Commit Graph

1436 Commits

Author SHA1 Message Date
Maxim Smolskiy
10c43e5642
Merge pull request #24597 from MaximSmolskiy:fix-bug-in-ChessBoardDetector-findQuadNeighbors
Fix bug in ChessBoardDetector::findQuadNeighbors #24597

### Pull Request Readiness Checklist

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- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [ ] There is a reference to the original bug report and related work
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake
2023-11-30 10:59:06 +03:00
Maxim Smolskiy
34c406ea3a
Merge pull request #24595 from MaximSmolskiy:fix-typo-inChessBoardDetector-generateQuads
Fix typo in ChessBoardDetector::generateQuads #24595

### Pull Request Readiness Checklist

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- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [ ] There is a reference to the original bug report and related work
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake
2023-11-29 12:28:57 +03:00
MaximSmolskiy
9517fcf80d Fix time measurement in test Calib3d_ChessboardDetector.timing 2023-11-27 23:44:24 +03:00
MaximSmolskiy
a57ea2b775 Fix typos in calibinit.cpp 2023-11-21 09:34:54 +03:00
Maksym Ivashechkin
16928806f9
Merge pull request #24499 from ivashmak:usac_bug_fix
Replace double atomic in USAC #24499

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake

Reference to issue with atomic variable: #24281
Reference to bug with essential matrix: #24482
2023-11-20 15:47:35 +03:00
Sean McBride
5fb3869775
Merge pull request #23109 from seanm:misc-warnings
* Fixed clang -Wnewline-eof warnings
* Fixed all trivial clang -Wextra-semi and -Wc++98-compat-extra-semi warnings
* Removed trailing semi from various macros
* Fixed various -Wunused-macros warnings
* Fixed some trivial -Wdocumentation warnings
* Fixed some -Wdocumentation-deprecated-sync warnings
* Fixed incorrect indentation
* Suppressed some clang warnings in 3rd party code
* Fixed QRCodeEncoder::Params documentation.

---------

Co-authored-by: Alexander Smorkalov <alexander.smorkalov@xperience.ai>
2023-10-06 13:33:21 +03:00
HAN Liutong
07bf9cb013
Merge pull request #24325 from hanliutong:rewrite
Rewrite Universal Intrinsic code: float related part #24325

The goal of this series of PRs is to modify the SIMD code blocks guarded by CV_SIMD macro: rewrite them by using the new Universal Intrinsic API.

The series of PRs is listed below:
#23885 First patch, an example
#23980 Core module
#24058 ImgProc module, part 1
#24132 ImgProc module, part 2
#24166 ImgProc module, part 3
#24301 Features2d and calib3d module
#24324 Gapi module

This patch (hopefully) is the last one in the series. 

This patch mainly involves 3 parts
1. Add some modifications related to float (CV_SIMD_64F)
2. Use `#if (CV_SIMD || CV_SIMD_SCALABLE)` instead of `#if CV_SIMD || CV_SIMD_SCALABLE`, 
    then we can get the `CV_SIMD` module that is not enabled for `CV_SIMD_SCALABLE` by looking for `if CV_SIMD`
3. Summary of `CV_SIMD` blocks that remains unmodified: Updated comments
    - Some blocks will cause test fail when enable for RVV, marked as `TODO: enable for CV_SIMD_SCALABLE, ....`
    - Some blocks can not be rewrited directly. (Not commented in the source code, just listed here)
      - ./modules/core/src/mathfuncs_core.simd.hpp (Vector type wrapped in class/struct)
      - ./modules/imgproc/src/color_lab.cpp (Array of vector type)
      - ./modules/imgproc/src/color_rgb.simd.hpp (Array of vector type)
      - ./modules/imgproc/src/sumpixels.simd.hpp (fixed length algorithm, strongly ralated with `CV_SIMD_WIDTH`)
      These algorithms will need to be redesigned to accommodate scalable backends.

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [ ] I agree to contribute to the project under Apache 2 License.
- [ ] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [ ] The PR is proposed to the proper branch
- [ ] There is a reference to the original bug report and related work
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake
2023-10-05 17:57:25 +03:00
HAN Liutong
aa143a3dd1
Merge pull request #24301 from hanliutong:rewrite-stereo-sift
Rewrite Universal Intrinsic code: features2d and calib3d module. #24301

The goal of this series of PRs is to modify the SIMD code blocks guarded by CV_SIMD macro: rewrite them by using the new Universal Intrinsic API.

