Commit Graph

66 Commits

Author SHA1 Message Date
Kataev Victor
50bf0e10f5 Fix cameracalibration test
* Remove transpose for rvec after calibration
* Change compare threshold from 110% to 10% for perViewErrors
* Add transpose to goodRotMatrs load
2022-05-23 14:07:34 +03:00
Kumataro
602caa9cd6
Merge pull request #21937 from Kumataro:4.x-fix-21911
* Fix warnings for clang15

* Fix warnings: Remove unnecessary code

* Fix warnings: Remove unnecessary code
2022-05-13 17:32:05 +00:00
Alexander Alekhin
8b4fa2605e Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2021-12-03 12:32:49 +00:00
yuki takehara
a6277370ca
Merge pull request #21107 from take1014:remove_assert_21038
resolves #21038

* remove C assert

* revert C header

* fix several points in review

* fix test_ds.cpp
2021-11-27 18:34:52 +00:00
thezane
9e835e8edb
Merge pull request #20636 from thezane:recoverPoseFromDifferentCameras
Recover pose from different cameras (version 2)

* add recoverPose for two different cameras

* Address review comments from original PR

* Address new review comments

* Rename private api

Co-authored-by: tompollok <tom.pollok@gmail.com>
Co-authored-by: Zane <zane.huang@mail.utoronto.ca>
2021-09-25 17:42:12 +00:00
Vadim Pisarevsky
a2f7ef9d21
Merge pull request #17816 from vpisarev:essential_2cameras
* add findEssentialMat for two different cameras

* added smoke test for the newly added variant of findEssentialMatrix

Co-authored-by: tompollok <tom.pollok@gmail.com>
2020-07-29 16:28:01 +03:00
Alexander Alekhin
8108fb0575 Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2019-12-05 18:27:45 +03:00
Alexander Alekhin
9a4404276a calib3d: revert stereoRectify() changes from PRs: 6836, 6972, 6955
(1/4) Revert "Correct image borders and principal point computation in cv::stereoRectify"

This reverts commit 93ff1fb2f2.

(2/4) Revert "fix calib3d changes in 6836 plus some others"

This reverts commit fa42a1cfc2.

(3/4) Revert "fix compiler warning"

This reverts commit b3d55489d3.

(4/4) Revert "add test for 6836"

This reverts commit d06b8c4ea9.
2019-11-30 23:37:49 +00:00
Alexander Alekhin
a74fe2ec01 Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2019-09-20 21:11:49 +00:00
Daniel Kapusi
d2872afce0 Merge pull request #15341 from DiebBlue:is5769
* issue 5769 fixed: cv::stereoRectify fails if given inliers mask of type vector<uchar>

* issue5769 fix using reshape and add regression test

* regression test with outlier detection, testing vector and mat data

* Size comparision of wrong vector within CV_Assert in regression test corrected

* cleanup test code
2019-09-17 00:04:05 +03:00
Alexander Alekhin
f3de2b4be7 Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2019-06-05 19:11:52 +03:00
rasmus25
394bc91e07 Merge pull request #14718 from rasmus25:3.4
* Revert the bad parts of b085158d59 to fix https://github.com/opencv/opencv/issues/11131
but preserve the good parts to keep https://github.com/opencv/opencv/issues/10791 fixed

* calib3d: add regression test for stereoCalibrate to fix https://github.com/opencv/opencv/issues/11131
2019-06-04 18:43:42 +03:00
Alexander Alekhin
43467a2ac7 Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2019-05-28 18:29:48 +00:00
catree
7ed858e38e Fix issue with solvePnPRansac and Nx3 1-channel input when the number of points is 5. Try to uniform the input shape of projectPoints and undistortPoints. 2019-05-22 14:19:16 +02:00
Alexander Alekhin
631b246881 Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2019-01-22 18:00:34 +00:00
Suleyman TURKMEN
794c14b29a code clean up 2019-01-14 22:21:21 +03:00
Vadim Pisarevsky
8f15a609af
mostly removed obsolete C API from calib3d (at least at the interface level) (#13081) 2018-11-09 16:12:22 +03:00
Vadim Pisarevsky
0f622206e4
completely new C++ persistence implementation (#13011)
* integrated the new C++ persistence; removed old persistence; most of OpenCV compiles fine! the tests have not been run yet

