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1165 Commits

Author SHA1 Message Date
Alexander Alekhin
c7422e4d90 Merge pull request #18171 from catree:fix_pnp_doc 2020-08-25 18:24:30 +00:00
Alexander Alekhin
485d2b593c Merge pull request #18178 from catree:improve_camera_matrix_doc 2020-08-25 13:33:39 +00:00
catree
379b83e946 Fix cubic root computation to be able to handle negative values. Improve doc. Add regression test. 2020-08-25 03:37:56 +02:00
catree
dda1bf1887 Add broken implementation note for DLS and UPnP. 
Add CV_LOG_DEBUG.
 2020-08-25 03:07:00 +02:00
catree
cd01ee9a54 Use camera intrinsic matrix everywhere. Add cameramatrix, distcoeffs and distcoeffsfisheye macros to avoid copy/paste errors. 2020-08-24 05:39:23 +02:00
Pavel Rojtberg
3c3e131c38
Merge pull request #17977 from paroj:hervec 
* calib3d: calibrateHandEye - allow using Rodrigues vectors for rotation

* calib3d: calibrateHandEye - test rvec representation
 2020-07-30 22:59:15 +03:00
Rasmus Diederichsen
345e071b24 Add instructions for how to use findEssentialMat() when camera matrices are different 2020-06-02 12:19:49 +03:00
Ganesh Kathiresan
cddd7f10d5
Merge pull request #17224 from ganesh-k13:bugfix/calib3d/17201 
* Fixed indexing in prefilter

* Initialised prefilter

* Initialised prefilter with value initialisation

* Added TC to trigger different Mem Allocs in BufferBM

* Optimize cases with only needed conditions
 2020-05-14 16:30:01 +00:00
Alexander Smorkalov
7c17695be4 Added Java and C++ regression test for estimateNewCameraMatrixForUndistortRectify. 2020-05-08 13:04:25 +03:00
Alexander Smorkalov
c41fb45da3 Restored test disabled during 3.0-alpha preparation. 2020-04-29 17:08:51 +03:00
Ganesh Kathiresan
0be2c7018b Formula Fixes for 3.4 branch 
Foumula fix 1

Foumula fix 2

Foumula fix 3

Foumula fix 4

Foumula fix 5

Foumula fix 8
 2020-04-21 19:23:23 +05:30
Moritz Fischer-Gundlach
2740901378 -calib3d updates documentation 
backporting commit 99436bb8cf
 2020-03-27 16:02:29 +00:00
Maksim Shabunin
0aac17d9f7 calib3d: check input values in dls 2020-03-24 12:22:26 +03:00
Maksim Shabunin
2f665ec589 calib3d: fixed VS2019 warning C4756 2020-03-23 14:46:21 +03:00
Eduard Trulls
7e637c134f Expose maxIters in findFundamentalMat 
Lets the user choose the maximum number of iterations the robust
estimator runs for, similary to findHomography. This can significantly
improve performance (at a computational cost).
 2020-03-07 18:03:44 +03:00
Maksim Shabunin
bf96d8239d Use BufferArea in more places 2020-02-26 11:45:19 +03:00
Karl Liu
331a96c670 transplant 8p's normalization to 7p 
use const instead of constexpr
 2020-02-18 23:39:52 +08:00
Maksim Shabunin
55cdeaa6dd BufferArea: initial version, usage in StereoBM 
New class BufferArea is used to hide complexity of buffers allocations and allow instrumentation with valgrind and sanitizers.
 2020-02-07 14:57:36 +03:00
Alexander Alekhin
0673866ceb Merge pull request #16502 from tomoaki0705:fixTypo 2020-02-04 12:18:50 +00:00
Vadim Pisarevsky
5c6d319ebc
Merge pull request #16493 from vpisarev:bordertype_sgbm_doc_fixes 
* added note about BORDER_TYPE in separable filters; fixed SGBMStereo description