This is the modification to the features2d module and calib3d module.

Test with clang 16 and QEMU v7.0.0. `AP3P.ctheta1p_nan_23607` failed beacuse of a small calculation error. But this patch does not touch the relevant code, and this error always reproduce on QEMU, regardless of whether the patch is applied or not. I think we can ignore it
```
[ RUN      ] AP3P.ctheta1p_nan_23607
/home/hanliutong/project/opencv/modules/calib3d/test/test_solvepnp_ransac.cpp:2319: Failure
Expected: (cvtest::norm(res.colRange(0, 2), expected, NORM_INF)) <= (3e-16), actual: 3.33067e-16 vs 3e-16
[  FAILED  ] AP3P.ctheta1p_nan_23607 (26 ms)

...

[==========] 148 tests from 64 test cases ran. (1147114 ms total)
[  PASSED  ] 147 tests.
[  FAILED  ] 1 test, listed below:
[  FAILED  ] AP3P.ctheta1p_nan_23607
```

Note: There are 2 test cases failed with GCC 13.2.1 without this patch, seems like there are someting wrong with RVV part on GCC.
```
[----------] Global test environment tear-down
[==========] 148 tests from 64 test cases ran. (1511399 ms total)
[  PASSED  ] 146 tests.
[  FAILED  ] 2 tests, listed below:
[  FAILED  ] Calib3d_StereoSGBM.regression
[  FAILED  ] Calib3d_StereoSGBM_HH4.regression
```

The patch is partially auto-generated by using the [rewriter](https://github.com/hanliutong/rewriter).

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [ ] I agree to contribute to the project under Apache 2 License.
- [ ] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [ ] The PR is proposed to the proper branch
- [ ] There is a reference to the original bug report and related work
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake
2023-09-25 13:03:25 +03:00
Alexander Smorkalov
219a34261f Warnings fix on Windows. 2023-09-20 16:53:40 +03:00
Yuriy Chernyshov
638c575c73 More fixes for iterators-are-pointers case 2023-09-15 12:37:43 +03:00
Yuriy Chernyshov
8a415c881a Add missing std namespace qualifiers 2023-09-06 13:46:39 +03:00
Alexander Smorkalov
91808e64a1
Merge pull request #24211 from philsc:fix-asan-crash
Fix "use after free" issue in `essential_solver.cpp`
2023-09-05 18:42:58 +03:00
Philipp Schrader
c91c631ae2 Fix "use after free" issue in essential_solver.cpp
The address sanitizer highlighted this issue in our code base. It
looks like the code is currently grabbing a pointer to a temporary
object and then performing operations on it.

I printed some information right before the asan crash:

    eigensolver address: 0x7f0ad95032f0
    eigensolver size: 4528
    eig_vecs_ ptr: 0x7f0ad95045e0
    eig_vecs_ offset: 4848

This shows that `eig_vecs_` points past the end of `eigensolver`. In
other words, it points at the temporary object created by the
`eigensolver.eigenvectors()` call.

Compare the docs for `.eigenvalues()`:
https://eigen.tuxfamily.org/dox/classEigen_1_1EigenSolver.html#a0f507ad7ab14797882f474ca8f2773e7
to the docs for `.eigenvectors()`:
https://eigen.tuxfamily.org/dox/classEigen_1_1EigenSolver.html#a66288022802172e3ee059283b26201d7

The difference in return types is interesting. `.eigenvalues()`
returns a reference. But `.eigenvectors()` returns a matrix.

This patch here fixes the problem by saving the temporary object and
then grabbing a pointer into it.

