Commit Graph

64 Commits

Author SHA1 Message Date
ostarling
643d9df42d Merge pull request #14411 from ostarling:3.4_fix_for_14242
* Fix for Homogenous precision #14242:
 - moved scale computation to an inline function
 - use std::numeric_limits<float>::epsilon() instead of != 0.0

* Fix for Homogenous precision #14242:
 - fixed warnings for type conversion

* Fix for Homogenous precision #14242:
 - use float epsilon() for truncation of doubles
2019-04-29 17:12:04 +03:00
Hamdi Sahloul
5d54def264 Add semicolons after CV_INSTRUMENT macros 2018-09-14 06:45:31 +09:00
Alexander Alekhin
bdbd0129af calib3d: apply CV_OVERRIDE/CV_FINAL 2018-03-28 17:57:59 +03:00
Fangjun Kuang
eb2901bd69 Improve the doc for fundamental matrix. 2018-01-19 13:41:47 +01:00
KUANG Fangjun
67acfc6e25 improve doc. 2017-10-31 10:30:01 +01:00
Maksim Shabunin
32d4af36e2 Fixing some static analysis issues 2017-06-27 14:30:26 +03:00
Pavel Rojtberg
25061b4280 convertPointsToHomogeneous: fix output type for depth == CV_32S 2016-11-09 11:35:12 +01:00
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
Pavel Vlasov
30a6cee2fe Instrumentation for OpenCV API regions and IPP functions; 2016-08-19 18:10:03 +03:00
Julien Nabet
a29c814bd8 cppcheck: fix some reports
All of these: (performance) Prefer prefix ++/-- operators for non-primitive types.
[modules/calib3d/src/fundam.cpp:1049] -> [modules/calib3d/src/fundam.cpp:1049]: (style) Same expression on both sides of '&&'.
2016-04-29 15:41:39 +02:00
Philipp Hasper
3f1eeba39d findHomography sets output mask to all zeros in case of no inlier 2016-02-18 17:58:28 +01:00
Pavel Rojtberg
16fcd78f03 add sampson distance error measure
the first order approximation of the geometric error
2015-11-25 16:39:49 +01:00
Pavel Rojtberg
0688bb61ed simplify 8point algorithm using Matx classes 2015-07-13 16:58:35 +02:00
Deanna Hood
eee210f3b5 Fix Bug #3441, #4072, #4173: 8-point fundamental matrix calculation error 2015-04-23 10:09:48 -04:00
Olexa Bilaniuk
8a1d8c8470 Merge remote-tracking branch 'refs/remotes/upstream/master' 2015-03-18 02:21:36 -04:00
Vadim Pisarevsky
ca19ae8b5a in solvePnPRansac call the solvePnP in the end with all the inliers to get more precise estimate 2015-03-16 16:56:26 +03:00
Olexa Bilaniuk
736b42b372 Refactorings and renamings.
- Deleted "RefC" from names of external-interface functions.
- Renamed rhorefc.[cpp|hpp] to rho.[cpp|hpp]
- Introduced RHO_HEST base class, from which RHO_HEST_REFC inherits.
- rhoInit() currently only returns a Ptr<RHO_HEST_REFC>, but in the
future it will be allowed to return pointers to other derived classes,
depending on the values returned by cv::checkHardwareSupport().
2015-03-04 01:43:13 -05:00
Olexa Bilaniuk
408f93340a External interface converted to use OpenCV Ptr<> smart pointer. 2015-03-03 23:12:33 -05:00
Olexa Bilaniuk
e5696bc5e6 Whitespace change reverts to minimize delta w.r.t master. 2015-02-13 08:07:15 -05:00
Hamid Bazargani
e22678018b Fix sacCalcJacobianErrors arguments. (curr.inl replaced with best.inl)
Fix the issue given NULL inlMask
2015-02-13 00:30:18 -05:00
ASUS
6b04351ce1 Merge branch 'accuracy' of https://github.com/obilaniu/opencv into accuracy
Conflicts:
	modules/calib3d/src/rhorefc.cpp
2015-02-12 21:27:08 -05:00
ASUS
6dbf13d7b5 saveBestModel() is modified. accuracy test is passed. 2015-02-12 21:22:52 -05:00
Olexa Bilaniuk
adac8c04bb Converted to C++ style, + bugfixes.
The code has been refactored in response to feedback on Pull Request

Also, outputZeroH() now also zeroes the inlier set, much like
outputModel().
2015-02-07 00:56:58 -05:00
Olexa Bilaniuk
87c2b8197a Bug fixes in mask output.
Previously, the output mask of inliers could remain completely
uninitialized. This fix is the first part of a solution.
2015-02-05 02:18:41 -05:00
Olexa Bilaniuk
2609e77af7 Silence spurious loss-of-data warnings from Windows.
Added explicit casts to silence warnings in fundam.cpp and rhorefc.cpp.
2015-02-04 02:26:01 -05:00
Olexa Bilaniuk
ce0570b777 Splitting vectorized code into separate branch.
Deleted SSE code from master branch.
Slight cleanups in fundam.cpp were made as a consequence.
2015-02-03 23:33:52 -05:00
Olexa Bilaniuk
02124f19e6 Further LevMarq improvements.
Implemented a damping-parameter choice strategy similar to that
described in http://www2.imm.dtu.dk/documents/ftp/tr99/tr05_99.pdf.
Removed a few debug statements.
Chosen a new starting lambda value, 0.01.
We now actually output the mask of inliers.
2015-01-15 04:21:16 -05:00
Olexa Bilaniuk
7fca146b21 More LevMarq bugfixes.
LevMarq now doesn't outright fail, but doesn't seem to improve things
much if at all.
2015-01-12 05:37:40 -05:00
Olexa Bilaniuk
68e59d6154 [RHO] Initial commit of RHO algorithm for rapid homography estimation.
Implements the RHO algorithm as presented in