* fixed multiple bugs in the new C++ persistence

* fixed raw size of the parsed empty sequences

* [temporarily] excluded obsolete applications traincascade and createsamples from build

* fixed several compiler warnings and multiple test failures

* undo changes in cocoa window rendering (that was fixed in another PR)

* fixed more compile warnings and the remaining test failures (hopefully)

* trying to fix the last little warning
2018-11-02 00:27:06 +03:00
Dmitry Kurtaev
ea67060081 Fix https://github.com/opencv/opencv/issues/12970 2018-11-01 11:22:28 +03:00
Wenfeng CAI
31be03a805 Merge pull request #12772 from xoox:calib-release-object
More accurate pinhole camera calibration with imperfect planar target (#12772)
43 commits:

* Add derivatives with respect to object points

Add an output parameter to calculate derivatives of image points with
respect to 3D coordinates of object points. The output jacobian matrix
is a 2Nx3N matrix where N is the number of points.

This commit introduces incompatibility to old function signature.

* Set zero for dpdo matrix before using

dpdo is a sparse matrix with only non-zero value close to major
diagonal. Set it to zero because only elements near major diagonal are
computed.

* Add jacobian columns to projectPoints()

The output jacobian matrix of derivatives with respect to coordinates of
3D object points are added. This might break callers who assume the
columns of jacobian matrix.

* Adapt test code to updated project functions

The test cases for projectPoints() and cvProjectPoints2() are updated to
fit new function signatures.

* Add accuracy test code for dpdo

* Add badarg test for dpdo

* Add new enum item for new calibration method

CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of
object points. The method was proposed in: K. H. Strobl and G. Hirzinger.
"More Accurate Pinhole Camera Calibration with Imperfect Planar Target".
In Proceedings of the IEEE International Conference on Computer Vision
(ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot
Perception, Barcelona, Spain, pp. 1068-1075, November 2011.

* Add releasing object method into internal function

It's a simple extension of the standard calibration scheme. We choose to
fix the first and last object point and a user-selected fixed point.

* Add interfaces for extended calibration method

* Refine document for calibrateCamera()

When releasing object points, only the z coordinates of the
objectPoints[0].back is fixed.

* Add link to strobl2011iccv paper

* Improve documentation for calibrateCamera()

* Add implementations of wrapping calibrateCamera()

* Add checking for params of new calibration method

If input parameters are not qualified, then fall back to standard
calibration method.

* Add camera calibration method of releasing object

The current implementation is equal to or better than
https://github.com/xoox/calibrel

* Update doc for CALIB_RELEASE_OBJECT

CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with
potentially less precise and less stable in some rare cases.

* Add RELEASE_OBJECT calibration to tutorial code

To select the calibration method of releasing object points, a command
line parameter `-d=<number>` should be provided.

* Update tutorial doc for camera_calibration

If the method of releasing object points is merged into OpenCV. It will
be expected to be firstly released in 4.1, I think.

* Reduce epsilon for cornerSubPix()

Epsilon of 0.1 is a bigger one. Preciser corner positions are required
with calibration method of releasing object.

* Refine camera calibration tutorial

The hypothesis coordinates are used to indicate which distance must be
measured between two specified object points.

* Update sample calibration code method selection

Similar to camera_calibration tutorial application, a command line
argument `-dt=<number>` is used to select the calibration method.

* Add guard to flags of cvCalibrateCamera2()

cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload
interface is added in the future.

* Simplify fallback when iFixedPoint is out of range

* Refactor projectPoints() to keep compatibilities

* Fix arg string "Bad rvecs header"

* Read calibration flags from test data files

Instead of being hard coded into source file, the calibration flags will
be read from test data files.
opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with
the test code.