This is a curated snippet of the original asan failure:

    ==12==ERROR: AddressSanitizer: stack-use-after-scope on address 0x7fc633704640 at pc 0x7fc64f7f1593 bp 0x7ffe8875fc90 sp 0x7ffe8875fc88
    READ of size 8 at 0x7fc633704640 thread T0
        #0 0x7fc64f7f1592 in cv::usac::EssentialMinimalSolverStewenius5ptsImpl::estimate(std::__1::vector<int, std::__1::allocator<int> > const&, std::__1::vector<cv::Mat, std::__1::allocator<cv::Mat> >&) const /proc/self/cwd/external/com_github_opencv_opencv/modules/calib3d/src/usac/essential_solver.cpp:181:48
        #1 0x7fc64f915d92 in cv::usac::EssentialEstimatorImpl::estimateModels(std::__1::vector<int, std::__1::allocator<int> > const&, std::__1::vector<cv::Mat, std::__1::allocator<cv::Mat> >&) const /proc/self/cwd/external/com_github_opencv_opencv/modules/calib3d/src/usac/estimator.cpp:110:46
        #2 0x7fc64fa74fb0 in cv::usac::Ransac::run(cv::Ptr<cv::usac::RansacOutput>&) /proc/self/cwd/external/com_github_opencv_opencv/modules/calib3d/src/usac/ransac_solvers.cpp:152:58
        #3 0x7fc64fa6cd8e in cv::usac::run(cv::Ptr<cv::usac::Model const> const&, cv::_InputArray const&, cv::_InputArray const&, int, cv::Ptr<cv::usac::RansacOutput>&, cv::_InputArray const&, cv::_InputArray const&, cv::_InputArray const&, cv::_InputArray const&) /proc/self/cwd/external/com_github_opencv_opencv/modules/calib3d/src/usac/ransac_solvers.cpp:1010:16
        #4 0x7fc64fa6fb46 in cv::usac::findEssentialMat(cv::_InputArray const&, cv::_InputArray const&, cv::_InputArray const&, int, double, double, cv::_OutputArray const&) /proc/self/cwd/external/com_github_opencv_opencv/modules/calib3d/src/usac/ransac_solvers.cpp:527:9
        #5 0x7fc64f3b5522 in cv::findEssentialMat(cv::_InputArray const&, cv::_InputArray const&, cv::_InputArray const&, int, double, double, int, cv::_OutputArray const&) /proc/self/cwd/external/com_github_opencv_opencv/modules/calib3d/src/five-point.cpp:437:16
        #6 0x7fc64f3b7e00 in cv::findEssentialMat(cv::_InputArray const&, cv::_InputArray const&, cv::_InputArray const&, int, double, double, cv::_OutputArray const&) /proc/self/cwd/external/com_github_opencv_opencv/modules/calib3d/src/five-point.cpp:486:12
        ...

    Address 0x7fc633704640 is located in stack of thread T0 at offset 17984 in frame
        #0 0x7fc64f7ed4ff in cv::usac::EssentialMinimalSolverStewenius5ptsImpl::estimate(std::__1::vector<int, std::__1::allocator<int> > const&, std::__1::vector<cv::Mat, std::__1::allocator<cv::Mat> >&) const /proc/self/cwd/external/com_github_opencv_opencv/modules/calib3d/src/usac/essential_solver.cpp:36

      This frame has 63 object(s):
        [32, 56) 'coefficients' (line 38)
        [96, 384) 'ee' (line 55)
        ...
        [13040, 17568) 'eigensolver' (line 142)
        [17824, 17840) 'ref.tmp518' (line 143)
        [17856, 17872) 'ref.tmp523' (line 144)
        [17888, 19488) 'ref.tmp524' (line 144) <== Memory access at offset 17984 is inside this variable
        [19616, 19640) 'ref.tmp532' (line 169)
        ...

The crash report says that we're accessing a temporary object from
line 144 when we shouldn't be. Line 144 looks like this:
https://github.com/opencv/opencv/blob/4.6.0/modules/calib3d/src/usac/essential_solver.cpp#L144

    const auto * const eig_vecs_ = (double *) eigensolver.eigenvectors().real().data();

We are using version 4.6.0 for this, but the problem is present on the
4.x branch.

Note that I am dropping the .real() call here. I think that is safe because
of the code further down (line 277 in the most recent version):

    const int eig_i = 20 * i + 12; // eigen stores imaginary values too

The code appears to expect to have to skip doubles for the imaginary parts
of the complex numbers.

