:12:50 +04:00
commit 7572b4d400
31 changed files with 816 additions and 421 deletions
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9
CMakeLists.txt
View File

@ -135,7 +135,7 @@ OCV_OPTION(WITH_TBB "Include Intel TBB support" OFF
OCV_OPTION(WITH_CSTRIPES "Include C= support" OFF IF WIN32 )
OCV_OPTION(WITH_TIFF "Include TIFF support" ON IF (NOT IOS) )
OCV_OPTION(WITH_UNICAP "Include Unicap support (GPL)" OFF IF (UNIX AND NOT APPLE AND NOT ANDROID) )
OCV_OPTION(WITH_V4L "Include Video 4 Linux support" ON IF (UNIX AND NOT APPLE AND NOT ANDROID) )
OCV_OPTION(WITH_V4L "Include Video 4 Linux support" ON IF (UNIX AND NOT ANDROID) )
OCV_OPTION(WITH_VIDEOINPUT "Build HighGUI with DirectShow support" ON IF WIN32 )
OCV_OPTION(WITH_XIMEA "Include XIMEA cameras support" OFF IF (NOT ANDROID AND NOT APPLE) )
OCV_OPTION(WITH_XINE "Include Xine support (GPL)" OFF IF (UNIX AND NOT APPLE AND NOT ANDROID) )
@ -148,6 +148,7 @@ OCV_OPTION(WITH_OPENCLAMDBLAS "Include AMD OpenCL BLAS library support" OFF
# OpenCV build components
# ===================================================
OCV_OPTION(BUILD_SHARED_LIBS "Build shared libraries (.dll/.so) instead of static ones (.lib/.a)" NOT (ANDROID OR IOS) )
OCV_OPTION(BUILD_opencv_apps "Build utility applications (used for example to train classifiers)" (NOT ANDROID) IF (NOT IOS) )
OCV_OPTION(BUILD_ANDROID_EXAMPLES "Build examples for Android platform" ON IF ANDROID )
OCV_OPTION(BUILD_DOCS "Create build rules for OpenCV Documentation" ON )
OCV_OPTION(BUILD_EXAMPLES "Build all examples" OFF )
@ -452,7 +453,9 @@ add_subdirectory(doc)
add_subdirectory(data)
# extra applications
add_subdirectory(apps)
if(BUILD_opencv_apps)
add_subdirectory(apps)
endif()
# examples
if(BUILD_EXAMPLES OR BUILD_ANDROID_EXAMPLES OR INSTALL_PYTHON_EXAMPLES)
@ -720,6 +723,8 @@ if(DEFINED WITH_V4L)
endif()
if(HAVE_CAMV4L2)
set(HAVE_CAMV4L2_STR "YES")
elseif(HAVE_VIDEOIO)
set(HAVE_CAMV4L2_STR "YES(videoio)")
else()
set(HAVE_CAMV4L2_STR "NO")
endif()

4
apps/haartraining/CMakeLists.txt
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@ -1,7 +1,3 @@
if(IOS OR ANDROID)
return()
endif()
SET(OPENCV_HAARTRAINING_DEPS opencv_core opencv_imgproc opencv_highgui opencv_objdetect opencv_calib3d opencv_video opencv_features2d opencv_flann opencv_legacy)
ocv_check_dependencies(${OPENCV_HAARTRAINING_DEPS})

4
apps/traincascade/CMakeLists.txt
View File

@ -1,7 +1,3 @@
if(IOS OR ANDROID)
return()
endif()
set(OPENCV_TRAINCASCADE_DEPS opencv_core opencv_ml opencv_imgproc opencv_objdetect opencv_highgui opencv_calib3d opencv_video opencv_features2d opencv_flann opencv_legacy)
ocv_check_dependencies(${OPENCV_TRAINCASCADE_DEPS})

3
cmake/OpenCVFindLibsVideo.cmake
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@ -72,11 +72,12 @@ if(WITH_XINE)
endif(WITH_XINE)
# --- V4L ---
ocv_clear_vars(HAVE_LIBV4L HAVE_CAMV4L HAVE_CAMV4L2)
ocv_clear_vars(HAVE_LIBV4L HAVE_CAMV4L HAVE_CAMV4L2 HAVE_VIDEOIO)
if(WITH_V4L)
CHECK_MODULE(libv4l1 HAVE_LIBV4L)
CHECK_INCLUDE_FILE(linux/videodev.h HAVE_CAMV4L)
CHECK_INCLUDE_FILE(linux/videodev2.h HAVE_CAMV4L2)
CHECK_INCLUDE_FILE(sys/videoio.h HAVE_VIDEOIO)
endif(WITH_V4L)
# --- OpenNI ---

9
cmake/OpenCVUtils.cmake
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@ -64,6 +64,13 @@ MACRO(ocv_check_compiler_flag LANG FLAG RESULT)
else()
FILE(WRITE "${_fname}" "#pragma\nint main(void) { return 0; }\n")
endif()
elseif("_${LANG}_" MATCHES "_OBJCXX_")
set(_fname "${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/CMakeTmp/src.mm")
if("${CMAKE_CXX_FLAGS} ${FLAG} " MATCHES "-Werror " OR "${CMAKE_CXX_FLAGS} ${FLAG} " MATCHES "-Werror=unknown-pragmas ")
FILE(WRITE "${_fname}" "int main() { return 0; }\n")
else()
FILE(WRITE "${_fname}" "#pragma\nint main() { return 0; }\n")
endif()
else()
unset(_fname)
endif()
@ -100,6 +107,8 @@ macro(ocv_check_flag_support lang flag varname)
set(_lang CXX)
elseif("_${lang}_" MATCHES "_C_")
set(_lang C)
elseif("_${lang}_" MATCHES "_OBJCXX_")
set(_lang OBJCXX)
else()
set(_lang ${lang})
endif()

3
cmake/templates/cvconfig.h.cmake
View File

@ -19,6 +19,9 @@
/* V4L2 capturing support */
#cmakedefine HAVE_CAMV4L2
/* V4L2 capturing support in videoio.h */
#cmakedefine HAVE_VIDEOIO
/* V4L/V4L2 capturing support via libv4l */
#cmakedefine HAVE_LIBV4L

1
doc/tutorials/features2d/feature_description/feature_description.rst
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@ -32,6 +32,7 @@ This tutorial code's is shown lines below. You can also download it from `here <
#include "opencv2/core/core.hpp"
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/nonfree/features2d.hpp"
using namespace cv;

123
doc/tutorials/features2d/trackingmotion/generic_corner_detector/generic_corner_detector.rst
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@ -22,127 +22,8 @@ Code
This tutorial code's is shown lines below. You can also download it from `here <http://code.opencv.org/projects/opencv/repository/revisions/master/raw/samples/cpp/tutorial_code/TrackingMotion/cornerDetector_Demo.cpp>`_
.. code-block:: cpp
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>
#include <stdio.h>
#include <stdlib.h>
using namespace cv;
using namespace std;
/// Global variables
Mat src, src_gray;
Mat myHarris_dst; Mat myHarris_copy; Mat Mc;
Mat myShiTomasi_dst; Mat myShiTomasi_copy;
int myShiTomasi_qualityLevel = 50;
int myHarris_qualityLevel = 50;
int max_qualityLevel = 100;
double myHarris_minVal; double myHarris_maxVal;
double myShiTomasi_minVal; double myShiTomasi_maxVal;
RNG rng(12345);
char* myHarris_window = "My Harris corner detector";
char* myShiTomasi_window = "My Shi Tomasi corner detector";
/// Function headers
void myShiTomasi_function( int, void* );
void myHarris_function( int, void* );
/** @function main */
int main( int argc, char** argv )
{
/// Load source image and convert it to gray
src = imread( argv[1], 1 );
cvtColor( src, src_gray, CV_BGR2GRAY );
/// Set some parameters
int blockSize = 3; int apertureSize = 3;
/// My Harris matrix -- Using cornerEigenValsAndVecs
myHarris_dst = Mat::zeros( src_gray.size(), CV_32FC(6) );
Mc = Mat::zeros( src_gray.size(), CV_32FC1 );
cornerEigenValsAndVecs( src_gray, myHarris_dst, blockSize, apertureSize, BORDER_DEFAULT );
/* calculate Mc */
for( int j = 0; j < src_gray.rows; j++ )
{ for( int i = 0; i < src_gray.cols; i++ )
{
float lambda_1 = myHarris_dst.at<float>( j, i, 0 );
float lambda_2 = myHarris_dst.at<float>( j, i, 1 );
Mc.at<float>(j,i) = lambda_1*lambda_2 - 0.04*pow( ( lambda_1 + lambda_2 ), 2 );
}
}
minMaxLoc( Mc, &myHarris_minVal, &myHarris_maxVal, 0, 0, Mat() );
/* Create Window and Trackbar */
namedWindow( myHarris_window, CV_WINDOW_AUTOSIZE );
createTrackbar( " Quality Level:", myHarris_window, &myHarris_qualityLevel, max_qualityLevel,
myHarris_function );
myHarris_function( 0, 0 );
/// My Shi-Tomasi -- Using cornerMinEigenVal
myShiTomasi_dst = Mat::zeros( src_gray.size(), CV_32FC1 );
cornerMinEigenVal( src_gray, myShiTomasi_dst, blockSize, apertureSize, BORDER_DEFAULT );
minMaxLoc( myShiTomasi_dst, &myShiTomasi_minVal, &myShiTomasi_maxVal, 0, 0, Mat() );
/* Create Window and Trackbar */
namedWindow( myShiTomasi_window, CV_WINDOW_AUTOSIZE );
createTrackbar( " Quality Level:", myShiTomasi_window, &myShiTomasi_qualityLevel, max_qualityLevel,
myShiTomasi_function );
myShiTomasi_function( 0, 0 );
waitKey(0);
return(0);
}
/** @function myShiTomasi_function */
void myShiTomasi_function( int, void* )
{
myShiTomasi_copy = src.clone();
if( myShiTomasi_qualityLevel < 1 ) { myShiTomasi_qualityLevel = 1; }
for( int j = 0; j < src_gray.rows; j++ )
{ for( int i = 0; i < src_gray.cols; i++ )
{
if( myShiTomasi_dst.at<float>(j,i) > myShiTomasi_minVal + ( myShiTomasi_maxVal -
myShiTomasi_minVal )*myShiTomasi_qualityLevel/max_qualityLevel )
{ circle( myShiTomasi_copy, Point(i,j), 4, Scalar( rng.uniform(0,255),
rng.uniform(0,255), rng.uniform(0,255) ), -1, 8, 0 ); }
}
}
imshow( myShiTomasi_window, myShiTomasi_copy );
}
/** @function myHarris_function */
void myHarris_function( int, void* )
{
myHarris_copy = src.clone();
if( myHarris_qualityLevel < 1 ) { myHarris_qualityLevel = 1; }
for( int j = 0; j < src_gray.rows; j++ )
{ for( int i = 0; i < src_gray.cols; i++ )
{
if( Mc.at<float>(j,i) > myHarris_minVal + ( myHarris_maxVal - myHarris_minVal )
*myHarris_qualityLevel/max_qualityLevel )
{ circle( myHarris_copy, Point(i,j), 4, Scalar( rng.uniform(0,255), rng.uniform(0,255),
rng.uniform(0,255) ), -1, 8, 0 ); }
}
}
imshow( myHarris_window, myHarris_copy );
}
.. literalinclude:: ../../../../../samples/cpp/tutorial_code/TrackingMotion/cornerDetector_Demo.cpp
:language: cpp
Explanation
============

