Commit Graph

549 Commits

Author SHA1 Message Date
JR Heard
47f53b675d fix a typo in the canny docs 2016-11-30 16:52:28 -08:00
Jiri Horner
c17afe0fab Merge pull request #6933 from hrnr:gsoc_all
[GSOC] New camera model for stitching pipeline

* implement estimateAffine2D

estimates affine transformation using robust RANSAC method.

* uses RANSAC framework in calib3d
* includes accuracy test
* uses SVD decomposition for solving 3 point equation

* implement estimateAffinePartial2D

estimates limited affine transformation

* includes accuracy test

* stitching: add affine matcher

initial version of matcher that estimates affine transformation

* stitching: added affine transform estimator

initial version of estimator that simply chain transformations in homogeneous coordinates

* calib3d: rename estimateAffine3D test

test Calib3d_EstimateAffineTransform rename to Calib3d_EstimateAffine3D. This is more descriptive and prevents confusion with estimateAffine2D tests.

* added perf test for estimateAffine functions

tests both estimateAffine2D and estimateAffinePartial2D

* calib3d: compare error in square in estimateAffine2D

* incorporates fix from #6768

* rerun affine estimation on inliers

* stitching: new API for parallel feature finding

due to ABI breakage new functionality is added to `FeaturesFinder2`, `SurfFeaturesFinder2` and `OrbFeaturesFinder2`

* stitching: add tests for parallel feature find API

* perf test (about linear speed up)
* accuracy test compares results with serial version

* stitching: use dynamic_cast to overcome ABI issues

adding parallel API to FeaturesFinder breaks ABI. This commit uses dynamic_cast and hardcodes thread-safe finders to avoid breaking ABI.

This should be replaced by proper method similar to FeaturesMatcher on next ABI break.

* use estimateAffinePartial2D in AffineBestOf2NearestMatcher

* add constructor to AffineBestOf2NearestMatcher

* allows to choose between full affine transform and partial affine transform. Other params are the as for BestOf2NearestMatcher
* added protected field

* samples: stitching_detailed support affine estimator and matcher

* added new flags to choose matcher and estimator

* stitching: rework affine matcher

represent transformation in homogeneous coordinates

affine matcher: remove duplicite code
rework flow to get rid of duplicite code

affine matcher: do not center points to (0, 0)
it is not needed for affine model. it should not affect estimation in any way.

affine matcher: remove unneeded cv namespacing

* stitching: add stub bundle adjuster

* adds stub bundle adjuster that does nothing
* can be used in place of standard bundle adjusters to omit bundle adjusting step

* samples: stitching detailed, support no budle adjust

* uses new NoBundleAdjuster

* added affine warper

* uses R to get whole affine transformation and propagates rotation and translation to plane warper

* add affine warper factory class

* affine warper: compensate transformation

* samples: stitching_detailed add support for affine warper

* add Stitcher::create method

this method follows similar constructor methods and returns smart pointer. This allows constructing Stitcher according to OpenCV guidelines.

* supports multiple stitcher configurations (PANORAMA and SCANS) for convenient setup
* returns cv::Ptr

* stitcher: dynamicaly determine correct estimator

we need to use affine estimator for affine matcher

* preserves ABI (but add hints for ABI 4)
* uses dynamic_cast hack to inject correct estimator

* sample stitching: add support for multiple modes

shows how to use different configurations of stitcher easily (panorama stitching and scans affine model)

* stitcher: find features in parallel

use new FeatureFinder API to find features in parallel. Parallelized using TBB.

* stitching: disable parallel feature finding for OCL

it does not bring much speedup to run features finder in parallel when OpenCL is enabled, because finder needs to wait for OCL device.

Also, currently ORB is not thread-safe when OCL is enabled.

* stitching: move matcher tests

move matchers tests perf_stich.cpp -> perf_matchers.cpp

* stitching: add affine stiching integration test

test basic affine stitching (SCANS mode of stitcher) with images that have only translation between them

* enable surf for stitching tests

stitching.b12 test was failing with surf

investigated the issue, surf is producing good result. Transformation is only slightly different from ORB, so that resulting pano does not exactly match ORB's result. That caused sanity check to fail.