Admittedly, I couldn't find a test case that exercised this code path to
validate correctness.
2023-09-04 11:10:05 -07:00
alexander-varjo
114c23e411
Merge pull request #23607 from alexander-varjo:alexander-varjo-patch-1
Fix crash in ap3p #23607

### Pull Request Readiness Checklist

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- [ ] I agree to contribute to the project under Apache 2 License.
- [ ] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [ ] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake
2023-09-04 17:49:45 +03:00
Alexander Smorkalov
0323761ea6
Merge pull request #24035 from vrabaud:calibration
Fix stereoRectify image boundaries.
2023-07-27 19:36:33 +03:00
Vincent Rabaud
15815fb54d Fix stereoRectify image boundaries.
This should hav ebeen fixed with https://github.com/opencv/opencv/issues/23304
2023-07-27 17:47:26 +03:00
Ivashechkin, Maxim (PG/R - Comp Sci & Elec Eng)
0bcd66d553 remove unused 2023-07-22 10:44:37 +01:00
Maksim Shabunin
09944a83d9 build: w/a compiler warnings for GCC 11-12 and Clang 13, reduce build output 2023-07-10 11:27:59 +03:00
Wang Kai
0661aff4a5
Merge pull request #23900 from kai-waang:fixing-typo
Fixing typos in usac #23900

Just read and correct some typos in `usac`
### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [ ] There is a reference to the original bug report and related work
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake
2023-07-03 12:08:12 +03:00
Wang Kai
bca5868817 removing duplicated statement 2023-07-01 13:29:02 +08:00
Alexander Smorkalov
0866a135c6 Git rid of unsafe raw pointers to Mat object. 2023-06-23 09:20:24 +03:00
Maksym Ivashechkin
44881592c3
Merge pull request #23078 from ivashmak:update_vsac
Update USAC #23078

### Pull Request Readiness Checklist

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake
2023-06-16 10:59:13 +03:00
zihaomu
37459f89c9 remove unsupported unsupported unicode 2023-06-11 23:02:34 +08:00
Alexander Smorkalov
d4861bfd1f Merge remote-tracking branch 'origin/3.4' into merge-3.4 2023-05-24 14:37:48 +03:00
Maxim Smolskiy
658f18c713
Fix function name in comment 2023-04-30 17:30:01 +03:00
Alexander Smorkalov
e4a29d93fe Merge remote-tracking branch 'origin/3.4' into merge-3.4 2023-04-21 10:55:04 +03:00
Bhavit Patel
7ea6b356c7
Merge pull request #23305 from bhavitp:fix/calib3d/undistortion_grid
Resolves https://github.com/opencv/opencv/issues/23304

Fixes the incorrect pixel grid
Switches type to double to avoid precision loss as all callers use doubles

### Pull Request Readiness Checklist

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- [X] I agree to contribute to the project under Apache 2 License.
- [X] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [X] The PR is proposed to the proper branch
- [X] There is a reference to the original bug report and related work
- [X] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [X] The feature is well documented and sample code can be built with the project CMake
2023-03-10 09:50:36 +03:00
Alexander Smorkalov
3d635cb4a7 Warning supression fix for XCode 13.1 and newer. Backport #23203 2023-02-06 11:12:05 +03:00
Alexander Alekhin
d3ae175bca Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2023-01-28 10:01:23 +00:00
Rostislav Vasilikhin
deaf632881
Merge pull request #23179 from savuor:port34_stddev_calib_fisheye
Backport to 3.4 of the fisheye calibration uncertainty fix

* uncertainties fix

* trailing whitespace

* comment added
2023-01-28 09:56:13 +00:00
Rostislav Vasilikhin
4009bca59a
Merge pull request #23025 from savuor:backport3_stddev_calib_fix
Backport of #22992 to 3.4

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake
2023-01-23 14:59:43 +03:00
Alexander Alekhin
18cbfa4a4f Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2023-01-23 00:11:12 +00:00
Alexander Smorkalov
3085fc6345
Merge pull request #23073 from savuor:fix_graphcut_used_edges_dense
USAC fix: GraphCut fails to allocate big dense matrices
2023-01-20 14:55:40 +03:00
Alexander Alekhin
69020666fe test: reproducible results, enabled 2-channel tests, increased some thresholds 2023-01-19 15:39:33 +03:00
Funatomi Takuya
dbdd357b0a Extend USAC coverage.
Add `estimateSE2(...)`, `estimateSE3(...)`, `estimateSIM2(...)`, `estimateSIM3(...)` for estimating an geometric transformation with rotation and translation (with scaling for SIM) using USAC: as alternative for `estimateAffinePartial2D` and `estimateAffine3D`.