* added # to BORDER_ constants to generate hyperlinks
 2020-02-04 14:30:16 +03:00
Tomoaki Teshima
edaf4e0104 apply to correct range (entire 3.0 and 4.0 series) 2020-02-04 18:49:19 +09:00
midjji
86e5e8d765
Merge pull request #15993 from midjji:master 
This is a correction of the previously missleading documentation and a warning related to a common calibration failure described in issue 15992

* corrected incorrect description of failed calibration state.

see issue 15992

* calib3d: apply suggestions from code review by catree
 2020-01-31 17:50:21 +03:00
Ganesh Kathiresan
504cd8a9f5 Merge pull request #16405 from ganesh-k13:bugfix/solvepnp-crash 
Added type check for solvePnPGeneric | Issue: #16049

* Added type check

* Added checks before type fix

* Tests for 16049

* calib3d: update solvePnP regression check (16049)
 2020-01-23 15:23:03 +03:00
Alexander Alekhin
523f081923 core(check): add Size_<int> 2019-12-28 13:50:39 +00:00
Alexander Alekhin
515ec6b98a Merge pull request #16247 from alalek:backport_16241 2019-12-27 16:20:52 +00:00
Brian Wignall
f9c514b391 Fix spelling typos 
backport commit 659ffaddb4
 2019-12-27 12:46:53 +00:00
catree
badd0d1ff4 Add explicit size check for Rodrigues() function to prevent issue like https://stackoverflow.com/questions/58969553 2019-12-27 06:07:54 +01:00
Sebastien Wybo
e801f0e954 Merge pull request #16011 from sebastien-wybo:fix_16007 
* Fix #16007 - colinearity computed using all 3 coordinates

* calib3d(test): estimateAffine3D regression 16007
 2019-12-19 12:59:18 +03:00
Alexander Alekhin
c97ff6c0f9 Merge pull request #16104 from alalek:issue_16095 2019-12-17 19:02:15 +00:00
RAJKIRAN NATARAJAN
e6ce752da1 Merge pull request #15966 from saskatchewancatch:issue-15760 
Add checks for empty operands in Matrix expressions that don't check properly

* Starting to add checks for empty operands in Matrix expressions that
don't check properly.

* Adding checks and delcarations for checker functions

* Fix signatures and add checks for each class of Matrix Expr operation

* Make it catch the right exception

* Don't expose helper functions to public API
 2019-12-12 19:23:57 +03:00
Alexander Alekhin
13bc55a015 calib3d: clarify error messages in collectCalibrationData() 2019-12-09 18:36:13 +03:00
Alexander Alekhin
c790779a37 Merge pull request #16024 from alalek:issue_15953 2019-12-05 14:23:48 +00:00
Alexander Alekhin
72f35e0626
Merge pull request #16052 from alalek:issue_16040 
* calib3d: use normalized input in solvePnPGeneric()

* calib3d: java regression test for solvePnPGeneric

* calib3d: python regression test for solvePnPGeneric
 2019-12-05 15:36:39 +03:00
catree
43d58aa760 Improve calib3d documentation: 
- add reference to Rodrigues Jacobian
  - add references to SE(3) and Lie Groups topics
  - update some conventions and pinhole figure
 2019-12-02 03:04:56 +01:00
Alexander Alekhin
9a4404276a calib3d: revert stereoRectify() changes from PRs: 6836, 6972, 6955 
(1/4) Revert "Correct image borders and principal point computation in cv::stereoRectify"

This reverts commit 93ff1fb2f2.

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

This reverts commit fa42a1cfc2.

(3/4) Revert "fix compiler warning"

This reverts commit b3d55489d3.