10
doc/tutorials/introduction/load_save_image/load_save_image.rst
View File

@ -15,7 +15,7 @@ In this tutorial you will learn how to:
.. container:: enumeratevisibleitemswithsquare
* Load an image using :imread:`imread <>`
* Transform an image from RGB to Grayscale format by using :cvt_color:`cvtColor <>`
* Transform an image from BGR to Grayscale format by using :cvt_color:`cvtColor <>`
* Save your transformed image in a file on disk (using :imwrite:`imwrite <>`)
Code
@ -45,7 +45,7 @@ Here it is:
}
Mat gray_image;
cvtColor( image, gray_image, CV_RGB2GRAY );
cvtColor( image, gray_image, CV_BGR2GRAY );
imwrite( "../../images/Gray_Image.jpg", gray_image );
@ -68,11 +68,11 @@ Explanation
* Creating a Mat object to store the image information
* Load an image using :imread:`imread <>`, located in the path given by *imageName*. Fort this example, assume you are loading a RGB image.
#. Now we are going to convert our image from RGB to Grayscale format. OpenCV has a really nice function to do this kind of transformations:
#. Now we are going to convert our image from BGR to Grayscale format. OpenCV has a really nice function to do this kind of transformations:
.. code-block:: cpp
cvtColor( image, gray_image, CV_RGB2GRAY );
cvtColor( image, gray_image, CV_BGR2GRAY );
As you can see, :cvt_color:`cvtColor <>` takes as arguments:
@ -80,7 +80,7 @@ Explanation
* a source image (*image*)
* a destination image (*gray_image*), in which we will save the converted image.
* an additional parameter that indicates what kind of transformation will be performed. In this case we use **CV_RGB2GRAY** (self-explanatory).
* an additional parameter that indicates what kind of transformation will be performed. In this case we use **CV_BGR2GRAY** (because of :imread:`imread <>` has BGR default channel order in case of color images).
#. So now we have our new *gray_image* and want to save it on disk (otherwise it will get lost after the program ends). To save it, we will use a function analagous to :imread:`imread <>`: :imwrite:`imwrite <>`

2
modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
View File

@ -1319,7 +1319,7 @@ StereoSGBM::StereoSGBM
:param speckleWindowSize: Maximum size of smooth disparity regions to consider their noise speckles and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the 50-200 range.
:param speckleRange: Maximum disparity variation within each connected component. If you do speckle filtering, set the parameter to a positive value, multiple of 16. Normally, 16 or 32 is good enough.
:param speckleRange: Maximum disparity variation within each connected component. If you do speckle filtering, set the parameter to a positive value, it will be implicitly multiplied by 16. Normally, 1 or 2 is good enough.
:param fullDP: Set it to ``true`` to run the full-scale two-pass dynamic programming algorithm. It will consume O(W*H*numDisparities) bytes, which is large for 640x480 stereo and huge for HD-size pictures. By default, it is set to ``false`` .

4
modules/calib3d/src/_modelest.h
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@ -43,9 +43,9 @@
#ifndef _CV_MODEL_EST_H_
#define _CV_MODEL_EST_H_
#include "precomp.hpp"
#include "opencv2/calib3d/calib3d.hpp"
class CvModelEstimator2
class CV_EXPORTS CvModelEstimator2
{
public:
CvModelEstimator2(int _modelPoints, CvSize _modelSize, int _maxBasicSolutions);

4
modules/calib3d/src/calibration.cpp
View File

@ -3735,13 +3735,13 @@ float cv::rectify3Collinear( InputArray _cameraMatrix1, InputArray _distCoeffs1,
OutputArray _Rmat1, OutputArray _Rmat2, OutputArray _Rmat3,
OutputArray _Pmat1, OutputArray _Pmat2, OutputArray _Pmat3,
OutputArray _Qmat,
double alpha, Size /*newImgSize*/,
double alpha, Size newImgSize,
Rect* roi1, Rect* roi2, int flags )
{
// first, rectify the 1-2 stereo pair
stereoRectify( _cameraMatrix1, _distCoeffs1, _cameraMatrix2, _distCoeffs2,
imageSize, _Rmat12, _Tmat12, _Rmat1, _Rmat2, _Pmat1, _Pmat2, _Qmat,
flags, alpha, imageSize, roi1, roi2 );
flags, alpha, newImgSize, roi1, roi2 );
Mat R12 = _Rmat12.getMat(), R13 = _Rmat13.getMat(), T12 = _Tmat12.getMat(), T13 = _Tmat13.getMat();

5
modules/calib3d/src/modelest.cpp
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@ -331,6 +331,9 @@ bool CvModelEstimator2::getSubset( const CvMat* m1, const CvMat* m2,
bool CvModelEstimator2::checkSubset( const CvMat* m, int count )
{
if( count <= 2 )
return true;
int j, k, i, i0, i1;
CvPoint2D64f* ptr = (CvPoint2D64f*)m->data.ptr;
@ -363,7 +366,7 @@ bool CvModelEstimator2::checkSubset( const CvMat* m, int count )
break;
}
return i >= i1;
return i > i1;
}

226
modules/calib3d/test/test_modelest.cpp Normal file
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@ -0,0 +1,226 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// Intel License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000, Intel Corporation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of Intel Corporation may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "test_precomp.hpp"
#include "_modelest.h"
using namespace cv;
class BareModelEstimator : public CvModelEstimator2
{
public:
BareModelEstimator(int modelPoints, CvSize modelSize, int maxBasicSolutions);
virtual int runKernel( const CvMat*, const CvMat*, CvMat* );
virtual void computeReprojError( const CvMat*, const CvMat*,
const CvMat*, CvMat* );
bool checkSubsetPublic( const CvMat* ms1, int count, bool checkPartialSubset );
};
BareModelEstimator::BareModelEstimator(int _modelPoints, CvSize _modelSize, int _maxBasicSolutions)
:CvModelEstimator2(_modelPoints, _modelSize, _maxBasicSolutions)
{
}
int BareModelEstimator::runKernel( const CvMat*, const CvMat*, CvMat* )
{
return 0;
}
void BareModelEstimator::computeReprojError( const CvMat*, const CvMat*,
const CvMat*, CvMat* )
{
}
bool BareModelEstimator::checkSubsetPublic( const CvMat* ms1, int count, bool checkPartialSubset )
{
checkPartialSubsets = checkPartialSubset;
return checkSubset(ms1, count);
}
class CV_ModelEstimator2_Test : public cvtest::ArrayTest
{
public:
CV_ModelEstimator2_Test();
protected:
void get_test_array_types_and_sizes( int test_case_idx, vector<vector<Size> >& sizes, vector<vector<int> >& types );
void fill_array( int test_case_idx, int i, int j, Mat& arr );
double get_success_error_level( int test_case_idx, int i, int j );
void run_func();
void prepare_to_validation( int test_case_idx );
bool checkPartialSubsets;
int usedPointsCount;
bool checkSubsetResult;
int generalPositionsCount;
int maxPointsCount;
};
CV_ModelEstimator2_Test::CV_ModelEstimator2_Test()
{
generalPositionsCount = get_test_case_count() / 2;
maxPointsCount = 100;
test_array[INPUT].push_back(NULL);
test_array[OUTPUT].push_back(NULL);
test_array[REF_OUTPUT].push_back(NULL);
}
void CV_ModelEstimator2_Test::get_test_array_types_and_sizes( int /*test_case_idx*/,
vector<vector<Size> > &sizes, vector<vector<int> > &types )
{
RNG &rng = ts->get_rng();
checkPartialSubsets = (cvtest::randInt(rng) % 2 == 0);
int pointsCount = cvtest::randInt(rng) % maxPointsCount;
usedPointsCount = pointsCount == 0 ? 0 : cvtest::randInt(rng) % pointsCount;
sizes[INPUT][0] = cvSize(1, pointsCount);
types[INPUT][0] = CV_64FC2;
sizes[OUTPUT][0] = sizes[REF_OUTPUT][0] = cvSize(1, 1);
types[OUTPUT][0] = types[REF_OUTPUT][0] = CV_8UC1;
}
void CV_ModelEstimator2_Test::fill_array( int test_case_idx, int i, int j, Mat& arr )
{
if( i != INPUT )
{
cvtest::ArrayTest::fill_array( test_case_idx, i, j, arr );
return;
}
if (test_case_idx < generalPositionsCount)
{
//generate points in a general position (i.e. no three points can lie on the same line.)
bool isGeneralPosition;
do
{
ArrayTest::fill_array(test_case_idx, i, j, arr);
//a simple check that the position is general:
// for each line check that all other points don't belong to it
isGeneralPosition = true;
for (int startPointIndex = 0; startPointIndex < usedPointsCount && isGeneralPosition; startPointIndex++)
{
for (int endPointIndex = startPointIndex + 1; endPointIndex < usedPointsCount && isGeneralPosition; endPointIndex++)
{
for (int testPointIndex = 0; testPointIndex < usedPointsCount && isGeneralPosition; testPointIndex++)
{
if (testPointIndex == startPointIndex || testPointIndex == endPointIndex)
{
continue;
}
CV_Assert(arr.type() == CV_64FC2);
Point2d tangentVector_1 = arr.at<Point2d>(endPointIndex) - arr.at<Point2d>(startPointIndex);
Point2d tangentVector_2 = arr.at<Point2d>(testPointIndex) - arr.at<Point2d>(startPointIndex);
const float eps = 1e-4f;
//TODO: perhaps it is better to normalize the cross product by norms of the tangent vectors
if (fabs(tangentVector_1.cross(tangentVector_2)) < eps)
{
isGeneralPosition = false;
}
}
}
}
}
while(!isGeneralPosition);
}
else
{
//create points in a degenerate position (there are at least 3 points belonging to the same line)
ArrayTest::fill_array(test_case_idx, i, j, arr);
if (usedPointsCount <= 2)
{
return;
}
RNG &rng = ts->get_rng();
int startPointIndex, endPointIndex, modifiedPointIndex;
do
{
startPointIndex = cvtest::randInt(rng) % usedPointsCount;
endPointIndex = cvtest::randInt(rng) % usedPointsCount;
modifiedPointIndex = checkPartialSubsets ? usedPointsCount - 1 : cvtest::randInt(rng) % usedPointsCount;
}
while (startPointIndex == endPointIndex || startPointIndex == modifiedPointIndex || endPointIndex == modifiedPointIndex);
double startWeight = cvtest::randReal(rng);
CV_Assert(arr.type() == CV_64FC2);
arr.at<Point2d>(modifiedPointIndex) = startWeight * arr.at<Point2d>(startPointIndex) + (1.0 - startWeight) * arr.at<Point2d>(endPointIndex);
}
}
double CV_ModelEstimator2_Test::get_success_error_level( int /*test_case_idx*/, int /*i*/, int /*j*/ )
{
return 0;
}
void CV_ModelEstimator2_Test::prepare_to_validation( int test_case_idx )
{
test_mat[OUTPUT][0].at<uchar>(0) = checkSubsetResult;
test_mat[REF_OUTPUT][0].at<uchar>(0) = test_case_idx < generalPositionsCount || usedPointsCount <= 2;
}
void CV_ModelEstimator2_Test::run_func()
{
//make the input continuous
Mat input = test_mat[INPUT][0].clone();
CvMat _input = input;
RNG &rng = ts->get_rng();
int modelPoints = cvtest::randInt(rng);
CvSize modelSize = cvSize(2, modelPoints);
int maxBasicSolutions = cvtest::randInt(rng);
BareModelEstimator modelEstimator(modelPoints, modelSize, maxBasicSolutions);
checkSubsetResult = modelEstimator.checkSubsetPublic(&_input, usedPointsCount, checkPartialSubsets);
}
TEST(Calib3d_ModelEstimator2, accuracy) { CV_ModelEstimator2_Test test; test.safe_run(); }