Modified test module.

Remove unused variables.

Remove initializer of unused variable.

Add interfaces to accept UsacParams() and corresponding test codes.

Revise test code.

PartialNd removed

Umeyama rewritten for code quality & speed

comments & minors

rise number of points

fix, and +30% faster!

only one number should be that big

remove USAC code, leave fix only

big number
2023-01-18 02:12:57 +01:00
Maksim Shabunin
c1e5c16ff3 Backport C-API cleanup (imgproc) from 5.x 2023-01-16 23:29:50 +03:00
Christoph Rackwitz
a64b51dd94
Merge pull request #23108 from crackwitz:issue-23107
Usage of imread(): magic number 0, unchecked result

* docs: rewrite 0/1 to IMREAD_GRAYSCALE/IMREAD_COLOR in imread()

* samples, apps: rewrite 0/1 to IMREAD_GRAYSCALE/IMREAD_COLOR in imread()

* tests: rewrite 0/1 to IMREAD_GRAYSCALE/IMREAD_COLOR in imread()

* doc/py_tutorials: check imread() result
2023-01-09 09:55:31 +00:00
Alexander Alekhin
38f7cd7173 Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2022-12-27 08:58:28 +00:00
Rostislav Vasilikhin
93aa94e71e backported changes
no lambda

whitespace

fixing build Java tests
2022-12-27 00:54:39 +01:00
Alexander Alekhin
bc8c912c7a Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2022-12-24 13:54:58 +00:00
Alexander Smorkalov
44dfe62af0
Merge pull request #22914 from tozanski:tomoz/ransac-bugfix
Bugfix for solvePnPRansac with SOLVEPNP_ITERATIVE
2022-12-22 11:58:14 +03:00
Sergei Shutov
3cfe737581 Fix hardcoded maxIters 2022-12-21 09:51:59 +03:00
Alexander Alekhin
be326ff752 build: fix/eliminate MSVC warnings 2022-12-10 12:19:31 +00:00
Tomasz Ożański
d1ff87d94d Bugfix for solvePnPRansac with SOLVEPNP_ITERATIVE
The current implementation overwrites the result rotation and translation in every iteration.
If SOLVEPNP_ITERATIVE was run as a refinement it will start from the incorrect initial
transformation thus  degrading the final outcome.
2022-12-03 16:46:03 +01:00
Alexander Alekhin
584ea43b2f Merge pull request #22527 from paroj:misc 2022-10-16 19:08:13 +00:00
Alexander Alekhin
762481411d Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2022-10-15 16:44:47 +00:00
Alexander Alekhin
a565aa6db9 docs: prefer # for links generation
- avoid `@ref`
- align with 4.x branch (minimize merge conflicts)
2022-10-13 20:55:53 +00:00
Pavel Rojtberg
70779d4e66 calib3d: use OCV_LAPACK_FUNC 2022-10-12 17:01:28 +02:00
Rostislav Vasilikhin
07c795408d doc fix 2022-10-07 01:40:50 +02:00
Sean McBride
1829eba584 Fixed most clang -Wextra-semi warnings 2022-09-27 18:06:46 -04:00
catree
c34c4b50d0 Add information about the disparity-to-depth mapping matrix. Add more references about other related functions in the calib3d doc. 2022-09-26 18:40:18 +02:00
Alexander Smorkalov
2273af0166
Merge pull request #22286 from asenyaev:asen/disabled_compiling_warnings_4.x
Disabled compiling warnings in case of symbols in cmake for 4.x
2022-09-20 15:13:06 +03:00
Andrey Senyaev
ccfc34b13f Disabled compiling warnings in case of symbols in cmake for 4.x 2022-09-20 13:35:48 +03:00
Stefan Spiss
66cbb7b911 Extended tests for stereoCalibrate function of fisheye camera model. 2022-09-15 13:28:41 +02:00
Stefan Spiss
9ca3a3139a Extended tests for stereoCalibrate function of pinhole camera model. 2022-09-15 13:28:41 +02:00
Stefan Spiss
6fb465cb4e Extended stereoCalibrate function for fisheye model to return per view rotation and translation vectors between the calibration object coordinate space and the coordinate space of the first camera of the stereo pair. Added overloaded versions of the function for downward compatibility. 2022-09-15 13:28:41 +02:00
Stefan Spiss
8ae03fcd6e Extended stereoCalibrate function for pinhole model to return per view rotation and translation vectors between the calibration object coordinate space and the coordinate space of the first camera of the stereo pair. Added overloaded versions of the function for downward compatibility. 2022-09-15 13:28:41 +02:00
Alexander Alekhin
2ebdc04787 Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2022-08-14 15:50:42 +00:00
Alexander Alekhin
d0d115321d Merge pull request #22350 from alalek:rework_psabi_warning 2022-08-13 15:05:41 +00:00
Alexander Alekhin
44b2f9637a Revert "suppress warning on GCC 7 and later"
This reverts commit a630ad73cb.
2022-08-07 15:43:10 +03:00
Alexander Smorkalov
1893b37e23
Merge pull request #22057 from mohawk2:typos
Typos: cheirality vs chirality
2022-08-03 16:27:46 +03:00
HAN Liutong
0ef803950b
Merge pull request #22179 from hanliutong:new-rvv
[GSoC] New universal intrinsic backend for RVV