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

This reverts commit d06b8c4ea9.
 2019-11-30 23:37:49 +00:00
sajarindider
101a147496 fixed Scheimpflug typo 2019-11-30 18:52:23 +00:00
Alexander Alekhin
7ecdcf6ca6 build: GCC9 compilation 2019-11-12 18:49:34 +03:00
Oleg Alexandrov
53139e6ebe Merge pull request #15838 from oleg-alexandrov:patch-2 
Correct stereoRectify documentation
 2019-11-03 16:37:25 +03:00
Oleg Alexandrov
d56535afce Merge pull request #15820 from oleg-alexandrov:patch-1 
Clarify stereoRectify() doc

The function stereoRectify() takes as input a coordinate transform between two cameras. It is ambiguous how it goes. I clarified that it goes from the second camera to the first.
 2019-11-01 22:34:11 +03:00
Oleg Alexandrov
af433d0352 Merge pull request #15780 from oleg-alexandrov:master 
* Doc bugfix

The documentation page StereoBinaryBM and StereoBinarySGBM says that it returns a disparity that is scaled multiplied by 16. This scaling must be undone before calling reprojectImageTo3D, otherwise the results are wrong. The function reprojectImageTo3D() could do this scaling internally, maybe, but at least the documentation must explain that this has to be done.

* calib3d: update reprojectImageTo3D documentation

* calib3d: add StereoBM/StereoSGBM into notes list
 2019-10-31 22:28:01 +03:00
Alexander Alekhin
ee044771a7 Merge pull request #15478 from terfendail:wintr_stereosgbm 2019-10-31 19:24:06 +00:00
André Lippok
86a8ff6129 Fixed typo in assertion 2019-10-27 17:43:31 +01:00
Vitaly Tuzov
42b1d04999 StereoSGBM algorithm updated to use wide universal intrinsics 2019-10-25 16:34:16 +03:00
Vitaly Tuzov
1ce5a724c7 Fixed StereoBM uniqueness check 2019-10-24 17:54:49 +03:00
Vitaly Tuzov
0a1b957331 StereoBM algorithm updated to use wide universal intrinsics 2019-09-25 14:37:12 +03:00
Alexander Alekhin
46fd112f9b Merge pull request #15399 from terfendail:perf_stereobm 2019-09-17 14:26:43 +00:00
Daniel Kapusi
d2872afce0 Merge pull request #15341 from DiebBlue:is5769 
* issue 5769 fixed: cv::stereoRectify fails if given inliers mask of type vector<uchar>

* issue5769 fix using reshape and add regression test

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

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

* cleanup test code
 2019-09-17 00:04:05 +03:00
Vitaly Tuzov
7b3a752012 Fixed universal intrinsic undistort() implementation 2019-09-16 17:16:38 +03:00
Vitaly Tuzov
bf8b5ffeb1 Added performance test for StereoBM algorithm 2019-09-09 16:37:06 +03:00
luz.paz
fcc7d8dd4e Fix modules/ typos 
Found using `codespell -q 3 -S ./3rdparty -L activ,amin,ang,atleast,childs,dof,endwhile,halfs,hist,iff,nd,od,uint`

backporting of commit: ec43292e1e
 2019-08-16 17:34:29 +03:00
Alexander Alekhin
32772a5436 3.4: backported changes from 'master' branch 2019-08-14 16:36:08 +03:00
Vitaly Tuzov
82e5b961d3 Fixed initUndistortRectifyMap AVX2 implementation 2019-07-04 15:49:33 +03:00
armenpoghosov
edf2cbd5f7 Merge pull request #14828 from armenpoghosov:parmen_RANSACPointSetRegistrator_getSubset_disaster_cleanup 
Parmen ransac point set registrator get subset disaster cleanup (#14828)
 2019-07-01 21:57:28 +03:00
Vitaly Tuzov
9befb7a1d7 Merge pull request #14916 from terfendail:wsignmask_deprecated 
* Avoid using v_signmask universal intrinsic and mark it as deprecated

* Renamed v_find_negative to v_scan_forward
 2019-07-01 19:53:51 +03:00
Alexander Alekhin
e72f451173 Merge pull request #14305 from cameron-martin:calib3d-js 2019-06-22 16:43:40 +00:00
Cameron Martin
0ae053fdf8 js: Add findHomography js bindings. 
Removed constants from legacy C api and switched out header with shorter version.