* added size checks similar to other tests
* sanity check will be applied only for ORB

* stitching: fix wrong estimator choice

if case was exactly wrong, estimators were chosen wrong

added logging for estimated transformation

* enable surf for matchers stitching tests

* enable SURF
* rework sanity checking. Check estimated transform instead of matches. Est. transform should be more stable and comparable between SURF and ORB.
* remove regression checking for VectorFeatures tests. It has a lot if data andtest is the same as previous except it test different vector size for performance, so sanity checking does not add any value here. Added basic sanity asserts instead.

* stitching tests: allow relative error for transform

* allows .01 relative error for estimated homography sanity check in stitching matchers tests
* fix VS warning

stitching tests: increase relative error

increase relative error to make it pass on all platforms (results are still good).

stitching test: allow bigger relative error

transformation can differ in small values (with small absolute difference, but large relative difference). transformation output still looks usable for all platforms. This difference affects only mac and windows, linux passes fine with small difference.

* stitching: add tests for affine matcher

uses s1, s2 images. added also new sanity data.

* stitching tests: use different data for matchers tests

this data should yeild more stable transformation (it has much more matches, especially for surf). Sanity data regenerated.

* stitching test: rework tests for matchers

* separated rotation and translations as they are different by scale.
* use appropriate absolute error for them separately. (relative error does not work for values near zero.)

* stitching: fix affine warper compensation

calculation of rotation and translation extracted for plane warper was wrong

* stitching test: enable surf for opencl integration tests

* enable SURF with correct guard (HAVE_OPENCV_XFEATURES2D)
* add OPENCL guard and correct namespace as usual for opencl tests

* stitching: add ocl accuracy test for affine warper

test consistent results with ocl on and off

* stitching: add affine warper ocl perf test

add affine warper to existing warper perf tests. Added new sanity data.

* stitching: do not overwrite inliers in affine matcher

* estimation is run second time on inliers only, inliers produces in second run will not be therefore correct for all matches

* calib3d: add Levenberg–Marquardt refining to estimateAffine2D* functions

this adds affine Levenberg–Marquardt refining to estimateAffine2D functions similar to what is done in findHomography.

implements Levenberg–Marquardt refinig for both full affine and partial affine transformations.

* stitching: remove reestimation step in affine matcher

reestimation step is not needed. estimateAffine2D* functions are running their own reestimation on inliers using the Levenberg-Marquardt algorithm, which is better than simply rerunning RANSAC on inliers.

* implement partial affine bundle adjuster

bundle adjuster that expect affine transform with 4DOF. Refines parameters for all cameras together.

stitching: fix bug in BundleAdjusterAffinePartial

* use the invers properly
* use static buffer for invers to speed it up

* samples: add affine bundle adjuster option to stitching_detailed

* add support for using affine bundle adjuster with 4DOF
* improve logging of initial intristics

* sttiching: add affine bundle adjuster test

* fix build warnings

* stitching: increase limit on sanity check

prevents spurious test failures on mac. values are still pretty fine.

* stitching: set affine bundle adjuster for SCANS mode

* fix bug with AffineBestOf2NearestMatcher (we want to select affine partial mode)
* select right bundle adjuster

* stitching: increase error bound for matcher tests

* this prevents failure on mac. tranformation is still ok.

* stitching: implement affine bundle adjuster

* implements affine bundle adjuster that is using full affine transform
* existing test case modified to test both affinePartial an full affine bundle adjuster

* add stitching tutorial

* show basic usage of stitching api (Stitcher class)

* stitching: add more integration test for affine stitching

* added new datasets to existing testcase
* removed unused include

* calib3d: move `haveCollinearPoints` to common header

* added comment to make that this also checks too close points

* calib3d: redone checkSubset for estimateAffine* callback

* use common function to check collinearity
* this also ensures that point will not be too close to each other

* calib3d: change estimateAffine* functions API

* more similar to `findHomography`, `findFundamentalMat`, `findEssentialMat` and similar
* follows standard recommended semantic INPUTS, OUTPUTS, FLAGS
* allows to disable refining
* supported LMEDS robust method (tests yet to come) along with RANSAC
* extended docs with some tips