* Add new rvv backend (partially implemented).

* Modify the framework of Universal Intrinsic.

* Add CV_SIMD macro guards to current UI code.

* Use vlanes() instead of nlanes.

* Modify the UI test.

* Enable the new RVV (scalable) backend.

* Remove whitespace.

* Rename and some others modify.

* Update intrin.hpp but still not work on AVX/SSE

* Update conditional compilation macros.

* Use static variable for vlanes.

* Use max_nlanes for array defining.
2022-07-19 20:02:00 +03:00
Vincent Rabaud
ed4bf13960 Fix cleanFoundConnectedQuads. 2022-07-12 16:24:44 +02:00
Alexander Alekhin
70492c2127 Merge pull request #22202 from tomoaki0705:fixWarnings 2022-07-08 13:48:11 +00:00
Vincent Rabaud
0a88f84847
Merge pull request #22208 from vrabaud:34_calibinit
Add missing code.

* Add missing code.

This was removed in c7fc563dc0
The resize is also a side-effect.

* Use shorteer cv::Point2f *=
2022-07-08 01:24:01 +03:00
Tomoaki Teshima
a630ad73cb suppress warning on GCC 7 and later 2022-07-06 23:31:31 +09:00
Alexander Alekhin
2a4926f417 Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2022-06-26 14:22:24 +00:00
catree
a04f9e7a59 Add more references. Update missing references with webarchive. Use mathbf for matrices. Check that the determinant of the rotation matrix is not negative (reflection), and correct it if it is the case. 2022-06-19 01:27:32 +02:00
Alexander Alekhin
583bd1a6e2 Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2022-06-04 19:10:35 +00:00
Ed J
f28e191d70 cheirality -> chirality 2022-06-01 00:54:44 +01:00
Ed J
38b6c44b4c for then given -> for the given 2022-06-01 00:54:44 +01:00
Alexander Alekhin
d6151eae23 Merge pull request #22019 from victor1234:calib3d-fix-cameracalibration-test 2022-05-30 18:27:14 +00:00
Alexander Alekhin
4a0a3281c6 Merge pull request #22021 from victor1234:issue-10947_calib3d-update-fisheye-distortpoint-doc 2022-05-30 18:21:02 +00:00
Victor
1230075011
Merge pull request #22045 from victor1234:calib3d-fisheye-model-reference
* Add fisheye camera model summary description with reference

* Fix layout

* Move reference to bibtex
2022-05-30 18:03:08 +00:00
Alexander Alekhin
434c96e625 build: eliminate warnings 2022-05-24 23:34:11 +00:00
Kataev Victor
1ddc51cfd1 Update fisheye::distortPoints() documentation 2022-05-23 14:30:09 +03:00
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
Manolis Lourakis
8d0fbc6a1e
Merge pull request #21702 from mlourakis:4.x
Fixes and optimizations for the SQPnP solver