4
modules/core/include/opencv2/core/operations.hpp
View File

@ -716,12 +716,12 @@ template<typename _Tp, int m> struct CV_EXPORTS Matx_DetOp
double operator ()(const Matx<_Tp, m, m>& a) const
{
Matx<_Tp, m, m> temp = a;
double p = LU(temp.val, m, m, 0, 0, 0);
double p = LU(temp.val, m*sizeof(_Tp), m, 0, 0, 0);
if( p == 0 )
return p;
for( int i = 0; i < m; i++ )
p *= temp(i, i);
return p;
return 1./p;
}
};

22
modules/core/include/opencv2/core/types_c.h
View File

@ -342,9 +342,8 @@ CV_INLINE int cvFloor( double value )
return i - (i > value);
#else
int i = cvRound(value);
Cv32suf diff;
diff.f = (float)(value - i);
return i - (diff.i < 0);
float diff = (float)(value - i);
return i - (diff < 0);
#endif
}
@ -360,9 +359,8 @@ CV_INLINE int cvCeil( double value )
return i + (i < value);
#else
int i = cvRound(value);
Cv32suf diff;
diff.f = (float)(i - value);
return i + (diff.i < 0);
float diff = (float)(i - value);
return i + (diff < 0);
#endif
}
@ -371,31 +369,19 @@ CV_INLINE int cvCeil( double value )
CV_INLINE int cvIsNaN( double value )
{
#if 1/*defined _MSC_VER || defined __BORLANDC__
return _isnan(value);
#elif defined __GNUC__
return isnan(value);
#else*/
Cv64suf ieee754;
ieee754.f = value;
return ((unsigned)(ieee754.u >> 32) & 0x7fffffff) +
((unsigned)ieee754.u != 0) > 0x7ff00000;
#endif
}
CV_INLINE int cvIsInf( double value )
{
#if 1/*defined _MSC_VER || defined __BORLANDC__
return !_finite(value);
#elif defined __GNUC__
return isinf(value);
#else*/
Cv64suf ieee754;
ieee754.f = value;
return ((unsigned)(ieee754.u >> 32) & 0x7fffffff) == 0x7ff00000 &&
(unsigned)ieee754.u == 0;
#endif
}

3
modules/core/src/matrix.cpp
View File

@ -841,7 +841,8 @@ int Mat::checkVector(int _elemChannels, int _depth, bool _requireContinuous) con
{
return (depth() == _depth || _depth <= 0) &&
(isContinuous() || !_requireContinuous) &&
((dims == 2 && (((rows == 1 || cols == 1) && channels() == _elemChannels) || (cols == _elemChannels && channels() == 1))) ||
((dims == 2 && (((rows == 1 || cols == 1) && channels() == _elemChannels) ||
(cols == _elemChannels && channels() == 1))) ||
(dims == 3 && channels() == 1 && size.p[2] == _elemChannels && (size.p[0] == 1 || size.p[1] == 1) &&
(isContinuous() || step.p[1] == step.p[2]*size.p[2])))
? (int)(total()*channels()/_elemChannels) : -1;

17
modules/core/test/test_operations.cpp
View File

@ -998,6 +998,23 @@ bool CV_OperationsTest::operations1()
add(Mat::zeros(6, 1, CV_64F), 1, c, noArray(), c.type());
CV_Assert( norm(Matx61f(1.f, 1.f, 1.f, 1.f, 1.f, 1.f), c, CV_C) == 0 );
vector<Point2f> pt2d(3);
vector<Point3d> pt3d(2);
CV_Assert( Mat(pt2d).checkVector(2) == 3 && Mat(pt2d).checkVector(3) < 0 &&
Mat(pt3d).checkVector(2) < 0 && Mat(pt3d).checkVector(3) == 2 );
Matx44f m44(0.8147f, 0.6324f, 0.9575f, 0.9572f,
0.9058f, 0.0975f, 0.9649f, 0.4854f,
0.1270f, 0.2785f, 0.1576f, 0.8003f,
0.9134f, 0.5469f, 0.9706f, 0.1419f);
double d = determinant(m44);
CV_Assert( fabs(d - (-0.0262)) <= 0.001 );
Cv32suf z;
z.i = 0x80000000;
CV_Assert( cvFloor(z.f) == 0 && cvCeil(z.f) == 0 && cvRound(z.f) == 0 );
}
catch(const test_excep&)
{

20
modules/highgui/CMakeLists.txt
View File

@ -131,7 +131,7 @@ endif(HAVE_UNICAP)
if(HAVE_LIBV4L)
list(APPEND highgui_srcs src/cap_libv4l.cpp)
elseif(HAVE_CAMV4L OR HAVE_CAMV4L2)
elseif(HAVE_CAMV4L OR HAVE_CAMV4L2 OR HAVE_VIDEOIO)
list(APPEND highgui_srcs src/cap_v4l.cpp)
endif()
@ -215,6 +215,24 @@ ocv_module_include_directories()
ocv_create_module(${GRFMT_LIBS} ${HIGHGUI_LIBRARIES})
if(APPLE)
ocv_check_flag_support(OBJCXX "-fobjc-exceptions" HAVE_OBJC_EXCEPTIONS)
if(HAVE_OBJC_EXCEPTIONS)
foreach(source ${OPENCV_MODULE_${the_module}_SOURCES})
if("${source}" MATCHES "\\.mm$")
get_source_file_property(flags "${source}" COMPILE_FLAGS)
if(flags)
set(flags "${_flags} -fobjc-exceptions")
else()
set(flags "-fobjc-exceptions")
endif()
set_source_files_properties("${source}" PROPERTIES COMPILE_FLAGS "${flags}")
endif()
endforeach()
endif()
endif()
if(BUILD_SHARED_LIBS)
add_definitions(-DHIGHGUI_EXPORTS)
endif()

6
modules/highgui/src/cap.cpp
View File

@ -169,7 +169,9 @@ CV_IMPL CvCapture * cvCreateCameraCapture (int index)
defined(HAVE_TYZX) || \
defined(HAVE_VFW) || \
defined(HAVE_LIBV4L) || \
(defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)) || \
defined(HAVE_CAMV4L) || \
defined(HAVE_CAMV4L2) || \
defined(HAVE_VIDEOIO) || \
defined(HAVE_GSTREAMER) || \
defined(HAVE_DC1394_2) || \
defined(HAVE_DC1394) || \
@ -212,7 +214,7 @@ CV_IMPL CvCapture * cvCreateCameraCapture (int index)
return capture;
#endif
#if defined HAVE_LIBV4L || (defined (HAVE_CAMV4L) && defined (HAVE_CAMV4L2))
#if defined HAVE_LIBV4L || defined HAVE_CAMV4L || defined HAVE_CAMV4L2 || defined HAVE_VIDEOIO
capture = cvCreateCameraCapture_V4L (index);
if (capture)
return capture;

15
modules/highgui/src/cap_gstreamer.cpp
View File

@ -461,12 +461,19 @@ protected:
void CvVideoWriter_GStreamer::init()
{
encs[CV_FOURCC('H','F','Y','U')]=(char*)"ffenc_huffyuv";
encs[CV_FOURCC('D','R','A','C')]=(char*)"diracenc";
encs[CV_FOURCC('X','V','I','D')]=(char*)"xvidenc";
encs[CV_FOURCC('X','2','6','4')]=(char*)"x264enc";
encs[CV_FOURCC('H','F','Y','U')]=(char*)"ffenc_huffyuv";
encs[CV_FOURCC('J','P','E','G')]=(char*)"jpegenc";
encs[CV_FOURCC('M','J','P','G')]=(char*)"jpegenc";
encs[CV_FOURCC('M','P','1','V')]=(char*)"mpeg2enc";
//encs[CV_FOURCC('M','P','2','V')]=(char*)"mpeg2enc";
encs[CV_FOURCC('M','P','2','V')]=(char*)"mpeg2enc";
encs[CV_FOURCC('T','H','E','O')]=(char*)"theoraenc";
encs[CV_FOURCC('V','P','8','0')]=(char*)"vp8enc";
encs[CV_FOURCC('H','2','6','4')]=(char*)"x264enc";
encs[CV_FOURCC('X','2','6','4')]=(char*)"x264enc";
encs[CV_FOURCC('X','V','I','D')]=(char*)"xvidenc";
encs[CV_FOURCC('F','F','Y','U')]=(char*)"y4menc";
//encs[CV_FOURCC('H','F','Y','U')]=(char*)"y4menc";
pipeline=0;
buffer=0;
}

4
modules/highgui/src/cap_libv4l.cpp
View File

@ -346,7 +346,11 @@ static int numCameras = 0;
static int indexList = 0;
// IOCTL handling for V4L2
#ifdef HAVE_IOCTL_ULONG
static int xioctl( int fd, unsigned long request, void *arg)
#else
static int xioctl( int fd, int request, void *arg)
#endif
{
int r;