* calib3d: rewrite estimateAffine2D test

* rewrite in googletest style
* parametrize to test both robust methods (RANSAC and LMEDS)
* get rid of boilerplate

* calib3d: rework estimateAffinePartial2D test

* rework in googletest style
* add testing for LMEDS

* calib3d: rework estimateAffine*2D perf test

* test for LMEDS speed
* test with/without Levenberg-Marquart
* remove sanity checking (this is covered by accuracy tests)

* calib3d: improve estimateAffine*2D tests

* test transformations in loop
* improves test by testing more potential transformations

* calib3d: rewrite kernels for estimateAffine*2D functions

* use analytical solution instead of SVD
* this version is faster especially for smaller amount of points

* calib3d: tune up perf of estimateAffine*2D functions

* avoid copying inliers
* avoid converting input points if not necessary
* check only `from` point for collinearity, as `to` does not affect stability of transform

* tutorials: add commands examples to stitching tutorials

* add some examples how to run stitcher sample code
* mention stitching_detailed.cpp

* calib3d: change computeError for estimateAffine*2D

* do error computing in floats instead of doubles

this have required precision + we were storing the result in float anyway. This make code faster and allows auto-vectorization by smart compilers.

* documentation: mention estimateAffine*2D function

* refer to new functions on appropriate places
* prefer estimateAffine*2D over estimateRigidTransform