* Fixes and optimizations

- optimized the calculation of qa_sum by moving equal elements outside the loop
- unrolled copying of the lower triangle of omega
- substituted SVD with eigendecomposition in the factorization of omega (2-3 times faster)
- fixed the initialization of lambda in FOAM
- added a cheirality test that checks a solution on all 3D points rather than on their mean. The old test rejected valid poses in some cases
- fixed some typos & errors in comments

* reverted to SVD

Eigen decomposition seems to yield larger errors in certain tests, reverted to SVD

* nearestRotationMatrixSVD

Added nearestRotationMatrixSVD()
Previous nearestRotationMatrix() renamed to nearestRotationMatrixFOAM() and reverts to nearestRotationMatrixSVD() for singular matrices

* fixed checks order

Fixed the order of checks in PoseSolver::solveInternal()
2022-05-13 18:11:14 +00:00
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
Victor
2b67bc448d
Merge pull request #21931 from victor1234:calib3d-add-undistortImagePoints
Add undistortImagePoints function

* Add undistortImagePoints function
undistortPoints has unclear interface and additional functionality. New function computes only undistorted image points position

* Add undistortImagePoints test

* Add TermCriteria

* Fix layout
2022-05-12 08:56:58 +00:00
Kataev Victor
6d0f1275c2 Add use of R and P parameters to cv::undistortPoints test 2022-04-28 21:47:53 +03:00
Victor
5cc154147f
Merge pull request #21841 from victor1234:calib3d-undistortPoints-tests
Add distort/undistort test for fisheye::undistortPoints()

* Add distort/undistort test for fisheye::undistortPoints()

Lack of test has allowed error described in 19138 to be unnoticed.
In addition to random points, four corners and principal center
added to point set

* Add random distortion coefficients set

* Move undistortPoints test to google test, refactor

* Add fisheye::undistortPoints() perf test

* Add negative distortion coefficients to undistortPoints test, increase value

* Move to theRNG()

* Change test check from cvtest::norm(L2) to EXPECT_MAT_NEAR()

* Layout fix

* Add points number parameters, comments
2022-04-19 18:07:34 +00:00
Victor
27c15bed60
Merge pull request #21834 from victor1234:issue-19138_add_termcriteria_to_fisheye_undistortpoints
* Add termination criteria to cv::fisheye::undistortPoints()

* Add criteria.type check
2022-04-16 17:59:53 +00:00
Alexander Alekhin
aebb65e983 Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2022-01-12 13:26:10 +00:00
h6197627
649f747f8a
Merge pull request #21405 from h6197627:3.4
* Use c++ namespaces explicitly

* Add root cv c++ namespace
2022-01-10 14:51:07 +03:00
Alexander Alekhin
217fea9667 Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2021-12-24 16:48:07 +00:00
catree
032a61b197 Summarize PnP pose computation on a single separate page. 2021-12-23 19:52:14 +01:00
Polina Smolnikova
456137fa24
Merge pull request #21166 from rayonnant14:issue_21105
Fix intrinsics processing in case USAC parameters

* fixed USAC intrinsics processing

* change mat to matx33d, added test
2021-12-13 17:12:49 +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
Alexander Alekhin
6a2077cbd8 Merge remote-tracking branch 'upstream/3.4' into merge-3.4 2021-10-23 15:33:31 +00:00
Wehzie
f9e747dbc6 Fixed typo in CV_Error message
Error was "Input parameters must be a matrices!", but "matrices" is plural and doesn't allow the unspecific article "a".
2021-10-17 15:37:14 +03:00
Alexander Panov
982745fb83
Merge pull request #20735 from AleksandrPanov:radon_checkerboard
generate radon checkerboard

* added _make_round_rect

* added round rect to make_checkerboard_pattern

* added markers

* update docs

* removed links to findChessboardCornersSB() and added checks to markers
2021-09-28 10:30:07 +03:00
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
Alexander Alekhin
2ed5cba110 build: eliminate build warnings 2021-08-29 09:18:21 +00:00
Francesco Petrogalli
d29c7e7871
Merge pull request #20392 from fpetrogalli:aarch64-semihosting
AArch64 semihosting

* [ts] Disable filesystem support in the TS module.

