Commit Graph

385 Commits

Author SHA1 Message Date
catree
dac31e84fb Add solvePnPRefineLM to refine a pose according to a Levenberg-Marquardt iterative minimization process. Add solvePnPRefineVVS to refine a pose using a virtual visual servoing scheme. 2019-04-30 14:31:11 +02:00
Alexander Alekhin
0b9d53829f Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2019-04-07 12:35:15 +00:00
Alexander Alekhin
b5961cc5d1 calib3d: don't change input data
- estimateAffine2D/estimateAffinePartial2D() calls
2019-04-06 19:28:41 +00:00
Alexander Alekhin
332c37f332 Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2019-03-06 11:43:16 +03:00
catree
bbf39b0964 Add Hand-Eye calibration methods (Tsai, Park, Horaud, Andreff, Daniilidis). 2019-03-05 14:51:33 +01:00
Alexander Alekhin
dfef04b325 Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2019-02-12 17:54:40 +03:00
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
Jim Zhou
78bd55c8df Merge pull request #13601 from JimZhou-001:JimZhou-001
* Fix the bug in case determinant of rotation matrix is -1

* calib3d(test): check det(R) == 1
2019-01-11 16:58:47 +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
Alexander Alekhin
2c6f1ab57d Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2018-11-06 20:04:31 +00:00
fegorsch
ce00d38bd9 Add test for symmetric circles with clustering 2018-11-02 15:13:46 +01:00
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
8f1f4273a2 calib3d: move undistort files from imgproc 2018-10-05 07:52:21 +00:00
Alexander Alekhin
e4f71994c2 calib3d: findChessboardCornersSB() minor updates
- avoid updating of input image during equalizeHist() call
- avoid for() with double variable (use 'int' instead)
- more CV_Check*() macros
- use Mat_<T>, Matx
- static for local variables
2018-09-27 15:38:01 +03:00
Menghui Xie
f0d277e452 M_PI changed to CV_PI (#12645)
* M_PI changed to CV_PI

* M_PI changed to CV_PI

* M_PI changed to CV_PI
2018-09-26 16:05:02 +03:00
Alexander Alekhin
38de2a8754 calib3d: fix build warnings 2018-09-17 22:16:31 +00:00
Alexander Duda
a024593fa6 Merge pull request #12147 from D-Alex:master
* add new chessboard detector

The chessboar detector is based on the paper.
Accurate Detection and Localization of Checkerboard Corners for
Calibration Alexander Duda, Udo Frese
British Machine Vision Conference, o.A., 2018.

It utilizes point symmetry of checkerboard corners in combination with a
localized Radon transform approximated by box filters to achieve high
performance even on large images. Here, tests have shown that the
ability to localize checkerboard corners is close to the theoretical
limit of 1/100 of a pixel while being considerably less sensitive
to image noise than standard methods.

* chessboard: add reference to bibtex file

* chessboard: add dependency to opencv_flann

* fix: test chesscorners. It is valid to return an empty list

In case no chessboard was detected it should be valid for the detector
to return an empty list.

For simplifcation, it should be allowed to return any number of corners
if they are flagged as not found.

* fix: opencv.bib remove empty lines

* fix: doc findChessboardCorners replace cvSize with cv::Size

* chessboard tests: factor out logic selecting detector

* chessboard: add unit test for findChessboardCorners2

This is includes a new chessboard generator which supports subpix
corners with high accuracy by wrapping an optimal chessboard using
wrapPerspective.

* fix: chessboard unit test - overwrite of default parameter flag of findCirclesGrid