* stitching: add camera models documentations

* mention camera models in module documentation to give user a better overview and reduce confusion
2016-10-22 19:10:42 +03:00
catree
5e8486f68c Try to clarify the morphological operations in the tutorial to avoid possible confusions. 2016-10-09 23:45:04 +02:00
StevenPuttemans
e1b4f5aeb6 fix issue 7352 2016-09-29 14:59:43 +02:00
Vadim Pisarevsky
0d3b6465bd Merge pull request #7112 from StevenPuttemans:improve_cascadeclassifier_training_tutorial 2016-09-14 12:07:26 +00:00
StevenPuttemans
a65f2b4bd3 huge overhaul/update of cascade classifier training 2016-09-12 09:56:09 +02:00
Maksim Shabunin
a278abdc76 Merge pull request #7140 from Asalle:fix-7136-Bounding_Box_explanation 2016-08-29 08:42:02 +00:00
Asal Mirzaieva
ec5ae4af1d add explanation to the Bounding Box and Circles tutorial
- also some minor changes to the respective sample cpp file
2016-08-26 18:23:32 +03:00
Vadim Pisarevsky
2f069c108f Merge pull request #6945 from sturkmen72:update_documentation 2016-08-18 13:23:17 +00:00
Suleyman TURKMEN
bb6f65c199 Update documentation ( tutorials ) 2016-08-15 17:23:04 +03:00
Tomoaki Teshima
bae8b2a9b0 doc: fix typo and grammar 2016-07-28 18:35:16 +09:00
Alexander Alekhin
df9120768d Merge pull request #6929 from catree:hitrate_doc 2016-07-22 13:19:35 +00:00
Tomoaki Teshima
531b8e2320 add note of minimum requirement of CUDA 2016-07-22 07:04:37 +09:00
catree
5ee61219c8 Add bib reference for overall hitrate and max false alarm rate formulas in train cascade tutorial.
Remove useless backslash.
2016-07-19 10:58:33 +02:00
Vadim Pisarevsky
ce05d6cb89 Merge pull request #6773 from acinader:add-mask-to-match-template-demo 2016-07-18 21:14:19 +00:00
Arthur Cinader
bd7c21d83e Fix explanation to refelect how matching currently works. 2016-07-15 09:57:12 -04:00
Alexander Alekhin
ddc0b42bc3 migration: github.com/opencv/opencv 2016-07-12 12:51:12 +03:00
Arthur Cinader
0ed250cb5d Implement PR feedback:
1. Explain grayscale input still read as three channel
2. Fix typo
3. Add more details to image match explanation to include the use of masks
2016-07-11 15:21:47 -04:00
Arthur Cinader
a6ade2b914 Add the mask to the template matching demo documentation. 2016-07-05 13:20:30 -04:00
Vladislav Sovrasov
5a0c04409b Add interactive calibration app 2016-04-25 11:58:19 +03:00
Maksim Shabunin
fc5e32c7ac Merge pull request #6305 from rishirajsurti:master 2016-04-14 08:42:40 +00:00
rishirajsurti
4a9170ba42 Thresholding Tutorial using inRange function on a video 2016-04-14 11:55:52 +05:30
Maksim Shabunin
50edaae06c Merge pull request #6322 from berak:fix_linux_eclipse_tutorial 2016-03-25 07:39:19 +00:00
berak
0b389b24f6 fix changed libraries in eclipse tutorial 2016-03-24 16:09:14 +01:00
Maksim Shabunin
26416343c4 Merge pull request #6300 from berak:fix_akaze_sample 2016-03-21 14:01:17 +00:00
berak
e0c65499fd remove opencv_contrib dependancy from planar_tracking.cpp 2016-03-19 10:29:22 +01:00
renu285
45f9d32866 Removed older libraries pointing to 2.4 in eclipse tutorial docs 2016-03-14 12:09:56 +01:00
Alexander Alekhin
7600757d07 Merge pull request #6181 from delftswa2016:fix-for-issue-6146 2016-02-29 15:13:39 +00:00
shruthikashyap
d64b35f11d Fix for issue 6146 and some grammar corrections 2016-02-27 23:26:23 +01:00
shruthikashyap
23ba94140e Fix for issue 6146 2016-02-27 23:16:52 +01:00
Maksim Shabunin
8c29380471 Merge pull request #6105 from mshabunin:tutorial-folder-correction 2016-02-15 13:10:45 +00:00
Maksim Shabunin
6c0c0466c6 Tutorials: moved Megamind.avi files to samples/data folder 2016-02-12 13:44:14 +03:00
Maksim Shabunin
359acc0d33 Tutorials: moved imgcodecs and videoio tutorials to separate pages 2016-02-12 13:35:46 +03:00
Ishank gulati
5312db93b4 added equality 2016-01-17 09:46:23 +05:30
Ishank gulati
24da1ba3dc added videoio docs and tutorials 2015-12-26 10:48:01 +05:30
Vadim Pisarevsky
c4edd86aeb Merge pull request #5400 from dtmoodie:thrust_tutorial 2015-11-23 18:36:42 +00:00
Dan Moodie
7376c5311b Fixed tabs in whitespace. 2015-09-24 14:29:17 -04:00
Alexander Alekhin
7d7f5c196d Merge pull request #5295 from LorenaGdL:ml-svm_tutorials 2015-09-24 14:13:07 +00:00
Dan
23fc5930b7 Improved thrust interop tutorial. 2015-09-24 09:32:38 -04:00
Lorena García
f034320731 Change in links
Explicit link to 2.4 docs
2015-09-03 18:16:29 +02:00
Lorena García
c1392f64a4 ml_svm_tutorials version note added
Added note to point out code is for version 3.0 despite compatibility of
tutorial > version 2.0
2015-09-03 07:38:25 +02:00
Andrey Pavlenko
58e5aca631 Android camera + OpenCL tutorial (for existing code at samples/android/tutorial-4-opencl) 2015-08-20 15:13:34 +03:00
Maksim Shabunin
caffbaafbe Updated Manager for Android 2015-06-02 17:33:04 +03:00
Maksim Shabunin
55d1f0b7d6 Transition guide: removed one of the version check methods 2015-05-25 18:05:20 +03:00
Maksim Shabunin
44d1738d47 Transition guide: how to check library version 2015-05-22 18:46:16 +03:00
Maksim Shabunin
6d1cbc6458 Reorganized user guide 2015-05-13 18:46:21 +03:00
Maksim Shabunin
c8cb03fd8f Replaced 'corrected' to 'distorted' in camera calibration tutorials 2015-05-13 18:46:21 +03:00
Vadim Pisarevsky
4af2eb22ab Merge pull request #3974 from StevenPuttemans:fix_RGB_naming_master 2015-05-12 15:12:27 +00:00
Vadim Pisarevsky
09c26d6805 Merge pull request #3999 from berak:features2d_tutorial_fix 2015-05-12 15:01:54 +00:00
berak
3fe69f4e67 small fixes for features2d tutorials 2015-05-10 13:44:49 +02:00