* Add new C interface of cvCalibrateCamera4()

With this new added C interface, the extended calibration method with
CALIB_RELEASE_OBJECT can be called by C API.

* Add regression test of extended calibration method

It has been tested with new added test data in xoox:calib-release-object
branch of opencv_extra.

* Fix assertion in test_cameracalibration.cpp

The total number of refined 3D object coordinates is checked.

* Add checker for iFixedPoint in cvCalibrateCamera4

If iFixedPoint is out of rational range, fall back to standard method.

* Fix documentation for overloaded calibrateCamera()

* Remove calibration flag of CALIB_RELEASE_OBJECT

The method selection is based on the range of the index of fixed point.
For minus values, standard calibration method will be chosen.  Values in
a rational range will make the object-releasing calibration method
selected.

* Use new interfaces instead of function overload

Existing interfaces are preserved and new interfaces are added. Since
most part of the code base are shared, calibrateCamera() is now a
wrapper function of calibrateCameraRO().

* Fix exported name of calibrateCameraRO()

* Update documentation for calibrateCameraRO()

The circumstances where this method is mostly helpful are described.

* Add note on the rigidity of the calibration target

* Update documentation for calibrateCameraRO()

It is clarified that iFixedPoint is used as a switch to select
calibration method. If input data are not qualified, exceptions will be
thrown instead of fallback scheme.

* Clarify iFixedPoint as switch and remove fallback

iFixedPoint is now used as a switch for calibration method selection. No
fallback scheme is utilized anymore. If the input data are not
qualified, exceptions will be thrown.

* Add badarg test for object-releasing method

* Fix document format of sample list

List items of same level should be indented the same way. Otherwise they
will be formatted as nested lists by Doxygen.

* Add brief intro for objectPoints and imagePoints

* Sync tutorial to sample calibration code

* Update tutorial compatibility version to 4.0
2018-10-25 19:38:55 +03:00
Alexander Alekhin
8a3c394d6a don't use constructors for C API structures 2018-09-06 14:34:16 +03:00
Alexander Alekhin
c7fc563dc0 calib3d: chessboard detector - replace OpenCV C API 2018-07-05 13:09:10 +03:00
Alexander Alekhin
e268fdc0ed Merge pull request #10793 from denmatfoton:master 2018-02-15 15:52:52 +00:00
Alexander Alekhin
f378f1d585 calib3d: add regression test for stereoCalibrate 2018-02-15 15:24:09 +03:00
Alexander Alekhin
4a297a2443 ts: refactor OpenCV tests
- removed tr1 usage (dropped in C++17)
- moved includes of vector/map/iostream/limits into ts.hpp
- require opencv_test + anonymous namespace (added compile check)
- fixed norm() usage (must be from cvtest::norm for checks) and other conflict functions
- added missing license headers
2018-02-03 19:39:47 +00:00
Pavel Rojtberg
203dc3bb48 Merge pull request #10667 from paroj:stereo_calib_ex
calib3d: add stereoCalibrateExtended (#10667)