* chessboard: remove trailing whitespace

* chessboard: fix debug drawing

* chessboard: fix some issues during code review

* chessboard: normalize asymmetric chessboard

* chessboard: fix float double warning

* remove trailing whitespace

* chessboards: fix compiler warnings

* chessboards: fix compiler warnings

* checkerboard: some performance improvements

* chessboard: remove NULL macros for language bindinges from internal headers

* chessboard: shorten license terms

* chessboard: remove unused internal method

* chessboard: set helper functions to static

* chessboard: fix normalizePoints1D using unshifted points

* chessboard: remove wrongly copied text

* chessboard: use CV_CheckTypeEQ macro

* chessboard: comment all NaN checks

* chessboard: use consistent color conversion

* chessboard: use CheckChannelEQ macro

* chessboard: assume gray color image for internal methods

* chessboard: use std::swap

* chessboard: use Mat.dataend

* chessboard: fix compiler warnings

* chessboard: replace some checks witch CV_CHECK macro

* chessboard: fix comparison function for partial sort

* chessboard: small cleanup

* chessboard: use short license header

* chessboard: rename findChessboard2 to findChessboardSB

* chessboard: fix type in unit test
2018-09-13 15:43:04 +03:00
Alexander Alekhin
73bfe68821 Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2018-09-07 12:40:27 +03:00
Alexander Alekhin
f1f15841d7 Merge pull request #11630 from alalek:c_api_eliminate_constructors 2018-09-06 20:07:16 +00:00
Vadim Pisarevsky
54279523a3 Merge pull request #12437 from vpisarev:avx2_fixes
* trying to fix the custom AVX2 builder test failures (false alarms)

* fixed compile error with CPU_BASELINE=AVX2 on x86; raised tolerance thresholds in a couple of tests

* fixed compile error with CPU_BASELINE=AVX2 on x86; raised tolerance thresholds in a couple of tests

* fixed compile error with CPU_BASELINE=AVX2 on x86; raised tolerance thresholds in a couple of tests

* seemingly disabled false alarm warning in surf.cpp; increased tolerance thresholds in the tests for SolvePnP and in DNN/ENet
2018-09-06 18:56:55 +03:00
Alexander Alekhin
8a3c394d6a don't use constructors for C API structures 2018-09-06 14:34:16 +03:00
Jakub Golinowski
9f1218b00b Merge pull request #11897 from Jakub-Golinowski:hpx_backend
* Add HPX backend for OpenCV implementation
Adds hpx backend for cv::parallel_for_() calls respecting the nstripes chunking parameter. C++ code for the backend is added to modules/core/parallel.cpp. Also, the necessary changes to cmake files are introduced.
Backend can operate in 2 versions (selectable by cmake build option WITH_HPX_STARTSTOP): hpx (runtime always on) and hpx_startstop (start and stop the backend for each cv::parallel_for_() call)

* WIP: Conditionally include hpx_main.hpp to tests in core module
Header hpx_main.hpp is included to both core/perf/perf_main.cpp and core/test/test_main.cpp.
The changes to cmake files for linking hpx library to above mentioned test executalbles are proposed but have issues.

* Add coditional iclusion of hpx_main.hpp to cpp cpu modules

* Remove start/stop version of hpx backend
2018-08-31 16:23:26 +03:00
Alexander Alekhin
4eb2966559 Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2018-08-07 20:12:10 +03:00
luz.paz
2003eb1b9b Misc. typos
Found via `codespell -q 3 -I ../opencv-whitelist.txt --skip="./3rdparty"`
2018-07-31 18:44:23 +03:00
Alexander Alekhin
9787ab598b Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2018-07-24 22:48:54 +03:00
Maksim Shabunin
cbb1e867e5 More issues found by static analysis 2018-07-24 16:04:42 +03:00
Alexander Alekhin
4560909a5e Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2018-07-17 19:27:48 +03:00
Alexander Alekhin
d5951bc033 build: eliminate GCC8 warnings 2018-07-16 17:24:12 +03:00
Alexander Alekhin
2da96be217 Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2018-07-09 19:44:51 +03:00
Alexander Alekhin
c7fc563dc0 calib3d: chessboard detector - replace OpenCV C API 2018-07-05 13:09:10 +03:00
Alexander Alekhin
3165baa1f1 Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2018-07-02 14:58:29 +03:00
Vadim Pisarevsky
75ee536d6d
Filter homography decomp: updated PR #7153 (#11846)
* Add functionality to filter homography decompositions

* documentation + small refactor

* fix comparing int to size_t (compiler warning)