Because of this change, all the tests loading data will file, but tat
least the core module can be tested with the following line:

    opencv_test_core --gtest_filter=-"*Core_InputOutput*:*Core_globbing.accuracy*"

* [aarch64] Build OpenCV for AArch64 semihosting.

This patch provide a toolchain file that allows to build the library
for semihosting applications [1]. Minimal changes have been applied to
the code to be able to compile with a baremetal toolchain.

[1] https://developer.arm.com/documentation/100863/latest

The option `CV_SEMIHOSTING` is used to guard the bits in the code that
are specific to the target.

To build the code:

    cmake ../opencv/ \
        -DCMAKE_TOOLCHAIN_FILE=../opencv/platforms/semihosting/aarch64-semihosting.toolchain.cmake \
        -DSEMIHOSTING_TOOLCHAIN_PATH=/path/to/baremetal-toolchain/bin/ \
        -DBUILD_EXAMPLES=ON -GNinja

A barematel toolchain for targeting aarch64 semihosting can be found
at [2], under `aarch64-none-elf`.

[2] https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-a/downloads

The folder `samples/semihosting` provides two example semihosting
applications.

The two binaries can be executed on the host platform with:

    qemu-aarch64 ./bin/example_semihosting_histogram
    qemu-aarch64 ./bin/example_semihosting_norm

Similarly, the test and perf executables of the modules can be run
with:

    qemu-aarch64 ./bin/opecv_[test|perf]_<module>

Notice that filesystem support is disabled by the toolchain file,
hence some of the test that depend on filesystem support will fail.

* [semihosting] Remove blank like at the end of file. [NFC]

The spurious blankline was reported by
https://pullrequest.opencv.org/buildbot/builders/precommit_docs/builds/31158.

* [semihosting] Make the raw pixel file generation OS independent.

Use the facilities provided by Cmake to generate the header file
instead of a shell script, so that the build doesn't fail on systems
that do not have a unix shell.

* [semihosting] Rename variable for semihosting compilation.

* [semihosting] Move the cmake configuration to a variable file.

* [semihosting] Make the guard macro private for the core module.

* [semihosting] Remove space. [NFC]

* [semihosting] Improve comment with information about semihosting. [NFC]

* [semihosting] Update license statement on top of sourvce file. [NFC]

* [semihosting] Replace BM_SUFFIX with SEMIHOSTING_SUFFIX. [NFC]

* [semihosting] Remove double space. [NFC]

* [semihosting] Add some text output to the sample applications.

* [semihosting] Remove duplicate entry in cmake configuration. [NFCI]

* [semihosting] Replace `long` with `int` in sample apps. [NFCI]

* [semihosting] Use `configure_file` to create the random pixels. [NFCI]

* [semihosting][bugfix] Fix name of cmakedefine variable.

* [semihosting][samples] Use CV_8UC1 for grayscale images. [NFCI]

* [semihosting] Add readme file.

* [semihosting] Remove blank like at the end of README. [NFC]

This fixes the failure at
https://pullrequest.opencv.org/buildbot/builders/precommit_docs/builds/31272.
2021-07-21 18:46:05 +03:00
Vincent Rabaud
b68057d927 Do not use = 0 for a cv::Mat.
There are several operator= overloads and some compilers can be confused.
2021-06-23 21:30:06 +02:00
Ian Maquignaz
464441d8c3 Added new unit test for initInverseRectificationMap()
Function is validated. Included an update to DISABLED_Calib3d_InitInverseRectificationMap.

Includes updates per input from @alalek and unit test regression # to reflect PR #
2021-06-17 12:48:16 -04:00
Ian Maquignaz
2db243b8ed
Merge pull request #20247 from IanMaquignaz:inverseRectification_update
Update to initInverseRectificationMap()

* update to initInverseRectificationMap() documentation

* Restructured Calib3d_InitInverseRectificationMap unit test per feedback from alalek

* whitespace
2021-06-09 13:27:43 +00:00
Vadim Pisarevsky
6f2a64a511 Merge pull request #20235 from IanMaquignaz:calib3d_update_hyperlinks 2021-06-08 13:27:12 +00:00