250
modules/highgui/src/cap_v4l.cpp
View File

@ -202,7 +202,7 @@ make & enjoy!
#include "precomp.hpp"
#if !defined WIN32 && defined HAVE_CAMV4L && defined HAVE_CAMV4L2
#if !defined WIN32 && (defined HAVE_CAMV4L || defined HAVE_CAMV4L2 || defined HAVE_VIDEOIO)
#define CLEAR(x) memset (&(x), 0, sizeof (x))
@ -214,19 +214,26 @@ make & enjoy!
#include <sys/types.h>
#include <sys/mman.h>
#ifdef HAVE_CAMVAL
#include <linux/videodev.h>
#endif
#include <string.h>
#include <stdlib.h>
#include <asm/types.h> /* for videodev2.h */
#include <assert.h>
#include <sys/stat.h>
#include <sys/ioctl.h>
#ifdef HAVE_CAMV4L2
#include <asm/types.h> /* for videodev2.h */
#include <linux/videodev2.h>
#endif
#ifdef HAVE_VIDEOIO
#include <sys/videoio.h>
#define HAVE_CAMV4L2
#endif
/* Defaults - If your board can do better, set it here. Set for the most common type inputs. */
#define DEFAULT_V4L_WIDTH 640
#define DEFAULT_V4L_HEIGHT 480
@ -288,11 +295,13 @@ typedef struct CvCaptureCAM_V4L
int deviceHandle;
int bufferIndex;
int FirstCapture;
#ifdef HAVE_CAMV4L
struct video_capability capability;
struct video_window captureWindow;
struct video_picture imageProperties;
struct video_mbuf memoryBuffer;
struct video_mmap *mmaps;
#endif /* HAVE_CAMV4L */
char *memoryMap;
IplImage frame;
@ -345,24 +354,6 @@ static int icvSetVideoSize( CvCaptureCAM_V4L* capture, int w, int h);
static int numCameras = 0;
static int indexList = 0;
#ifdef HAVE_CAMV4L2
// IOCTL handling for V4L2
static int xioctl( int fd, int request, void *arg)
{
int r;
do r = ioctl (fd, request, arg);
while (-1 == r && EINTR == errno);
return r;
}
#endif /* HAVE_CAMV4L2 */
/* Simple test program: Find number of Video Sources available.
Start from 0 and go to MAX_CAMERAS while checking for the device with that name.
If it fails on the first attempt of /dev/video0, then check if /dev/video is valid.
@ -393,6 +384,8 @@ static void icvInitCapture_V4L() {
}; /* End icvInitCapture_V4L */
#ifdef HAVE_CAMV4L
static int
try_palette(int fd,
struct video_picture *cam_pic,
@ -410,6 +403,8 @@ try_palette(int fd,
return 0;
}
#endif /* HAVE_CAMV4L */
#ifdef HAVE_CAMV4L2
static int try_palette_v4l2(CvCaptureCAM_V4L* capture, unsigned long colorspace)
@ -422,7 +417,7 @@ static int try_palette_v4l2(CvCaptureCAM_V4L* capture, unsigned long colorspace)
capture->form.fmt.pix.width = DEFAULT_V4L_WIDTH;
capture->form.fmt.pix.height = DEFAULT_V4L_HEIGHT;
if (-1 == xioctl (capture->deviceHandle, VIDIOC_S_FMT, &capture->form))
if (-1 == ioctl (capture->deviceHandle, VIDIOC_S_FMT, &capture->form))
return -1;
@ -434,6 +429,8 @@ static int try_palette_v4l2(CvCaptureCAM_V4L* capture, unsigned long colorspace)
#endif /* HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
static int try_init_v4l(CvCaptureCAM_V4L* capture, char *deviceName)
{
@ -449,7 +446,6 @@ static int try_init_v4l(CvCaptureCAM_V4L* capture, char *deviceName)
/* No matter what the name - it still must be opened! */
capture->deviceHandle = open(deviceName, O_RDWR);
if (capture->deviceHandle == 0)
{
detect = -1;
@ -463,7 +459,6 @@ static int try_init_v4l(CvCaptureCAM_V4L* capture, char *deviceName)
if (ioctl(capture->deviceHandle, VIDIOCGCAP, &capture->capability) < 0)
{
detect = 0;
icvCloseCAM_V4L(capture);
}
else
@ -476,54 +471,64 @@ static int try_init_v4l(CvCaptureCAM_V4L* capture, char *deviceName)
}
#endif /* HAVE_CAMV4L */
#ifdef HAVE_CAMV4L2
static int try_init_v4l2(CvCaptureCAM_V4L* capture, char *deviceName)
{
// if detect = -1 then unable to open device
// if detect = 0 then detected nothing
// if detect = 1 then V4L2 device
int detect = 0;
// Test device for V4L2 compability
// Return value:
// -1 then unable to open device
// 0 then detected nothing
// 1 then V4L2 device
int deviceIndex;
/* Open and test V4L2 device */
capture->deviceHandle = open (deviceName, O_RDWR /* required */ | O_NONBLOCK, 0);
if (capture->deviceHandle == 0)
if (-1 == capture->deviceHandle)
{
detect = -1;
#ifndef NDEBUG
fprintf(stderr, "(DEBUG) try_init_v4l2 open \"%s\": %s\n", deviceName, strerror(errno));
#endif
icvCloseCAM_V4L(capture);
return -1;
}
if (detect == 0)
{
CLEAR (capture->cap);
if (-1 == xioctl (capture->deviceHandle, VIDIOC_QUERYCAP, &capture->cap))
if (-1 == ioctl (capture->deviceHandle, VIDIOC_QUERYCAP, &capture->cap))
{
detect = 0;
#ifndef NDEBUG
fprintf(stderr, "(DEBUG) try_init_v4l2 VIDIOC_QUERYCAP \"%s\": %s\n", deviceName, strerror(errno));
#endif
icvCloseCAM_V4L(capture);
return 0;
}
else
{
CLEAR (capture->capability);
capture->capability.type = capture->cap.capabilities;
/* Query channels number */
if (-1 != xioctl (capture->deviceHandle, VIDIOC_G_INPUT, &capture->capability.channels))
if (-1 == ioctl (capture->deviceHandle, VIDIOC_G_INPUT, &deviceIndex))
{
detect = 1;
}
}
#ifndef NDEBUG
fprintf(stderr, "(DEBUG) try_init_v4l2 VIDIOC_G_INPUT \"%s\": %s\n", deviceName, strerror(errno));
#endif
icvCloseCAM_V4L(capture);
return 0;
}
return detect;
/* Query information about current input */
CLEAR (capture->inp);
capture->inp.index = deviceIndex;
if (-1 == ioctl (capture->deviceHandle, VIDIOC_ENUMINPUT, &capture->inp))
{
#ifndef NDEBUG
fprintf(stderr, "(DEBUG) try_init_v4l2 VIDIOC_ENUMINPUT \"%s\": %s\n", deviceName, strerror(errno));
#endif
icvCloseCAM_V4L(capture);
return 0;
}
return 1;
}
@ -546,17 +551,12 @@ static int autosetup_capture_mode_v4l2(CvCaptureCAM_V4L* capture)
else
#ifdef HAVE_JPEG
#ifdef __USE_GNU
/* support for MJPEG is only available with libjpeg and gcc,
because it's use libjepg and fmemopen()
*/
if (try_palette_v4l2(capture, V4L2_PIX_FMT_MJPEG) == 0 ||
try_palette_v4l2(capture, V4L2_PIX_FMT_JPEG) == 0)
{
capture->palette = PALETTE_MJPEG;
}
else
#endif
#endif
if (try_palette_v4l2(capture, V4L2_PIX_FMT_YUYV) == 0)
@ -593,6 +593,8 @@ static int autosetup_capture_mode_v4l2(CvCaptureCAM_V4L* capture)
#endif /* HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
static int autosetup_capture_mode_v4l(CvCaptureCAM_V4L* capture)
{
@ -626,6 +628,8 @@ static int autosetup_capture_mode_v4l(CvCaptureCAM_V4L* capture)
}
#endif /* HAVE_CAMV4L */
#ifdef HAVE_CAMV4L2
static void v4l2_scan_controls_enumerate_menu(CvCaptureCAM_V4L* capture)
@ -637,7 +641,7 @@ static void v4l2_scan_controls_enumerate_menu(CvCaptureCAM_V4L* capture)
(int)capture->querymenu.index <= capture->queryctrl.maximum;
capture->querymenu.index++)
{
if (0 == xioctl (capture->deviceHandle, VIDIOC_QUERYMENU,
if (0 == ioctl (capture->deviceHandle, VIDIOC_QUERYMENU,
&capture->querymenu))
{
// printf (" %s\n", capture->querymenu.name);
@ -661,7 +665,7 @@ static void v4l2_scan_controls(CvCaptureCAM_V4L* capture)
CLEAR (capture->queryctrl);
capture->queryctrl.id = ctrl_id;
if (0 == xioctl (capture->deviceHandle, VIDIOC_QUERYCTRL,
if (0 == ioctl (capture->deviceHandle, VIDIOC_QUERYCTRL,
&capture->queryctrl))
{
@ -731,7 +735,7 @@ static void v4l2_scan_controls(CvCaptureCAM_V4L* capture)
CLEAR (capture->queryctrl);
capture->queryctrl.id = ctrl_id;
if (0 == xioctl (capture->deviceHandle, VIDIOC_QUERYCTRL,
if (0 == ioctl (capture->deviceHandle, VIDIOC_QUERYCTRL,
&capture->queryctrl))
{
@ -854,7 +858,7 @@ static int _capture_V4L2 (CvCaptureCAM_V4L *capture, char *deviceName)
capture->inp.index = CHANNEL_NUMBER;
/* Set only channel number to CHANNEL_NUMBER */
/* V4L2 have a status field from selected video mode */
if (-1 == xioctl (capture->deviceHandle, VIDIOC_ENUMINPUT, &capture->inp))
if (-1 == ioctl (capture->deviceHandle, VIDIOC_ENUMINPUT, &capture->inp))
{
fprintf (stderr, "HIGHGUI ERROR: V4L2: Aren't able to set channel number\n");
icvCloseCAM_V4L (capture);
@ -866,7 +870,7 @@ static int _capture_V4L2 (CvCaptureCAM_V4L *capture, char *deviceName)
CLEAR (capture->form);
capture->form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form)) {
if (-1 == ioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form)) {
fprintf( stderr, "HIGHGUI ERROR: V4L2: Could not obtain specifics of capture window.\n\n");
icvCloseCAM_V4L(capture);
return -1;
@ -904,7 +908,7 @@ static int _capture_V4L2 (CvCaptureCAM_V4L *capture, char *deviceName)
capture->req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
capture->req.memory = V4L2_MEMORY_MMAP;
if (-1 == xioctl (capture->deviceHandle, VIDIOC_REQBUFS, &capture->req))
if (-1 == ioctl (capture->deviceHandle, VIDIOC_REQBUFS, &capture->req))
{
if (EINVAL == errno)
{
@ -944,7 +948,7 @@ static int _capture_V4L2 (CvCaptureCAM_V4L *capture, char *deviceName)
buf.memory = V4L2_MEMORY_MMAP;
buf.index = n_buffers;
if (-1 == xioctl (capture->deviceHandle, VIDIOC_QUERYBUF, &buf)) {
if (-1 == ioctl (capture->deviceHandle, VIDIOC_QUERYBUF, &buf)) {
perror ("VIDIOC_QUERYBUF");
/* free capture, and returns an error code */
@ -976,8 +980,8 @@ static int _capture_V4L2 (CvCaptureCAM_V4L *capture, char *deviceName)
/* Set up Image data */
cvInitImageHeader( &capture->frame,
cvSize( capture->captureWindow.width,
capture->captureWindow.height ),
cvSize( capture->form.fmt.pix.width,
capture->form.fmt.pix.height ),
IPL_DEPTH_8U, 3, IPL_ORIGIN_TL, 4 );
/* Allocate space for RGBA data */
capture->frame.imageData = (char *)cvAlloc(capture->frame.imageSize);
@ -987,6 +991,8 @@ static int _capture_V4L2 (CvCaptureCAM_V4L *capture, char *deviceName)
#endif /* HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
static int _capture_V4L (CvCaptureCAM_V4L *capture, char *deviceName)
{
int detect_v4l = 0;
@ -1105,6 +1111,8 @@ static int _capture_V4L (CvCaptureCAM_V4L *capture, char *deviceName)
return 1;
}; /* End _capture_V4L */
#endif /* HAVE_CAMV4L */
static CvCaptureCAM_V4L * icvCaptureFromCAM_V4L (int index)
{
static int autoindex;
@ -1154,10 +1162,12 @@ static CvCaptureCAM_V4L * icvCaptureFromCAM_V4L (int index)
icvCloseCAM_V4L(capture);
V4L2_SUPPORT = 0;
#endif /* HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
if (_capture_V4L (capture, deviceName) == -1) {
icvCloseCAM_V4L(capture);
return NULL;
}
#endif /* HAVE_CAMV4L */
#ifdef HAVE_CAMV4L2
} else {
V4L2_SUPPORT = 1;
@ -1177,7 +1187,7 @@ static int read_frame_v4l2(CvCaptureCAM_V4L* capture) {
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
if (-1 == xioctl (capture->deviceHandle, VIDIOC_DQBUF, &buf)) {
if (-1 == ioctl (capture->deviceHandle, VIDIOC_DQBUF, &buf)) {
switch (errno) {
case EAGAIN:
return 0;
@ -1185,7 +1195,7 @@ static int read_frame_v4l2(CvCaptureCAM_V4L* capture) {
case EIO:
if (!(buf.flags & (V4L2_BUF_FLAG_QUEUED | V4L2_BUF_FLAG_DONE)))
{
if (xioctl(capture->deviceHandle, VIDIOC_QBUF, &buf) == -1)
if (ioctl(capture->deviceHandle, VIDIOC_QBUF, &buf) == -1)
{
return 0;
}
@ -1208,7 +1218,7 @@ static int read_frame_v4l2(CvCaptureCAM_V4L* capture) {
//printf("got data in buff %d, len=%d, flags=0x%X, seq=%d, used=%d)\n",
// buf.index, buf.length, buf.flags, buf.sequence, buf.bytesused);
if (-1 == xioctl (capture->deviceHandle, VIDIOC_QBUF, &buf))
if (-1 == ioctl (capture->deviceHandle, VIDIOC_QBUF, &buf))
perror ("VIDIOC_QBUF");
return 1;
@ -1266,7 +1276,9 @@ static int icvGrabFrameCAM_V4L(CvCaptureCAM_V4L* capture) {
#ifdef HAVE_CAMV4L2
#ifdef HAVE_CAMV4L
if (V4L2_SUPPORT == 1)
#endif
{
for (capture->bufferIndex = 0;
@ -1282,7 +1294,7 @@ static int icvGrabFrameCAM_V4L(CvCaptureCAM_V4L* capture) {
buf.memory = V4L2_MEMORY_MMAP;