* cvCalibrateCamera2Internal: simplify per view error computation

* calib3d: add stereoCalibrateExtended

- allow CALIB_USE_EXTRINSIC_GUESS
- returns per view errors

* calib3d: add stereoCalibrateExtended test
2018-01-26 22:05:13 +03:00
Vitaly Tuzov
51cb56ef2c Implementation of bit-exact resize. Internal calls to linear resize updated to use bit-exact version. (#9468) 2017-12-13 15:00:38 +03:00
Alexander Alekhin
7e12c879c2 core: extend traits::Type / traits::Depth for compatible types
DMatch and Keypoint are not compatible types (mixed float/int fields)
2017-08-31 19:35:48 +03:00
David Carlier
bacc210606 fixing segfaults occuring when launching those unit tests 2017-04-18 09:50:17 +01:00
Alexander Alekhin
ca6beb9ca8 calib3d: fix InputArray -> CvMat 2016-12-22 04:22:46 +03:00
Alexander Alekhin
4439ba09f9 test: update condition for Calib3d_StereoCalibrate 2016-10-20 16:54:40 +03:00
Sergei Nosov
b3d55489d3 fix compiler warning 2016-07-21 10:57:58 +03:00
Sergei Nosov
d06b8c4ea9 add test for #6836 2016-07-19 17:05:30 +03:00
Maksim Shabunin
7d007d212c Merge pull request #6828 from paroj:cmatvals_cpp 2016-07-14 11:31:48 +00:00
Vladislav Sovrasov
46fb46c54e Add an extended version of CalibrateCamera function 2016-06-07 12:31:11 +03:00
Pavel Rojtberg
8ed1945ccd calibrationMatrixValues: consider principalPoint in FOV computation
The FOV depends on the principal point location. Use formula of
viz::Camera.
2016-04-27 14:47:52 +02:00
Krishnaraj Bhat
9b8013d193 gcc6: fix misleading indentation warning
cosmetic changes to fix this warning.
real bugs not found
2016-03-07 17:06:16 +05:30
Vadim Pisarevsky
7fd5b3a0c5 added another triangulation test case from http://code.opencv.org/issues/3461; fixed partial derivative on distortion coefficients, as http://code.opencv.org/issues/4101 suggests 2015-05-23 14:15:11 +03:00
Vadim Pisarevsky
90a78585fb reproduced test case from http://code.opencv.org/issues/4334 2015-05-23 13:16:32 +03:00
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
799d2dabd6 Merge remote-tracking branch 'origin/2.4' into merge-2.4
Conflicts:
	modules/core/test/test_arithm.cpp
	modules/cuda/src/cascadeclassifier.cpp
	modules/imgproc/doc/geometric_transformations.rst
	modules/objdetect/src/hog.cpp
	modules/ocl/perf/perf_imgproc.cpp
	modules/ocl/src/gftt.cpp
	modules/ocl/src/moments.cpp
2014-04-14 16:08:02 +04:00
Maks Naumov
b033a63e63 fix typo in test_cameracalibration 2014-04-09 14:41:16 +03:00
Ilya Lavrenov
aa5326c231 cv::norm -> cvtest::norm in tests
Conflicts:

	modules/core/src/stat.cpp
2014-04-08 14:49:20 +04:00
Roman Donchenko
db85c35e69 Merge remote-tracking branch 'origin/2.4' into merge-2.4
Conflicts:
	modules/contrib/src/basicretinafilter.hpp
	modules/contrib/src/magnoretinafilter.hpp
	modules/contrib/src/parvoretinafilter.hpp
	modules/contrib/src/retinacolor.hpp
	modules/gpu/include/opencv2/gpu/gpu.hpp
	modules/highgui/src/cap_tyzx.cpp
	modules/ocl/perf/perf_filters.cpp
	modules/ocl/src/haar.cpp
	modules/ocl/src/opencl/haarobjectdetect.cl
	modules/ocl/test/test_filters.cpp
	modules/ocl/test/test_objdetect.cpp
2014-03-03 13:45:22 +04:00
Ilya Lavrenov
eedf86402d typos 2014-03-02 21:04:17 +04:00
Ilya Lavrenov
32eb38ec98 fixed defects from coverity.com 2014-02-23 20:21:08 +04:00
Roman Donchenko
721d0145e0 Merge pull request #2002 from abak:stereo_calibrate 2014-02-05 17:47:27 +04:00
Konstantin Matskevich
e9e9e00d45 replaced sprintf with cv::format 2014-01-17 13:01:12 +04:00
Konstantin Matskevich
ab18c2d132 changed testdata path for calib3d 2014-01-15 15:08:09 +04:00
Adrien BAK
c5c3fd4443 modify signature of stereoCalibrate for consistency 2013-12-17 14:53:44 +09:00