* fix whitespace issues

* clarification of function return values in documentation

* refactor of function parameters and change in loop nesting

* cleanup useless .h, fix size_t to int compare, small refactor

* fix documentation and whitespace

* change output from return value to outputarray parameter

* update function docs to reflect changes in parameters

* whitespace

* failing test

* fixed warnings related to extended initialisers and improper types

* initialize vectors from arrays

* initialize vectors from arrays part 2

* fix whitespace

* fix trailing whitespace

* Include <inttypes.h> in test_filter_homography_decomp.cpp, should fix 'uint8_t' : undeclared identifier error

* updated the test (made it shorter and providing better diagnostic) and significantly improved implementation (get rid of heavy repeated and/or unnecessary operations)

* fixed compile warning; removed trailing whitespace
2018-06-27 16:47:35 +03:00
Alexander Alekhin
45dd575ed2 Merge remote-tracking branch 'upstream/3.4' into merge-3.4
Revert "documentation: avoid links to 'master' branch from 3.4 maintenance branch"
This reverts commit 9ba9358ecb.

Revert "documentation: avoid links to 'master' branch from 3.4 maintenance branch (2)"
This reverts commit f185802489.
2018-06-04 19:26:10 +03:00
Rostislav Vasilikhin
fc35c77f00 Merge pull request #11610 from savuor:fix/stereobm_simd_fixed_float
* StereoBM: fixed SIMD processing for fixed-type output arrays

* changed norm type and threshold, added assertion

* fixed disp_shift
2018-06-04 13:03:12 +00:00
Vadim Pisarevsky
7d19bd6c19 Merge pull request #11634 from vpisarev:empty_mat_with_types_2
fixes handling of empty matrices in some functions (#11634)

* a part of PR #11416 by Yuki Takehara

* moved the empty mat check in Mat::copyTo()

* fixed some test failures
2018-05-31 16:36:39 +00:00
Alexander Alekhin
98c8584b88 next: drop CV_CXX11 conditions
define itself is still here for compatibility
2018-04-10 18:09:54 +03:00
Alexander Alekhin
7f63b31ca8 avoid calling of setNumThreads() to respect user settings 2018-03-29 13:04:26 +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
luz.paz
e805a55a5b Misc. modules/ typos (cont.)
Found via `codespell`
2018-02-12 10:15:36 -05:00
Alexander Alekhin
44d7435a48 build: eliminate calls of removed functionality from C++17
Most part is deprecated since C++11
2018-02-07 12:00:33 +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
74d321d901 Merge pull request #10199 from alalek:fix_calib3d_fisheye_rectify_test 2017-12-01 15:26:50 +00:00
Alexander Alekhin
ac58405a71 calib3d: fix fisheye stereoRectify test
- don't write into testdata directory
- check matrices instead of result images
2017-11-30 15:50:29 +03:00
catree
2e56a47f8c Allow to use 3 points in SolvePnP if SOLVEPNP_ITERATIVE and useExtrinsicGuess==true. Add bibtex citations for P3P. Update SolvPnP tests. 2017-11-28 15:04:59 +01:00
Vadim Pisarevsky
87984f2c6a Merge pull request #9854 from opalmirror:test_stereo_min_disparity_master 2017-10-31 09:28:54 +00:00
James Perkins
4eb9f175a4 test_stereomatching.cpp: validate min disparity affect on valid ROI 2017-10-13 13:36:33 -07:00
Vladislav Vinogradov
26fe8bd4f2 made flann dependency for features2d optional
it will allow to build features2d even if flann module is not available
2017-10-13 14:59:39 +03:00
Vladislav Sovrasov
b421ebef86 imgproc: slightly change the signature of undistortPoints overload 2017-09-14 12:19:40 +03:00
Vladislav Sovrasov
701c7e5685 imgproc: add stop criteria tuning in undistortPoints 2017-09-14 11:43:54 +03:00
Maksim Shabunin
2ac57a2b1f Merge pull request #9457 from alalek:type_traits_issue_7599 2017-09-06 13:34:29 +00:00
Suleyman TURKMEN
ee6aacee9c Update window_gtk.cpp
Update miniflann.cpp