buf.index = (unsigned long)capture->bufferIndex;
if (-1 == xioctl (capture->deviceHandle, VIDIOC_QBUF, &buf)) {
if (-1 == ioctl (capture->deviceHandle, VIDIOC_QBUF, &buf)) {
perror ("VIDIOC_QBUF");
return 0;
}
@ -1290,14 +1302,18 @@ static int icvGrabFrameCAM_V4L(CvCaptureCAM_V4L* capture) {
/* enable the streaming */
capture->type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl (capture->deviceHandle, VIDIOC_STREAMON,
if (-1 == ioctl (capture->deviceHandle, VIDIOC_STREAMON,
&capture->type)) {
/* error enabling the stream */
perror ("VIDIOC_STREAMON");
return 0;
}
} else
}
#endif /* HAVE_CAMV4L2 */
#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)
else
#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
{
for (capture->bufferIndex = 0;
@ -1316,6 +1332,7 @@ static int icvGrabFrameCAM_V4L(CvCaptureCAM_V4L* capture) {
}
}
#endif /* HAVE_CAMV4L */
#if defined(V4L_ABORT_BADJPEG) && defined(HAVE_CAMV4L2)
if (V4L2_SUPPORT == 1)
@ -1337,8 +1354,12 @@ static int icvGrabFrameCAM_V4L(CvCaptureCAM_V4L* capture) {
mainloop_v4l2(capture);
} else
}
#endif /* HAVE_CAMV4L2 */
#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)
else
#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
{
capture->mmaps[capture->bufferIndex].frame = capture->bufferIndex;
@ -1358,6 +1379,7 @@ static int icvGrabFrameCAM_V4L(CvCaptureCAM_V4L* capture) {
}
}
#endif /* HAVE_CAMV4L */
return(1);
}
@ -1524,6 +1546,7 @@ yuv420p_to_rgb24(int width, int height,
//
/* Converts from interlaced YUV420 to RGB24. */
/* [FD] untested... */
#ifdef HAVE_CAMV4L
static void
yuv420_to_rgb24(int width, int height,
unsigned char *pIn0, unsigned char *pOut0)
@ -1568,6 +1591,7 @@ yuv420_to_rgb24(int width, int height,
pOut += width * bytes;
}
}
#endif //HAVE_CAMV4L
// Consider a YUV411P image of 8x2 pixels.
//
@ -1619,6 +1643,8 @@ yuv411p_to_rgb24(int width, int height,
/* based on ccvt_yuyv_bgr32() from camstream */
#define SAT(c) \
if (c & (~255)) { if (c < 0) c = 0; else c = 255; }
#ifdef HAVE_CAMV4L2
static void
yuyv_to_rgb24 (int width, int height, unsigned char *src, unsigned char *dst)
{
@ -1710,6 +1736,7 @@ uyvy_to_rgb24 (int width, int height, unsigned char *src, unsigned char *dst)
}
}
}
#endif //HAVE_CAMV4L2
#ifdef HAVE_JPEG
@ -1736,6 +1763,7 @@ mjpeg_to_rgb24 (int width, int height,
*
*/
#ifdef HAVE_CAMV4L2
static void bayer2rgb24(long int WIDTH, long int HEIGHT, unsigned char *src, unsigned char *dst)
{
long int i;
@ -1897,7 +1925,6 @@ static void sgbrg2rgb24(long int WIDTH, long int HEIGHT, unsigned char *src, uns
}
}
#define CLAMP(x) ((x)<0?0:((x)>255)?255:(x))
typedef struct {
@ -2068,13 +2095,14 @@ static int sonix_decompress(int width, int height, unsigned char *inp, unsigned
return 0;
}
#endif //HAVE_CAMV4L2
static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int) {
#ifdef HAVE_CAMV4L2
if (V4L2_SUPPORT == 0)
#endif /* HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
{
/* [FD] this really belongs here */
@ -2083,6 +2111,7 @@ static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int) {
}
}
#endif /* HAVE_CAMV4L */
/* Now get what has already been captured as a IplImage return */
@ -2103,8 +2132,12 @@ static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int) {
capture->frame.imageData = (char *)cvAlloc(capture->frame.imageSize);
}
} else
}
#endif /* HAVE_CAMV4L2 */
#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)
else
#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
{
if((capture->frame.width != capture->mmaps[capture->bufferIndex].width)
@ -2118,6 +2151,7 @@ static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int) {
}
}
#endif /* HAVE_CAMV4L */
#ifdef HAVE_CAMV4L2
@ -2145,10 +2179,6 @@ static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int) {
(unsigned char*)capture->frame.imageData);
break;
#ifdef HAVE_JPEG
#ifdef __USE_GNU
/* support for MJPEG is only available with libjpeg and gcc,
because it's use libjepg and fmemopen()
*/
case PALETTE_MJPEG:
if (!mjpeg_to_rgb24(capture->form.fmt.pix.width,
capture->form.fmt.pix.height,
@ -2158,7 +2188,6 @@ static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int) {
(unsigned char*)capture->frame.imageData))
return 0;
break;
#endif
#endif
case PALETTE_YUYV:
@ -2167,7 +2196,6 @@ static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int) {
(unsigned char*)(capture->buffers[capture->bufferIndex].start),
(unsigned char*)capture->frame.imageData);
break;
case PALETTE_UYVY:
uyvy_to_rgb24(capture->form.fmt.pix.width,
capture->form.fmt.pix.height,
@ -2201,11 +2229,16 @@ static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int) {
(unsigned char*)capture->frame.imageData);
break;
}
} else
}
#endif /* HAVE_CAMV4L2 */
#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)
else
#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
{
switch(capture->imageProperties.palette) {
switch(capture->imageProperties.palette)
{
case VIDEO_PALETTE_RGB24:
memcpy((char *)capture->frame.imageData,
(char *)(capture->memoryMap + capture->memoryBuffer.offsets[capture->bufferIndex]),
@ -2238,6 +2271,7 @@ static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int) {
}
}
#endif /* HAVE_CAMV4L */
return(&capture->frame);
}
@ -2247,7 +2281,9 @@ static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
#ifdef HAVE_CAMV4L2
#ifdef HAVE_CAMV4L
if (V4L2_SUPPORT == 1)
#endif
{
/* default value for min and max */
@ -2256,7 +2292,7 @@ static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
CLEAR (capture->form);
capture->form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form)) {
if (-1 == ioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form)) {
/* display an error message, and return an error code */
perror ("VIDIOC_G_FMT");
return -1;
@ -2297,7 +2333,7 @@ static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
return -1;
}
if (-1 == xioctl (capture->deviceHandle, VIDIOC_G_CTRL,
if (-1 == ioctl (capture->deviceHandle, VIDIOC_G_CTRL,
&capture->control)) {
fprintf( stderr, "HIGHGUI ERROR: V4L2: ");
@ -2358,8 +2394,12 @@ static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
/* all was OK, so convert to 0.0 - 1.0 range, and return the value */
return ((float)capture->control.value - v4l2_min + 1) / (v4l2_max - v4l2_min);
} else
}
#endif /* HAVE_CAMV4L2 */
#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)
else
#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
{
int retval = -1;
@ -2417,6 +2457,7 @@ static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
return float (retval) / 0xFFFF;
}
#endif /* HAVE_CAMV4L */
};
@ -2430,7 +2471,7 @@ static int icvSetVideoSize( CvCaptureCAM_V4L* capture, int w, int h) {
CLEAR (capture->cropcap);
capture->cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (xioctl (capture->deviceHandle, VIDIOC_CROPCAP, &capture->cropcap) < 0) {
if (ioctl (capture->deviceHandle, VIDIOC_CROPCAP, &capture->cropcap) < 0) {
fprintf(stderr, "HIGHGUI ERROR: V4L/V4L2: VIDIOC_CROPCAP\n");
} else {
@ -2439,7 +2480,7 @@ static int icvSetVideoSize( CvCaptureCAM_V4L* capture, int w, int h) {
capture->crop.c= capture->cropcap.defrect;
/* set the crop area, but don't exit if the device don't support croping */
if (xioctl (capture->deviceHandle, VIDIOC_S_CROP, &capture->crop) < 0) {
if (ioctl (capture->deviceHandle, VIDIOC_S_CROP, &capture->crop) < 0) {
fprintf(stderr, "HIGHGUI ERROR: V4L/V4L2: VIDIOC_S_CROP\n");
}
}
@ -2448,7 +2489,7 @@ static int icvSetVideoSize( CvCaptureCAM_V4L* capture, int w, int h) {
capture->form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
/* read the current setting, mainly to retreive the pixelformat information */
xioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form);
ioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form);
/* set the values we want to change */
capture->form.fmt.pix.width = w;
@ -2463,7 +2504,7 @@ static int icvSetVideoSize( CvCaptureCAM_V4L* capture, int w, int h) {
* don't test if the set of the size is ok, because some device
* don't allow changing the size, and we will get the real size
* later */
xioctl (capture->deviceHandle, VIDIOC_S_FMT, &capture->form);
ioctl (capture->deviceHandle, VIDIOC_S_FMT, &capture->form);
/* try to set framerate to 30 fps */
struct v4l2_streamparm setfps;
@ -2471,14 +2512,14 @@ static int icvSetVideoSize( CvCaptureCAM_V4L* capture, int w, int h) {
setfps.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
setfps.parm.capture.timeperframe.numerator = 1;
setfps.parm.capture.timeperframe.denominator = 30;
xioctl (capture->deviceHandle, VIDIOC_S_PARM, &setfps);
ioctl (capture->deviceHandle, VIDIOC_S_PARM, &setfps);
/* we need to re-initialize some things, like buffers, because the size has
* changed */
capture->FirstCapture = 1;
/* Get window info again, to get the real value */
if (-1 == xioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form))
if (-1 == ioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form))
{
fprintf(stderr, "HIGHGUI ERROR: V4L/V4L2: Could not obtain specifics of capture window.\n\n");
@ -2489,8 +2530,12 @@ static int icvSetVideoSize( CvCaptureCAM_V4L* capture, int w, int h) {
return 0;
} else
}
#endif /* HAVE_CAMV4L2 */
#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)
else
#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
{
if (capture==0) return 0;
@ -2517,6 +2562,7 @@ static int icvSetVideoSize( CvCaptureCAM_V4L* capture, int w, int h) {
capture->FirstCapture = 1;
}
#endif /* HAVE_CAMV4L */
return 0;
@ -2573,7 +2619,7 @@ static int icvSetControl (CvCaptureCAM_V4L* capture,
}
/* get the min and max values */
if (-1 == xioctl (capture->deviceHandle,
if (-1 == ioctl (capture->deviceHandle,
VIDIOC_G_CTRL, &capture->control)) {
// perror ("VIDIOC_G_CTRL for getting min/max values");
return -1;
@ -2643,13 +2689,17 @@ static int icvSetControl (CvCaptureCAM_V4L* capture,
capture->control.value = (int)(value * (v4l2_max - v4l2_min) + v4l2_min);
/* The driver may clamp the value or return ERANGE, ignored here */
if (-1 == xioctl (capture->deviceHandle,
if (-1 == ioctl (capture->deviceHandle,
VIDIOC_S_CTRL, &capture->control) && errno != ERANGE) {
perror ("VIDIOC_S_CTRL");
return -1;
}
} else
}
#endif /* HAVE_CAMV4L2 */
#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)
else
#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
{
int v4l_value;
@ -2694,6 +2744,7 @@ static int icvSetControl (CvCaptureCAM_V4L* capture,
return -1;
}
}
#endif /* HAVE_CAMV4L */
/* all was OK */
return 0;
@ -2754,6 +2805,7 @@ static void icvCloseCAM_V4L( CvCaptureCAM_V4L* capture ){
#ifdef HAVE_CAMV4L2
if (V4L2_SUPPORT == 0)
#endif /* HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
{
if (capture->mmaps)
@ -2762,10 +2814,14 @@ static void icvCloseCAM_V4L( CvCaptureCAM_V4L* capture ){
munmap(capture->memoryMap, capture->memoryBuffer.size);
}
#endif /* HAVE_CAMV4L */
#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)
else
#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L2
else {
{
capture->type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (ioctl(capture->deviceHandle, VIDIOC_STREAMOFF, &capture->type) < 0) {
if (-1 == ioctl(capture->deviceHandle, VIDIOC_STREAMOFF, &capture->type)) {
perror ("Unable to stop the stream.");
}