Removed blank line that was failing CI.
 2019-06-21 13:13:53 +03:00
Alexander Alekhin
95d9cfb5c3 static analysis issues 2019-06-20 13:55:20 +03:00
Kang Yifei
ba0ed79635 Merge pull request #14800 from FanaticsKang:add_undistortPoint_test 
Test request by #14583 (#14800)

* add test to show the undistort bug

* move test to calib3d
 2019-06-14 22:57:21 +03:00
Alexander Alekhin
1e9ad5476d core(intrin): drop hasSIMD128 checks 
- use compile-time checks instead (`#if CV_SIMD128`)
- runtime checks are useless
 2019-06-08 19:20:20 +00:00
Alexander Alekhin
aab9ef4290 Merge pull request #14667 from asashour:javadoc 2019-06-06 10:57:39 +00:00
Ahmed Ashour
5c56b8ce92 java: generated code to have javadoc 2019-06-05 12:44:03 +02:00
Ahmed Ashour
1aca1d582e Fix some typos 2019-06-05 12:24:13 +02:00
rasmus25
394bc91e07 Merge pull request #14718 from rasmus25:3.4 
* Revert the bad parts of b085158d59 to fix https://github.com/opencv/opencv/issues/11131
but preserve the good parts to keep https://github.com/opencv/opencv/issues/10791 fixed

* calib3d: add regression test for stereoCalibrate to fix https://github.com/opencv/opencv/issues/11131
 2019-06-04 18:43:42 +03:00
Alexander Alekhin
a81c0e6db9 Merge pull request #14447 from catree:fix_issue_14423 2019-05-27 15:00:21 +00:00
Alexander Alekhin
d73261844e Merge pull request #14622 from asashour:junit 2019-05-27 14:55:45 +00:00
Alexander Alekhin
42484f3bcb Merge pull request #14647 from alalek:fix_coverity_issues 2019-05-27 14:32:02 +00:00
Alexander Alekhin
483f28723c calib3d: initialize local vars, fix indentation in for loops 2019-05-27 14:39:47 +03:00
utibenkei
898cf70210 Merge pull request #14597 from utibenkei:fix_java_missing_consts 
* java: fix java missing_consts

* java: test Calib3d constants
 2019-05-26 19:43:34 +03:00
Ahmed Ashour
f9564e053d java: test: use assertNotNull and assertFalse 2019-05-24 10:45:09 +02:00
catree
7ed858e38e Fix issue with solvePnPRansac and Nx3 1-channel input when the number of points is 5. Try to uniform the input shape of projectPoints and undistortPoints. 2019-05-22 14:19:16 +02:00
Alexander Alekhin
a433394870 Merge pull request #14362 from catree:feat_ippe 2019-05-20 18:16:52 +00:00
catree
33cb9c5ca5 Add SOLVEPNP_IPPE for planar pose estimation. Add solvePnPGeneric function that returns all the pose solutions and the reprojection errors. 2019-05-20 11:56:54 +02:00
Alexander Alekhin
8b192b76c0 Merge pull request #14561 from alalek:fix_ctors_with_uninitialized_vars 2019-05-15 16:21:07 +00:00
Daniel Ingram
962d57b4d6 Merge pull request #14559 from daniel-s-ingram:master 
* Fix typo: 'divisble' -> 'divisible'

* Fix typo: 'One of arguments' -> 'One of the arguments'
 2019-05-15 18:41:43 +03:00
Alexander Alekhin
68012bfbf9 calib3d: fix uninitialized fields in ctors 2019-05-14 19:15:13 +00:00
Alexander Alekhin
fc57129300 Merge pull request #14431 from catree:feat_solvePnPRefine 2019-05-02 20:44:58 +00:00
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
ostarling
643d9df42d Merge pull request #14411 from ostarling:3.4_fix_for_14242 
* Fix for Homogenous precision #14242:
 - moved scale computation to an inline function
 - use std::numeric_limits<float>::epsilon() instead of != 0.0