Update test_stereomatching.cpp
2017-09-03 04:06:45 +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
Tomoaki Teshima
e63d628677 remove some rand functions
* make test more reproducible
2017-07-20 22:43:11 +09:00
Tomoaki Teshima
46bee83005 fix the test fail on Calib3d_SolvePnP.accuracy
* move array size to enum
  * move array size to member variable
  * loosen the eps of SOLVEPNP_P3P
  * loosen the eps in Calib3d_SolveP3P.accuracy
2017-07-20 06:32:32 +09:00
Tony Lian
c8783f3e23 Merge pull request #9075 from TonyLianLong:master
Remove unnecessary Non-ASCII characters from source code (#9075)

* Remove unnecessary Non-ASCII characters from source code

Remove unnecessary Non-ASCII characters and replace them with ASCII
characters

* Remove dashes in the @param statement

Remove dashes and place single space in the @param statement to keep
coding style

* misc: more fixes for non-ASCII symbols

* misc: fix non-ASCII symbol in CMake file
2017-07-03 16:14:17 +00:00
Tong Ke
8088d6785a Merge pull request #8585 from tonyke1993:ap3p
Enable p3p and ap3p in solvePnPRansac (#8585)

* add paper info

* allow p3p and ap3p being RANSAC kernel

* keep previous code

* apply catrees comment

* fix getMat

* add comment

* add solvep3p test

* test return value

* fix warnings
2017-06-28 15:27:30 +03:00
Alexander Alekhin
006966e629 trace: initial support for code trace 2017-06-26 17:07:13 +03:00
Vadim Pisarevsky
dea5eaca30 Merge pull request #8660 from 4ekmah:making_sgbm_parallel 2017-05-03 13:47:36 +00:00
Pyotr Chekmaryov
d6bc6895a6 Test data correction. 2017-04-27 10:05:55 +00:00
Pyotr Chekmaryov
21be2aa677 Memory repaired + Cleanup. 2017-04-25 21:00:31 +00:00
Pyotr Chekmaryov
7ffa49e02c Vertical passes added and we have working parralel version. 2017-04-22 00:00:08 +00:00
Alexander Alekhin
b4f22803cd Merge pull request #8593 from devnexen:test_fixes 2017-04-21 12:41:10 +00:00
David Carlier
bacc210606 fixing segfaults occuring when launching those unit tests 2017-04-18 09:50:17 +01:00
Tomoaki Teshima
62c17dc3cf fix typo and align white spaces 2017-04-17 08:32:08 +09:00
Pyotr Chekmaryov
20036b82d3 There added parallel realization of vertical passes for MODE_HH4. 2017-04-15 21:51:15 +00:00
Tong Ke
0a63ab36bb Merge pull request #8301 from tonyke1993:p3p_alg
New p3p algorithm (accepted by CVPR 2017) (#8301)