41
modules/highgui/src/grfmt_tiff.cpp
View File

@ -168,7 +168,6 @@ bool TiffDecoder::readData( Mat& img )
bool result = false;
bool color = img.channels() > 1;
uchar* data = img.data;
int step = (int)img.step;
if( img.depth() != CV_8U && img.depth() != CV_16U && img.depth() != CV_32F && img.depth() != CV_64F )
return false;
@ -211,14 +210,14 @@ bool TiffDecoder::readData( Mat& img )
if( tile_height0 <= 0 )
tile_height0 = m_height;
AutoBuffer<uchar> _buffer(tile_height0*tile_width0*8);
AutoBuffer<uchar> _buffer( size_t(8) * tile_height0*tile_width0);
uchar* buffer = _buffer;
ushort* buffer16 = (ushort*)buffer;
float* buffer32 = (float*)buffer;
double* buffer64 = (double*)buffer;
int tileidx = 0;
for( y = 0; y < m_height; y += tile_height0, data += step*tile_height0 )
for( y = 0; y < m_height; y += tile_height0, data += img.step*tile_height0 )
{
int tile_height = tile_height0;
@ -250,11 +249,11 @@ bool TiffDecoder::readData( Mat& img )
for( i = 0; i < tile_height; i++ )
if( color )
icvCvt_BGRA2BGR_8u_C4C3R( buffer + i*tile_width*4, 0,
data + x*3 + step*(tile_height - i - 1), 0,
data + x*3 + img.step*(tile_height - i - 1), 0,
cvSize(tile_width,1), 2 );
else
icvCvt_BGRA2Gray_8u_C4C1R( buffer + i*tile_width*4, 0,
data + x + step*(tile_height - i - 1), 0,
data + x + img.step*(tile_height - i - 1), 0,
cvSize(tile_width,1), 2 );
break;
}
@ -279,19 +278,19 @@ bool TiffDecoder::readData( Mat& img )
if( ncn == 1 )
{
icvCvt_Gray2BGR_16u_C1C3R(buffer16 + i*tile_width*ncn, 0,
(ushort*)(data + step*i) + x*3, 0,
(ushort*)(data + img.step*i) + x*3, 0,
cvSize(tile_width,1) );
}
else if( ncn == 3 )
{
icvCvt_RGB2BGR_16u_C3R(buffer16 + i*tile_width*ncn, 0,
(ushort*)(data + step*i) + x*3, 0,
(ushort*)(data + img.step*i) + x*3, 0,
cvSize(tile_width,1) );
}
else
{
icvCvt_BGRA2BGR_16u_C4C3R(buffer16 + i*tile_width*ncn, 0,
(ushort*)(data + step*i) + x*3, 0,
(ushort*)(data + img.step*i) + x*3, 0,
cvSize(tile_width,1), 2 );
}
}
@ -299,14 +298,14 @@ bool TiffDecoder::readData( Mat& img )
{
if( ncn == 1 )
{
memcpy((ushort*)(data + step*i)+x,
memcpy((ushort*)(data + img.step*i)+x,
buffer16 + i*tile_width*ncn,
tile_width*sizeof(buffer16[0]));
}
else
{
icvCvt_BGRA2Gray_16u_CnC1R(buffer16 + i*tile_width*ncn, 0,
(ushort*)(data + step*i) + x, 0,
(ushort*)(data + img.step*i) + x, 0,
cvSize(tile_width,1), ncn, 2 );
}
}
@ -332,13 +331,13 @@ bool TiffDecoder::readData( Mat& img )
{
if(dst_bpp == 32)
{
memcpy((float*)(data + step*i)+x,
memcpy((float*)(data + img.step*i)+x,
buffer32 + i*tile_width*ncn,
tile_width*sizeof(buffer32[0]));
}
else
{
memcpy((double*)(data + step*i)+x,
memcpy((double*)(data + img.step*i)+x,
buffer64 + i*tile_width*ncn,
tile_width*sizeof(buffer64[0]));
}
@ -402,7 +401,18 @@ void TiffEncoder::writeTag( WLByteStream& strm, TiffTag tag,
}
#ifdef HAVE_TIFF
bool TiffEncoder::writeLibTiff( const Mat& img, const vector<int>& /*params*/)
static void readParam(const vector<int>& params, int key, int& value)
{
for(size_t i = 0; i + 1 < params.size(); i += 2)
if(params[i] == key)
{
value = params[i+1];
break;
}
}
bool TiffEncoder::writeLibTiff( const Mat& img, const vector<int>& params)
{
int channels = img.channels();
int width = img.cols, height = img.rows;
@ -429,7 +439,9 @@ bool TiffEncoder::writeLibTiff( const Mat& img, const vector<int>& /*params*/)
const int bitsPerByte = 8;
size_t fileStep = (width * channels * bitsPerChannel) / bitsPerByte;
int rowsPerStrip = (int)((1 << 13)/fileStep);
readParam(params, TIFFTAG_ROWSPERSTRIP, rowsPerStrip);
if( rowsPerStrip < 1 )
rowsPerStrip = 1;
@ -450,6 +462,9 @@ bool TiffEncoder::writeLibTiff( const Mat& img, const vector<int>& /*params*/)
int compression = COMPRESSION_LZW;
int predictor = PREDICTOR_HORIZONTAL;
readParam(params, TIFFTAG_COMPRESSION, compression);
readParam(params, TIFFTAG_PREDICTOR, predictor);
int colorspace = channels > 1 ? PHOTOMETRIC_RGB : PHOTOMETRIC_MINISBLACK;
if ( !TIFFSetField(pTiffHandle, TIFFTAG_IMAGEWIDTH, width)

19
modules/highgui/test/test_grfmt.cpp
View File

@ -291,3 +291,22 @@ TEST(Highgui_Jpeg, encode_empty)
ASSERT_THROW(cv::imencode(".jpg", img, jpegImg), cv::Exception);
}
#endif
#ifdef HAVE_TIFF
#include "tiff.h"
TEST(Highgui_Tiff, decode_tile16384x16384)
{
// see issue #2161
cv::Mat big(16384, 16384, CV_8UC1, cv::Scalar::all(0));
string file = cv::tempfile(".tiff");
std::vector<int> params;
params.push_back(TIFFTAG_ROWSPERSTRIP);
params.push_back(big.rows);
cv::imwrite(file, big, params);
big.release();
EXPECT_NO_THROW(cv::imread(file));
remove(file.c_str());
}
#endif

2
modules/nonfree/CMakeLists.txt
View File

@ -3,4 +3,4 @@ if(BUILD_ANDROID_PACKAGE)
endif()
set(the_description "Functionality with possible limitations on the use")
ocv_define_module(nonfree opencv_imgproc opencv_features2d)
ocv_define_module(nonfree opencv_imgproc opencv_features2d opencv_calib3d)

