Commit Graph

27 Commits

Author SHA1 Message Date
Alexander Alekhin
7d66f1e391 Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2021-05-18 18:06:26 +00:00
changh95
101d50703c fix typo 'undistorsed'->'undistorted' 2021-05-16 15:08:37 +09:00
Quella Zhang (Beyondsoft Corporation)
5105a937d1 Add namespace specifier for format() 2021-04-21 14:08:52 +08:00
Alexander Alekhin
b19f860384 Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2021-03-13 13:02:18 +00:00
Daniel Playfair Cal
65b51e1538
Merge pull request #19690 from hedgepigdaniel:fix/calibration_fisheye
* fix(samples/camera_calibration): set new camera matrix for fisheye

* fix(camera_calibration): ignore inapplicable flags for fisheye
2021-03-09 15:09:08 +00:00
Alexander Alekhin
0a6f216f83 Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2021-02-21 20:14:09 +00:00
APrigarina
96570820ef handle empty cameraMatrix 2021-02-18 16:18:19 +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
Maksim Shabunin
633b0e56a5 Fixed compilation warnings in samples:
- use per-module includes instead of "opencv.hpp"
- unused function warnings
- undefined macro warning
2018-02-12 18:42:36 +03:00
Ryan Pavlik
5d699e9ba5 Honor fixing principal point in camera calib tutorial. 2017-08-01 10:35:18 -05:00
umbraclet16
17ece5861a Solve issue #8264
Fix bug in camera_calibration.cpp that the program tries to
parse input of type VIDEO_FILE as IMAGE_LIST which causes the
program to crash.
2017-02-28 13:31:24 +03:00
Vladislav Sovrasov
46c8b09453 Improvements in camera_calibration tutorial code 2016-08-08 12:07:04 +03:00
Suleyman TURKMEN
11ca1c95f8 update cpp samples and tutorials 2016-06-26 20:55:00 +03:00
Enes Ateş
769fe82743 XML file path correction
in documentation exact path is images/CameraCalibration/VID5
2015-09-23 13:19:17 +02:00
Pavel Rojtberg
d0e16b21d4 add support for fisheye camera model 2015-09-04 15:54:34 +02:00
Pavel Rojtberg
7c5084e385 - update documentation
* correct the part about fixed aspect
    * improve formatting
    * add snippet markers to source
    * replace inline code by @snippet
  - do not run calibration twice when using a imageList
  - make output consistent in itself (CamelCase vs no_camel_case) as well as with old camera calibrate sample
  - respect write extrinsic/ points flags
  - set the aspectRatio value when specified
  - fix writing of calibration settings. also update grammar.
  - fix intendation and remove some size_t -> int casts by using size_t
2015-03-31 15:45:57 +02:00
vbystricky
d58f736935 Split highgui module to videoio and highgui 2014-07-14 23:16:47 +04:00
vbystricky
4286f60387 Extract imgcodecs module from highgui 2014-07-07 16:28:08 +04:00
Alexander Alekhin
e845184843 Merge remote-tracking branch 'upstream/2.4' into merge-2.4
* #1538 from StevenPuttemans:bugfix_3283
* #1545 from alalek:ocl_test_fix_rng
* #1551 from alalek:cmake_install_win
* #1570 from ilya-lavrenov:ipp_warn_fix
* #1573 from alalek:perf_simple_strategy
* #1574 from alalek:svm_workaround
* #1576 from alalek:ocl_fix_cl_double
* #1577 from ilya-lavrenov:ocl_setto_opencl12
* #1578 from asmorkalov:android_fd_cp_fix
* #1579 from ilya-lavrenov:ocl_norm
* #1582 from sperrholz:ocl-arithm-additions
* #1586 from ilya-lavrenov:ocl_setto_win_fix
* #1589 from ilya-lavrenov:pr1582_fix
* #1591 from alalek:ocl_remove_cl_hpp_h
* #1592 from alalek:ocl_program_cache_update
* #1593 from ilya-lavrenov:ocl_war_on_double
* #1594 from ilya-lavrenov:ocl_perf
* #1595 from alalek:cl_code_cleanup
* #1596 from alalek:test_fix_run_py
* #1597 from alalek:ocl_fix_cleanup
* #1598 from alalek:ocl_fix_build_mac
* #1599 from ilya-lavrenov:ocl_mac_kernel_warnings
* #1601 from ilya-lavrenov:ocl_fix_tvl1_and_sparse
* #1602 from alalek:ocl_test_dump_info
* #1603 from ilya-lavrenov:ocl_disable_svm_noblas
* #1605 from alalek:ocl_fixes
* #1606 from ilya-lavrenov:ocl_imgproc
* #1607 from ilya-lavrenov:ocl_fft_cleanup
* #1608 from alalek:fix_warn_upd_haar
* #1609 from ilya-lavrenov:ocl_some_optimization
* #1610 from alalek:ocl_fix_perf_kalman
* #1612 from alalek:ocl_fix_string_info
* #1614 from ilya-lavrenov:ocl_svm_misprint
* #1616 from ilya-lavrenov:ocl_cvtColor
* #1617 from ilya-lavrenov:ocl_info
* #1622 from a0byte:2.4
* #1625 from ilya-lavrenov:to_string

