Commit Graph

246 Commits

Author SHA1 Message Date
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