169
modules/nonfree/src/sift.cpp
View File

@ -162,8 +162,24 @@ static const float SIFT_DESCR_MAG_THR = 0.2f;
// factor used to convert floating-point descriptor to unsigned char
static const float SIFT_INT_DESCR_FCTR = 512.f;
#if 0
// intermediate type used for DoG pyramids
typedef short sift_wt;
static const int SIFT_FIXPT_SCALE = 48;
#else
// intermediate type used for DoG pyramids
typedef float sift_wt;
static const int SIFT_FIXPT_SCALE = 1;
#endif
static inline void
unpackOctave(const KeyPoint& kpt, int& octave, int& layer, float& scale)
{
octave = kpt.octave & 255;
layer = (kpt.octave >> 8) & 255;
octave = octave < 128 ? octave : (-128 | octave);
scale = octave >= 0 ? 1.f/(1 << octave) : (float)(1 << -octave);
}
static Mat createInitialImage( const Mat& img, bool doubleImageSize, float sigma )
{
@ -172,7 +188,7 @@ static Mat createInitialImage( const Mat& img, bool doubleImageSize, float sigma
cvtColor(img, gray, COLOR_BGR2GRAY);
else
img.copyTo(gray);
gray.convertTo(gray_fpt, CV_16S, SIFT_FIXPT_SCALE, 0);
gray.convertTo(gray_fpt, DataType<sift_wt>::type, SIFT_FIXPT_SCALE, 0);
float sig_diff;
@ -245,7 +261,7 @@ void SIFT::buildDoGPyramid( const vector<Mat>& gpyr, vector<Mat>& dogpyr ) const
const Mat& src1 = gpyr[o*(nOctaveLayers + 3) + i];
const Mat& src2 = gpyr[o*(nOctaveLayers + 3) + i + 1];
Mat& dst = dogpyr[o*(nOctaveLayers + 2) + i];
subtract(src2, src1, dst, noArray(), CV_16S);
subtract(src2, src1, dst, noArray(), DataType<sift_wt>::type);
}
}
}
@ -276,8 +292,8 @@ static float calcOrientationHist( const Mat& img, Point pt, int radius,
if( x <= 0 || x >= img.cols - 1 )
continue;
float dx = (float)(img.at<short>(y, x+1) - img.at<short>(y, x-1));
float dy = (float)(img.at<short>(y-1, x) - img.at<short>(y+1, x));
float dx = (float)(img.at<sift_wt>(y, x+1) - img.at<sift_wt>(y, x-1));
float dy = (float)(img.at<sift_wt>(y-1, x) - img.at<sift_wt>(y+1, x));
X[k] = dx; Y[k] = dy; W[k] = (i*i + j*j)*expf_scale;
k++;
@ -334,7 +350,7 @@ static bool adjustLocalExtrema( const vector<Mat>& dog_pyr, KeyPoint& kpt, int o
const float second_deriv_scale = img_scale;
const float cross_deriv_scale = img_scale*0.25f;
float xi=0, xr=0, xc=0, contr;
float xi=0, xr=0, xc=0, contr=0;
int i = 0;
for( ; i < SIFT_MAX_INTERP_STEPS; i++ )
@ -344,20 +360,20 @@ static bool adjustLocalExtrema( const vector<Mat>& dog_pyr, KeyPoint& kpt, int o
const Mat& prev = dog_pyr[idx-1];
const Mat& next = dog_pyr[idx+1];
Vec3f dD((img.at<short>(r, c+1) - img.at<short>(r, c-1))*deriv_scale,
(img.at<short>(r+1, c) - img.at<short>(r-1, c))*deriv_scale,
(next.at<short>(r, c) - prev.at<short>(r, c))*deriv_scale);
Vec3f dD((img.at<sift_wt>(r, c+1) - img.at<sift_wt>(r, c-1))*deriv_scale,
(img.at<sift_wt>(r+1, c) - img.at<sift_wt>(r-1, c))*deriv_scale,
(next.at<sift_wt>(r, c) - prev.at<sift_wt>(r, c))*deriv_scale);
float v2 = (float)img.at<short>(r, c)*2;
float dxx = (img.at<short>(r, c+1) + img.at<short>(r, c-1) - v2)*second_deriv_scale;
float dyy = (img.at<short>(r+1, c) + img.at<short>(r-1, c) - v2)*second_deriv_scale;
float dss = (next.at<short>(r, c) + prev.at<short>(r, c) - v2)*second_deriv_scale;
float dxy = (img.at<short>(r+1, c+1) - img.at<short>(r+1, c-1) -
img.at<short>(r-1, c+1) + img.at<short>(r-1, c-1))*cross_deriv_scale;
float dxs = (next.at<short>(r, c+1) - next.at<short>(r, c-1) -
prev.at<short>(r, c+1) + prev.at<short>(r, c-1))*cross_deriv_scale;
float dys = (next.at<short>(r+1, c) - next.at<short>(r-1, c) -
prev.at<short>(r+1, c) + prev.at<short>(r-1, c))*cross_deriv_scale;
float v2 = (float)img.at<sift_wt>(r, c)*2;
float dxx = (img.at<sift_wt>(r, c+1) + img.at<sift_wt>(r, c-1) - v2)*second_deriv_scale;
float dyy = (img.at<sift_wt>(r+1, c) + img.at<sift_wt>(r-1, c) - v2)*second_deriv_scale;
float dss = (next.at<sift_wt>(r, c) + prev.at<sift_wt>(r, c) - v2)*second_deriv_scale;
float dxy = (img.at<sift_wt>(r+1, c+1) - img.at<sift_wt>(r+1, c-1) -
img.at<sift_wt>(r-1, c+1) + img.at<sift_wt>(r-1, c-1))*cross_deriv_scale;
float dxs = (next.at<sift_wt>(r, c+1) - next.at<sift_wt>(r, c-1) -
prev.at<sift_wt>(r, c+1) + prev.at<sift_wt>(r, c-1))*cross_deriv_scale;
float dys = (next.at<sift_wt>(r+1, c) - next.at<sift_wt>(r-1, c) -
prev.at<sift_wt>(r+1, c) + prev.at<sift_wt>(r-1, c))*cross_deriv_scale;
Matx33f H(dxx, dxy, dxs,
dxy, dyy, dys,
@ -369,12 +385,17 @@ static bool adjustLocalExtrema( const vector<Mat>& dog_pyr, KeyPoint& kpt, int o
xr = -X[1];
xc = -X[0];
if( std::abs( xi ) < 0.5f && std::abs( xr ) < 0.5f && std::abs( xc ) < 0.5f )
if( std::abs(xi) < 0.5f && std::abs(xr) < 0.5f && std::abs(xc) < 0.5f )
break;
c += cvRound( xc );
r += cvRound( xr );
layer += cvRound( xi );
if( std::abs(xi) > (float)(INT_MAX/3) ||
std::abs(xr) > (float)(INT_MAX/3) ||
std::abs(xc) > (float)(INT_MAX/3) )
return false;
c += cvRound(xc);
r += cvRound(xr);
layer += cvRound(xi);
if( layer < 1 || layer > nOctaveLayers ||
c < SIFT_IMG_BORDER || c >= img.cols - SIFT_IMG_BORDER ||
@ -382,7 +403,7 @@ static bool adjustLocalExtrema( const vector<Mat>& dog_pyr, KeyPoint& kpt, int o
return false;
}
/* ensure convergence of interpolation */
// ensure convergence of interpolation
if( i >= SIFT_MAX_INTERP_STEPS )
return false;
@ -391,21 +412,21 @@ static bool adjustLocalExtrema( const vector<Mat>& dog_pyr, KeyPoint& kpt, int o
const Mat& img = dog_pyr[idx];
const Mat& prev = dog_pyr[idx-1];
const Mat& next = dog_pyr[idx+1];
Matx31f dD((img.at<short>(r, c+1) - img.at<short>(r, c-1))*deriv_scale,
(img.at<short>(r+1, c) - img.at<short>(r-1, c))*deriv_scale,
(next.at<short>(r, c) - prev.at<short>(r, c))*deriv_scale);
Matx31f dD((img.at<sift_wt>(r, c+1) - img.at<sift_wt>(r, c-1))*deriv_scale,
(img.at<sift_wt>(r+1, c) - img.at<sift_wt>(r-1, c))*deriv_scale,
(next.at<sift_wt>(r, c) - prev.at<sift_wt>(r, c))*deriv_scale);
float t = dD.dot(Matx31f(xc, xr, xi));
contr = img.at<short>(r, c)*img_scale + t * 0.5f;
contr = img.at<sift_wt>(r, c)*img_scale + t * 0.5f;
if( std::abs( contr ) * nOctaveLayers < contrastThreshold )
return false;
/* principal curvatures are computed using the trace and det of Hessian */
float v2 = img.at<short>(r, c)*2.f;
float dxx = (img.at<short>(r, c+1) + img.at<short>(r, c-1) - v2)*second_deriv_scale;
float dyy = (img.at<short>(r+1, c) + img.at<short>(r-1, c) - v2)*second_deriv_scale;
float dxy = (img.at<short>(r+1, c+1) - img.at<short>(r+1, c-1) -
img.at<short>(r-1, c+1) + img.at<short>(r-1, c-1)) * cross_deriv_scale;
// principal curvatures are computed using the trace and det of Hessian
float v2 = img.at<sift_wt>(r, c)*2.f;
float dxx = (img.at<sift_wt>(r, c+1) + img.at<sift_wt>(r, c-1) - v2)*second_deriv_scale;
float dyy = (img.at<sift_wt>(r+1, c) + img.at<sift_wt>(r-1, c) - v2)*second_deriv_scale;
float dxy = (img.at<sift_wt>(r+1, c+1) - img.at<sift_wt>(r+1, c-1) -
img.at<sift_wt>(r-1, c+1) + img.at<sift_wt>(r-1, c-1)) * cross_deriv_scale;
float tr = dxx + dyy;
float det = dxx * dyy - dxy * dxy;
@ -417,6 +438,7 @@ static bool adjustLocalExtrema( const vector<Mat>& dog_pyr, KeyPoint& kpt, int o
kpt.pt.y = (r + xr) * (1 << octv);
kpt.octave = octv + (layer << 8) + (cvRound((xi + 0.5)*255) << 16);
kpt.size = sigma*powf(2.f, (layer + xi) / nOctaveLayers)*(1 << octv)*2;
kpt.response = std::abs(contr);
return true;
}
@ -448,13 +470,13 @@ void SIFT::findScaleSpaceExtrema( const vector<Mat>& gauss_pyr, const vector<Mat
for( int r = SIFT_IMG_BORDER; r < rows-SIFT_IMG_BORDER; r++)
{
const short* currptr = img.ptr<short>(r);
const short* prevptr = prev.ptr<short>(r);
const short* nextptr = next.ptr<short>(r);
const sift_wt* currptr = img.ptr<sift_wt>(r);
const sift_wt* prevptr = prev.ptr<sift_wt>(r);
const sift_wt* nextptr = next.ptr<sift_wt>(r);
for( int c = SIFT_IMG_BORDER; c < cols-SIFT_IMG_BORDER; c++)
{
int val = currptr[c];
sift_wt val = currptr[c];
// find local extrema with pixel accuracy
if( std::abs(val) > threshold &&
@ -541,11 +563,9 @@ static void calcSIFTDescriptor( const Mat& img, Point2f ptf, float ori, float sc
for( i = -radius, k = 0; i <= radius; i++ )
for( j = -radius; j <= radius; j++ )
{
/*
Calculate sample's histogram array coords rotated relative to ori.
Subtract 0.5 so samples that fall e.g. in the center of row 1 (i.e.
r_rot = 1.5) have full weight placed in row 1 after interpolation.
*/
// Calculate sample's histogram array coords rotated relative to ori.
// Subtract 0.5 so samples that fall e.g. in the center of row 1 (i.e.
// r_rot = 1.5) have full weight placed in row 1 after interpolation.
float c_rot = j * cos_t - i * sin_t;
float r_rot = j * sin_t + i * cos_t;
float rbin = r_rot + d/2 - 0.5f;
@ -555,8 +575,8 @@ static void calcSIFTDescriptor( const Mat& img, Point2f ptf, float ori, float sc
if( rbin > -1 && rbin < d && cbin > -1 && cbin < d &&
r > 0 && r < rows - 1 && c > 0 && c < cols - 1 )
{
float dx = (float)(img.at<short>(r, c+1) - img.at<short>(r, c-1));
float dy = (float)(img.at<short>(r-1, c) - img.at<short>(r+1, c));
float dx = (float)(img.at<sift_wt>(r, c+1) - img.at<sift_wt>(r, c-1));
float dy = (float)(img.at<sift_wt>(r-1, c) - img.at<sift_wt>(r+1, c));
X[k] = dx; Y[k] = dy; RBin[k] = rbin; CBin[k] = cbin;
W[k] = (c_rot * c_rot + r_rot * r_rot)*exp_scale;
k++;
@ -632,25 +652,42 @@ static void calcSIFTDescriptor( const Mat& img, Point2f ptf, float ori, float sc
nrm2 += val*val;
}
nrm2 = SIFT_INT_DESCR_FCTR/std::max(std::sqrt(nrm2), FLT_EPSILON);
#if 1
for( k = 0; k < len; k++ )
{
dst[k] = saturate_cast<uchar>(dst[k]*nrm2);
}
#else
float nrm1 = 0;
for( k = 0; k < len; k++ )
{
dst[k] *= nrm2;
nrm1 += dst[k];
}
nrm1 = 1.f/std::max(nrm1, FLT_EPSILON);
for( k = 0; k < len; k++ )
{
dst[k] = std::sqrt(dst[k] * nrm1);//saturate_cast<uchar>(std::sqrt(dst[k] * nrm1)*SIFT_INT_DESCR_FCTR);
}
#endif
}
static void calcDescriptors(const vector<Mat>& gpyr, const vector<KeyPoint>& keypoints,
Mat& descriptors, int nOctaveLayers )
Mat& descriptors, int nOctaveLayers, int firstOctave )
{
int d = SIFT_DESCR_WIDTH, n = SIFT_DESCR_HIST_BINS;
for( size_t i = 0; i < keypoints.size(); i++ )
{
KeyPoint kpt = keypoints[i];
int octv=kpt.octave & 255, layer=(kpt.octave >> 8) & 255;
float scale = 1.f/(1 << octv);
int octave, layer;
float scale;
unpackOctave(kpt, octave, layer, scale);
CV_Assert(octave >= firstOctave && layer <= nOctaveLayers+2);
float size=kpt.size*scale;
Point2f ptf(kpt.pt.x*scale, kpt.pt.y*scale);
const Mat& img = gpyr[octv*(nOctaveLayers + 3) + layer];
const Mat& img = gpyr[(octave - firstOctave)*(nOctaveLayers + 3) + layer];
float angle = 360.f - kpt.angle;
if(std::abs(angle - 360.f) < FLT_EPSILON)
@ -691,6 +728,7 @@ void SIFT::operator()(InputArray _image, InputArray _mask,
OutputArray _descriptors,
bool useProvidedKeypoints) const
{
int firstOctave = -1, actualNOctaves = 0, actualNLayers = 0;
Mat image = _image.getMat(), mask = _mask.getMat();
if( image.empty() || image.depth() != CV_8U )
@ -699,9 +737,28 @@ void SIFT::operator()(InputArray _image, InputArray _mask,
if( !mask.empty() && mask.type() != CV_8UC1 )
CV_Error( CV_StsBadArg, "mask has incorrect type (!=CV_8UC1)" );
Mat base = createInitialImage(image, false, (float)sigma);
if( useProvidedKeypoints )
{
firstOctave = 0;
int maxOctave = INT_MIN;
for( size_t i = 0; i < keypoints.size(); i++ )
{
int octave, layer;
float scale;
unpackOctave(keypoints[i], octave, layer, scale);
firstOctave = std::min(firstOctave, octave);
maxOctave = std::max(maxOctave, octave);
actualNLayers = std::max(actualNLayers, layer-2);
}
firstOctave = std::min(firstOctave, 0);
CV_Assert( firstOctave >= -1 && actualNLayers <= nOctaveLayers );
actualNOctaves = maxOctave - firstOctave + 1;
}
Mat base = createInitialImage(image, firstOctave < 0, (float)sigma);
vector<Mat> gpyr, dogpyr;
int nOctaves = cvRound(log( (double)std::min( base.cols, base.rows ) ) / log(2.) - 2);
int nOctaves = actualNOctaves > 0 ? actualNOctaves : cvRound(log( (double)std::min( base.cols, base.rows ) ) / log(2.) - 2) - firstOctave;
//double t, tf = getTickFrequency();
//t = (double)getTickCount();
@ -724,6 +781,16 @@ void SIFT::operator()(InputArray _image, InputArray _mask,
KeyPointsFilter::retainBest(keypoints, nfeatures);
//t = (double)getTickCount() - t;
//printf("keypoint detection time: %g\n", t*1000./tf);
if( firstOctave < 0 )
for( size_t i = 0; i < keypoints.size(); i++ )
{
KeyPoint& kpt = keypoints[i];
float scale = 1.f/(float)(1 << -firstOctave);
kpt.octave = (kpt.octave & ~255) | ((kpt.octave + firstOctave) & 255);
kpt.pt *= scale;
kpt.size *= scale;
}
}
else
{
@ -738,7 +805,7 @@ void SIFT::operator()(InputArray _image, InputArray _mask,
_descriptors.create((int)keypoints.size(), dsize, CV_32F);
Mat descriptors = _descriptors.getMat();
calcDescriptors(gpyr, keypoints, descriptors, nOctaveLayers);
calcDescriptors(gpyr, keypoints, descriptors, nOctaveLayers, firstOctave);
//t = (double)getTickCount() - t;
//printf("descriptor extraction time: %g\n", t*1000./tf);
}