* add p3p source code

* indent 4

* update publication info

* fix filename

* interface done

* plug in done, test needed

* debugging

* for test

* a working version

* clean p3p code

* test

* test

* fix warning, blank line

* apply patch from @catree

* add reference info

* namespace, indent 4

* static solveQuartic

* put small functions to anonymous namespace
2017-04-07 09:48:34 +03:00
Pyotr Chekmaryov
106413a3ea Simplest test added and code debuged. 2017-03-27 21:40:17 +00:00
Jiri Horner
4ee25c7e95 add test for convertions in estimateAffine2D* functions
test with integer points to cover conversion bugs.
2017-01-27 22:16:58 +01:00
Vadim Pisarevsky
c0cde75d54 Merge pull request #7975 from tomoaki0705:cleanupCalib3dStereo 2017-01-10 11:12:15 +00:00
Tomoaki Teshima
f1aae52daf clean up unused #if 2017-01-06 18:23:45 +09:00
Alexander Alekhin
ca6beb9ca8 calib3d: fix InputArray -> CvMat 2016-12-22 04:22:46 +03:00
Alexander Alekhin
0e4dde1781 Merge pull request #7872 from alalek:merge-2.4 2016-12-16 16:03:14 +02:00
Alexander Alekhin
ec859ceb2c test: limit chessboard generator parameters 2016-12-12 18:09:52 +03:00
Vadim Pisarevsky
8944875258 Merge pull request #7526 from alalek:fix_arm_builds 2016-11-02 10:49:43 +00:00
Vladislav Sovrasov
c55890f637 Enable chessboard detector test on Ubuntu 2016-10-25 11:53:53 +03:00
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
Alexander Alekhin
4439ba09f9 test: update condition for Calib3d_StereoCalibrate 2016-10-20 16:54:40 +03:00
Alexander Alekhin
db451f20df test: don't use points on single line for solvePnP 2016-10-20 16:54:38 +03:00
Maksim Shabunin
b8bce55270 Several chessboard detector improvements:
- fixed uninitialized memory access and memory leaks
- extracted several code blocks to separate functions
- updated part of algorithm to use cv::Mat instead of CvMat and IplImage
2016-09-22 19:25:04 +03:00
Vadim Pisarevsky
8b155b1c6d Merge pull request #6955 from snosov1:fix-6836 2016-08-10 09:26:51 +00:00
Jeff McBride
562c15cbe9 Don't assume all images have the same number of calibration points
Cast to (int) to avoid warnings

Add test for different points number case in fisheye calibration function
2016-08-02 17:21:17 +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
Vadim Pisarevsky
5d3860703d Merge pull request #6895 from mshabunin:check-6851 2016-07-19 12:11:23 +00:00
Maksim Shabunin
7d007d212c Merge pull request #6828 from paroj:cmatvals_cpp 2016-07-14 11:31:48 +00:00
Maksim Shabunin
3bfe76e24c Ported PR #4187 to master 2016-07-13 15:46:48 +03:00
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
Alexander Karsakov
e784ea7178 Fixed getSubset method to support Nx3 1-channel matrices as input (3xN 1-channel matrices doesn't supported at all). 2016-01-12 13:26:17 +03:00
Alexander Karsakov
0c9c7d5f3b Added test for checking that solvePnPRansac accepts vector<Point3f> and Nx3 1-channel or 1xN/Nx1 3-channel matrices as input. 2016-01-12 12:13:28 +03:00
Thomas Dunker
6882c10b45 Extension of the camera distortion model for tilted image sensors (Scheimpflug condition) including test 2015-12-14 15:20:34 +01:00
Vadim Pisarevsky
5d6292fc97 Merge pull request #5675 from paroj:fisheyecalib 2015-12-10 07:07:12 +00:00
Alexander Alekhin
d86d8ed909 Merge 2.4 into master
PR #2968: cce2d99 8578f9c
Fixed bug which caused crash of GPU version of feature matcher in stitcher

The bug caused crash of GPU version of feature matcher in stitcher when
we use ORB features.

PR #3236: 5947519
Check sure that we're not already below required leaf false alarm rate before continuing to get negative samples.

PR #3190
fix blobdetector

PR #3562 (part): 82bd82e
TBB updated to 4.3u2. Fix for aarch64 support.

PR #3604 (part): 091c7a3
OpenGL interop sample reworked not ot use cvconfig.h

PR #3792: afdf319
Add -L for CUDA libs path to pkg-config

Add all dirs from CUDA_LIBS_PATH as -L linker options to
OPENCV_LINKER_LIBS. These will end up in opencv.pc.