Paper: Bilaniuk, Olexa, Hamid Bazargani, and Robert Laganiere. "Fast
Target Recognition on Mobile Devices: Revisiting Gaussian Elimination
for the Estimation of Planar Homographies." In Computer Vision and
Pattern Recognition Workshops (CVPRW), 2014 IEEE Conference on, pp.
119-125. IEEE, 2014.

- Complete, heavily documented reference C implementation, as well as
temporarily disabled dirty SSE2 port.
- Enabled tests for RHO in test_homography; Currently these fail
presumably due to too-stringent accuracy requirements.
- Refinement and final refinement are not yet functional; Do not pass
their corresponding flags to RHO.
2014-11-17 15:06:08 -05:00
Shubhra Pandit
6ca893be23 Adding feature 1544 and 1557
-cv::findHomography added a parameter for RANSAC iterations
 -cv::findHomography added a parameter for RANSAC confidence
2014-08-17 13:06:06 -04:00
Adil Ibragimov
8a4a1bb018 Several type of formal refactoring:
1. someMatrix.data -> someMatrix.prt()
2. someMatrix.data + someMatrix.step * lineIndex -> someMatrix.ptr( lineIndex )
3. (SomeType*) someMatrix.data -> someMatrix.ptr<SomeType>()
4. someMatrix.data -> !someMatrix.empty() ( or !someMatrix.data -> someMatrix.empty() ) in logical expressions
2014-08-13 15:21:35 +04:00
Roman Donchenko
bd70a033fc Boring changes - calib3d. 2013-09-05 18:26:43 +04:00
Roman Donchenko
5e4ebf3403 Fixed incomplete matrix initialization in HomographyRefineCallback. 2013-08-28 13:20:14 +04:00
Andrey Kamaev
e5a33723fc Move C API of opencv_calib3d to separate file 2013-04-11 21:00:17 +04:00
Vadim Pisarevsky
f303de12d8 mask.create() re-converted to new style 2013-03-05 00:03:37 +04:00
Vadim Pisarevsky
0c61a8887e reverting changes in Homography kernel function. For some reason GCC on Linux does not like it. 2013-03-05 00:00:21 +04:00
Vadim Pisarevsky
7fd1d75738 some more minor fixes 2013-03-04 16:02:15 +04:00
Vadim Pisarevsky
8a6d2bbd3d several minor fixes proposed by Andrey 2013-03-03 00:54:46 +04:00
Vadim Pisarevsky
374e3a0890 rewritten several functions from calib3d: findhomography, findfundamentalmat, findessentialmat, estimateaffine3d, computecorrespondepilines, convert points{to/from}homogeneous to C++. 2013-02-28 18:25:05 +04:00
jmbuena
28a7be69ea Fixed compile warnings on CvHomographyEstimator 2013-01-12 12:32:51 +01:00
jmbuena
6d738f6a3f Changed RANSAC Homography estimation for speed. Each minimal set is checked for consistency before actually fit a candidate homography. 2013-01-11 01:55:56 +01:00
OpenCV Buildbot
81f826db2b Normalize line endings and whitespace 2012-10-17 15:57:49 +04:00
Daniil Osokin
4500c48349 fixed 7 point mode in findFundamentalMat #1978 2012-10-12 14:38:52 +04:00
Vadim Pisarevsky
b5eb318ae3 added support of homogeneous points to calcCorrespondEpilines (ticket #2055) 2012-07-01 20:13:49 +00:00
Vadim Pisarevsky
aed276e67d fixed cvComputeCorrespondEpilines to handle <5 points (ticket #1635) 2012-03-28 13:37:14 +00:00
Vadim Pisarevsky
a3362864e1 removed unnecessary MIN(); bug #1578 2012-03-26 10:01:30 +00:00
Vadim Pisarevsky
dd1315b22a fixed rank check in 8-point Fundamental Matrix algorithm (patch by F. Devernay; ticket #1273) 2011-08-06 19:38:09 +00:00
Vadim Pisarevsky
16b0fcf083 fixed CvHomographyEstimator::runKernel (ticket #1275) 2011-08-04 13:06:08 +00:00
Vadim Pisarevsky
c57799a877 fixed 8-point case in findFundamentalMat (ticket #1262). findFundamentalMat needs to be rewritten actually (as well as findHomography) 2011-08-03 14:04:14 +00:00
Vadim Pisarevsky
0c877f62e9 replaced "const InputArray&" => "InputArray"; made InputArray and OutputArray references. added "None()" constant (no array()). 2011-06-06 14:51:27 +00:00