55
modules/nonfree/test/test_features2d.cpp
View File

@ -40,6 +40,7 @@
//M*/
#include "test_precomp.hpp"
#include "opencv2/calib3d/calib3d.hpp"
using namespace std;
using namespace cv;
@ -1086,3 +1087,57 @@ TEST(Features2d_BruteForceDescriptorMatcher_knnMatch, regression)
ASSERT_STREQ(s->paramHelp("extended").c_str(), "");
}
*/
class CV_DetectPlanarTest : public cvtest::BaseTest
{
public:
CV_DetectPlanarTest(const string& _fname, int _min_ninliers) : fname(_fname), min_ninliers(_min_ninliers) {}
protected:
void run(int)
{
Ptr<Feature2D> f = Algorithm::create<Feature2D>("Feature2D." + fname);
if(f.empty())
return;
string path = string(ts->get_data_path()) + "detectors_descriptors_evaluation/planar/";
string imgname1 = path + "box.png";
string imgname2 = path + "box_in_scene.png";
Mat img1 = imread(imgname1, 0);
Mat img2 = imread(imgname2, 0);
if( img1.empty() || img2.empty() )
{
ts->printf( cvtest::TS::LOG, "missing %s and/or %s\n", imgname1.c_str(), imgname2.c_str());
ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_TEST_DATA );
return;
}
vector<KeyPoint> kpt1, kpt2;
Mat d1, d2;
f->operator()(img1, Mat(), kpt1, d1);
f->operator()(img1, Mat(), kpt2, d2);
vector<DMatch> matches;
BFMatcher(NORM_L2, true).match(d1, d2, matches);
vector<Point2f> pt1, pt2;
for( size_t i = 0; i < matches.size(); i++ ) {
pt1.push_back(kpt1[matches[i].queryIdx].pt);
pt2.push_back(kpt2[matches[i].trainIdx].pt);
}
Mat inliers, H = findHomography(pt1, pt2, RANSAC, 10, inliers);
int ninliers = countNonZero(inliers);
if( ninliers < min_ninliers )
{
ts->printf( cvtest::TS::LOG, "too little inliers (%d) vs expected %d\n", ninliers, min_ninliers);
ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_TEST_DATA );
return;
}
}
string fname;
int min_ninliers;
};
TEST(Features2d_SIFTHomographyTest, regression) { CV_DetectPlanarTest test("SIFT", 80); test.safe_run(); }
//TEST(Features2d_SURFHomographyTest, regression) { CV_DetectPlanarTest test("SURF", 80); test.safe_run(); }

27
modules/nonfree/test/test_rotation_and_scale_invariance.cpp
View File

@ -186,6 +186,20 @@ void matchKeyPoints(const vector<KeyPoint>& keypoints0, const Mat& H,
}
}
static void removeVerySmallKeypoints(vector<KeyPoint>& keypoints)
{
size_t i, j = 0, n = keypoints.size();
for( i = 0; i < n; i++ )
{
if( (keypoints[i].octave & 128) != 0 )
;
else
keypoints[j++] = keypoints[i];
}
keypoints.resize(j);
}
class DetectorRotationInvarianceTest : public cvtest::BaseTest
{
public:
@ -216,6 +230,7 @@ protected:
vector<KeyPoint> keypoints0;
featureDetector->detect(image0, keypoints0);
removeVerySmallKeypoints(keypoints0);
if(keypoints0.size() < 15)
CV_Error(CV_StsAssert, "Detector gives too few points in a test image\n");
@ -226,6 +241,7 @@ protected:
vector<KeyPoint> keypoints1;
featureDetector->detect(image1, keypoints1, mask1);
removeVerySmallKeypoints(keypoints1);
vector<DMatch> matches;
matchKeyPoints(keypoints0, H, keypoints1, matches);
@ -329,6 +345,7 @@ protected:
vector<KeyPoint> keypoints0;
Mat descriptors0;
featureDetector->detect(image0, keypoints0);
removeVerySmallKeypoints(keypoints0);
if(keypoints0.size() < 15)
CV_Error(CV_StsAssert, "Detector gives too few points in a test image\n");
descriptorExtractor->compute(image0, keypoints0, descriptors0);
@ -382,6 +399,7 @@ protected:
float minDescInliersRatio;
};
class DetectorScaleInvarianceTest : public cvtest::BaseTest
{
public:
@ -412,6 +430,7 @@ protected:
vector<KeyPoint> keypoints0;
featureDetector->detect(image0, keypoints0);
removeVerySmallKeypoints(keypoints0);
if(keypoints0.size() < 15)
CV_Error(CV_StsAssert, "Detector gives too few points in a test image\n");
@ -423,6 +442,7 @@ protected:
vector<KeyPoint> keypoints1, osiKeypoints1; // osi - original size image
featureDetector->detect(image1, keypoints1);
removeVerySmallKeypoints(keypoints1);
if(keypoints1.size() < 15)
CV_Error(CV_StsAssert, "Detector gives too few points in a test image\n");
@ -531,6 +551,7 @@ protected:
vector<KeyPoint> keypoints0;
featureDetector->detect(image0, keypoints0);
removeVerySmallKeypoints(keypoints0);
if(keypoints0.size() < 15)
CV_Error(CV_StsAssert, "Detector gives too few points in a test image\n");
Mat descriptors0;
@ -603,8 +624,8 @@ TEST(Features2d_RotationInvariance_Detector_SURF, regression)
TEST(Features2d_RotationInvariance_Detector_SIFT, regression)
{
DetectorRotationInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.SIFT"),
0.75f,
0.76f);
0.45f,
0.70f);
test.safe_run();
}
@ -665,7 +686,7 @@ TEST(Features2d_ScaleInvariance_Descriptor_SIFT, regression)
DescriptorScaleInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.SIFT"),
Algorithm::create<DescriptorExtractor>("Feature2D.SIFT"),
NORM_L1,
0.87f);
0.78f);
test.safe_run();
}

6
modules/ts/src/ts.cpp
View File

@ -47,8 +47,12 @@
#include <time.h>
#if defined WIN32 || defined _WIN32 || defined WIN64 || defined _WIN64
#include <io.h>
#define NOMINMAX
#include <windows.h>
#undef small
#undef min
#undef max
#undef abs
#ifdef _MSC_VER
#include <eh.h>

2
samples/cpp/descriptor_extractor_matcher.cpp
View File

@ -221,6 +221,8 @@ static void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective,
drawMatches( img1, keypoints1, img2, keypoints2, filteredMatches, drawImg, CV_RGB(0, 0, 255), CV_RGB(255, 0, 0), matchesMask,
DrawMatchesFlags::DRAW_OVER_OUTIMG | DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );
#endif
cout << "Number of inliers: " << countNonZero(matchesMask) << endl;
}
else
drawMatches( img1, keypoints1, img2, keypoints2, filteredMatches, drawImg );