PR #3893: 122b9f8
Turn ocv_convert_to_lib_name into a function

PR #5490: ec5244a
fixed memory leak in findHomography tests

PR #5491: 0d5b739
delete video readers

PR #5574

PR #5202
2015-12-08 10:24:54 +03:00
Pavel Rojtberg
cefa1dc5cb switch mask type from vector<int> to vector<uchar> 2015-11-21 00:45:45 +01:00
Maksim Shabunin
eebd4cad66 Fix compilation problems with XCode 7.1.1 and cmake 3.3.2 2015-11-17 18:52:55 +03:00
Maksim Shabunin
f49936a849 Fixed cmake and build issues when using Visual Studio 2015 2015-10-29 11:50:48 +03:00
Maksim Shabunin
6e9d0d9a0c Visual Studio 2015 warning and test fixes 2015-10-20 12:48:37 +03:00
Ilya Lavrenov
ec5244a73a fixed memory leak in findHomography tests 2015-10-12 00:11:45 +03:00
Maksim Shabunin
ecd3661119 Merge pull request #4179 from sbokov:improvingStereoSGBM 2015-07-24 21:12:56 +00:00
sbokov
aea4157340 Adding new HAL-accelerated MODE_SGBM_3WAY
New mode is approximately 2-3 times faster than MODE_SGBM
with minimal degradation in quality and uses universal
HAL intrinsics. A performance test was added. The accuracy
test was updated to support the new mode.
2015-07-23 23:08:26 +03:00
Roman Donchenko
2e86d46cf2 CV_ChessboardDetectorTimingTest: don't ignore missing test data 2015-07-09 17:32:08 +03:00
Evgeny Agafonchikov
6a6d58d389 Adding test support for WINRT 2015-06-30 15:35:20 +03:00
Vadim Pisarevsky
481f786fe7 added simple HAL test; added RHO homography test 2015-05-28 17:05:43 +03:00
Vadim Pisarevsky
dc587992a0 Merge pull request #4053 from vpisarev:calib3d_fixes 2015-05-26 11:23:50 +00:00
Vadim Pisarevsky
bb2e40b999 for some reason Calib3d_Homography.fromImages on ARM gives much smaller number of inliers than on x86/x64. Need to investigate more carefully, but let's decrease the tolerance threshold for now 2015-05-26 12:43:18 +03:00
Vadim Pisarevsky
ca1d8c1737 fixed another compile warning from MSVC 2015-05-26 10:29:13 +03:00
Vadim Pisarevsky
e944533f01 fixed compile warnings; reenabled solvePnPRansac.concurrency test 2015-05-26 00:19:58 +03:00
Vadim Pisarevsky
85149f8686 hack solvePoly to finds roots of polynoms with zero higher-order coefficients. The roots are populated in this case, which is not valid, strictly speaking, but good enough for function like correctMatches. This solves http://code.opencv.org/issues/4330 2015-05-25 23:43:39 +03:00
Vadim Pisarevsky
a12ec66a04 fixed useExtrinsicGuess=true case with single-precision input (http://code.opencv.org/issues/2734) 2015-05-25 22:40:10 +03:00
Vadim Pisarevsky
9d90b0549c fixed bug http://code.opencv.org/issues/3882 2015-05-25 22:03:25 +03:00
Vadim Pisarevsky
3bc5958c58 added tests for http://code.opencv.org/issues/4011 and http://code.opencv.org/issues/3057; fixed random subset generation in both methods to increase chance for a good subset 2015-05-25 21:46:05 +03:00
Alexander Smorkalov
a9ae0c8e82 Test fisheye.rectify disabled for Tegra. 2015-05-24 13:31:08 +02:00
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
Vadim Pisarevsky
e60dcc9b3b Merge pull request #3966 from Dikay900:master_diff_to_2_4_2 2015-04-28 11:00:57 +00:00
Maksim Shabunin
1138a38dbe Use explicit no-sse flags when SSE is off
Also:
- Silence clang warnings about unsupported command line arguments
- Add diagnostic print to calib3d test
- Fixed perf test relative error check
- Fix iOS build problem
2015-04-27 15:36:10 +03:00
Mansour Moufid
b99f7a29df Cast some image coordinates and sizes to double.
Conflicts:
	modules/gpu/perf/perf_imgproc.cpp

Cast a long integer to double explicitly.

Conflicts:
	modules/python/src2/cv2.cpp

Cast some matrix sizes to type int.

Change some vector mask types to unsigned.