Conflicts:
	cmake/OpenCVConfig.cmake
	cmake/OpenCVDetectPython.cmake
	cmake/OpenCVGenConfig.cmake
	modules/core/CMakeLists.txt
	modules/nonfree/src/surf.ocl.cpp
	modules/ocl/include/opencv2/ocl/ocl.hpp
	modules/ocl/include/opencv2/ocl/private/util.hpp
	modules/ocl/perf/main.cpp
	modules/ocl/src/arithm.cpp
	modules/ocl/src/cl_operations.cpp
	modules/ocl/src/cl_programcache.cpp
	modules/ocl/src/color.cpp
	modules/ocl/src/fft.cpp
	modules/ocl/src/filtering.cpp
	modules/ocl/src/gemm.cpp
	modules/ocl/src/haar.cpp
	modules/ocl/src/imgproc.cpp
	modules/ocl/src/matrix_operations.cpp
	modules/ocl/src/pyrlk.cpp
	modules/ocl/src/split_merge.cpp
	modules/ocl/src/svm.cpp
	modules/ocl/test/main.cpp
	modules/ocl/test/test_fft.cpp
	modules/ocl/test/test_moments.cpp
	modules/ocl/test/test_objdetect.cpp
	modules/ocl/test/test_optflow.cpp
	modules/ocl/test/utility.hpp
	modules/python/CMakeLists.txt
	modules/ts/include/opencv2/ts.hpp
	modules/ts/src/ts_perf.cpp
	samples/android/face-detection/jni/DetectionBasedTracker_jni.cpp
2013-10-15 20:08:52 +04:00
ilya-lavrenov
7a53910495 fixed warning on windows 2013-10-09 17:49:10 +04:00
Andrey Kamaev
e5a33723fc Move C API of opencv_calib3d to separate file 2013-04-11 21:00:17 +04:00
Andrey Kamaev
0738ea7d0f Make highgui.hpp independent from C API 2013-04-08 15:47:29 +04:00
Andrey Kamaev
288a0634c2 Make imgproc.hpp independent from C API 2013-04-08 15:47:28 +04:00
Andrey Kamaev
89356ff16d Move non-CV functionality from core.hpp to separate utility.hpp header 2013-03-20 17:56:06 +04:00
Andrey Kamaev
b131dfeecd Build tutorial codes together with other samples
These codes should be included into regular builds.
2012-11-09 10:15:48 +04:00
OpenCV Buildbot
04384a71e4 Normalize line endings and whitespace 2012-10-17 15:32:23 +04:00
Bernat Gabor
df49158863 Added the "Camera calibration With OpenCV" tutorial. Extended with a few global links the conf.py file. Corrected an error in the linux_install.rst and one in the cascade_classifier.rst file. 2011-08-22 12:15:31 +00:00