Conflicts:
	modules/core/src/arithm.cpp
2015-04-25 18:54:53 +02:00
Ilya Lavrenov
89e3c508d8 fixed tests for aarch64 2015-04-24 13:56:20 +03:00
Vadim Pisarevsky
1e90b2f51d Merge pull request #3957 from dhood:fm-8pt-bug 2015-04-23 17:16:25 +00:00
Deanna Hood
34bc3b8595 Don't relax error level for particular fundamental matrix calculation methods 2015-04-23 10:08:42 -04:00
Vadim Pisarevsky
ee11a2d266 fully implemented SSE and NEON cases of intrin.hpp; extended the HAL with some basic math functions 2015-04-16 23:00:26 +03:00
Mansour Moufid
b7be49426d Cast some image coordinates and sizes to double. 2015-02-24 12:21:34 -05:00
Olexa Bilaniuk
ff2509af56 Fixed printouts in testcase to blame the correct method for a failure.
Previously, certain test failures by the method RHO would result in an
error blaming RANSAC instead. The fix involves a parameter change to
several functions in test_homography.cpp.
2015-02-12 14:42:37 -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
Pat O'Keefe
83ccdabe7e Add test for calib3d function decomposeProjectionMatrix(...) 2014-10-25 19:11:02 -06:00
Vadim Pisarevsky
d2b9dc5530 quickly corrected the previous refactoring of features2d: moved from set(SOME_PROP, val) to setSomeProp(val) 2014-10-18 20:44:26 +04:00
Vadim Pisarevsky
b30ad42609 Merge pull request #3270 from boaz001:patch-1 2014-10-16 10:09:28 +00:00
Boaz Stolk
ae81006eab Applied proposed fix 2014-10-15 22:36:38 +02:00
edgarriba
7429454171 Add UPNP acc_test and perf_test 2014-10-02 16:45:59 +02:00
Alexander Smorkalov
71c4e96e17 Test fisheye.rectify disabled for Tegra. 2014-09-30 14:49:33 +04:00
edgarriba
7e2bb63378 Merge branch 'master' of https://github.com/Itseez/opencv 2014-08-18 22:30:00 +02:00
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
edgarriba
1dec1645e5 Merge branch 'master' of https://github.com/Itseez/opencv 2014-08-12 16:45:22 +02:00
edgarriba
d1f4f6f4b8 DLS performance modifications 2014-08-12 16:15:19 +02:00
edgarriba
afdb67b462 SOLVEPNP_* flags 2014-08-11 16:28:09 +02:00
mshabunin
c54b8f9b00 Merge remote-tracking branch 'master' into stitch-fix
* 'master' of github.com:itseez/opencv: (82 commits)
  moved part of video to contrib/{outflow, bgsegm}; moved matlab to contrib
  added some basic functionality needed by the new face module (moved from the old "contrib")
  moved to the new opencv_contrib/face module
  fixed various warnings and obvious errors reported by clang compiler and the coverity tool.
  Fixed review comment from Vadim Pisarevsky
  modified farneback sample to use T-API
  ECC patch by the author (G. Evangelidis); fixed some OCL Farneback optical flow test failures on Mac
  small fix for GaussianBlur ocl test
  fix binary package build
  small fix for ocl_resize
  fix IOS framework
  fixed test ocl_MatchTemplate for sparse matrix
  Fixed typos
  fixing error, wrong template method param.
  fixing Mac build
  some formal changes (generally adding constness)
  Fixed choice of kercn and rowsPerWI for non-Intel device.
  fixed nDiffs for CalcBackProject
  fixed tests for ocl_filter2d, ocl_matchTemplate, ocl_histogram.cpp
  Fixed issue: Mat::copyTo(UMat) if device copy is obsolete. Added test.
  ...

Conflicts:
	modules/core/include/opencv2/core/mat.inl.hpp
2014-08-11 14:50:08 +04:00
edgarriba
90b3086f4a RANSAC test confidence 0.99 2014-08-11 12:31:10 +02:00
edgarriba
6c8b11afee DLS test 2014-08-11 11:31:18 +02:00
edgarriba
d7f0b9de25 DLS test 2014-08-11 11:02:00 +02:00
edgarriba
213241c06a DLS test update 2014-08-11 09:44:24 +02:00
edgarriba
2d26f60192 test dls 2014-08-09 21:54:22 +02:00
edgarriba
3780de9d98 test for DLS 2014-08-09 21:26:38 +02:00
edgarriba
f8c5acee4c modified number test points 2014-08-08 15:20:38 +02:00