* Fix for Homogenous precision #14242:
 - fixed warnings for type conversion

* Fix for Homogenous precision #14242:
 - use float epsilon() for truncation of doubles
 2019-04-29 17:12:04 +03:00
Thang Tran
2f7fc1a598 calib3d: add find4QuadCornerSubpix java wrapper 
Fixes: https://github.com/opencv/opencv/issues/14169
 2019-04-24 08:45:28 +02:00
Alexander Alekhin
78384d8923 build: avoid highgui dependency 2019-04-15 18:59:51 +00:00
Alexander Alekhin
a0a1fb5fec python: discover tests from module/misc/python/test paths 2019-04-10 18:35:35 +00:00
Alexander Alekhin
b5961cc5d1 calib3d: don't change input data 
- estimateAffine2D/estimateAffinePartial2D() calls
 2019-04-06 19:28:41 +00:00
Bharat123Rox
ea68f7ea1e Remove dead link in calib3d.hpp 2019-03-21 07:41:32 +05:30
Alexander Alekhin
8c8715c4dd fix static analysis issues 2019-03-13 17:19:39 +03:00
catree
bbf39b0964 Add Hand-Eye calibration methods (Tsai, Park, Horaud, Andreff, Daniilidis). 2019-03-05 14:51:33 +01:00
Thang Tran
a1f4e65d03 calib3d: Fix calibrateCamera() misleading error 
objectPoints and imagePoints are not checked whether they're empty and
cause checkVector() to fail, thus result in a wrong error message.

Fixes: https://github.com/opencv/opencv/issues/6002
 2019-02-12 16:23:34 +03:00
klemens
5d9c6723ee spelling fixes 
backport 997b7b18af
 2019-02-11 15:35:10 +03:00
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
Alexander Alekhin
b74b05d1b3 Revert CV_TRY/CV_CATCH macros 
This reverts commit 7349b8f5ce (partially).
 2018-11-08 19:56:52 +03:00
fegorsch
ce00d38bd9 Add test for symmetric circles with clustering 2018-11-02 15:13:46 +01:00
fegorsch
30bf4a5e34 CircleGridClusterFinder: map circle pattern width and height correctly 
During the cluster-based detection of circle grids, the detected circle
pattern has to be mapped to 3D-points. When doing this the width (i.e.
more circles) and height (i.e. less circles) of the pattern need to
be identified in image coordinates.

Until now this was done by assuming that the shorter side in image
coordinates (length in pixels) corresponds to the height in 3D.
This assumption does not hold if we look at the pattern from
a perspective where the projection of the width is shorter
than the projection of the height. This in turn lead to misdetections in
although the circle pattern was clearly visible.

Instead count how many circles have been detected along two edges of the
projected quadrangle and use the one with more circles as width and the
one with less as height.
 2018-11-02 12:03:20 +01:00
Alexander Alekhin
2268ed1b6e Merge pull request #12948 from catree:add_drawFrameAxes 2018-10-30 13:33:01 +00:00
catree
d37164bab6 Fix distortion figure in calib3d. Positive radial distortion corresponds to pincushion distortion and negative to barrel distortion. Add another figure that illustrates the influence of k1 in the distortion effect. 2018-10-26 20:27:37 +02:00
kamino410
3972c526ce fix document about camera distortion parameters 2018-10-26 19:55:46 +09:00
catree
644846c702 Add a function that draws frame axes. Useful for debugging purpose and to check the correctness of the output of a pose estimation method. 2018-10-25 18:38:19 +02:00
tompollok
0b77600718 change area() emptiness checks to empty() 2018-10-13 21:35:10 +02:00
Apoorv Goel
0ffc186680 Merge pull request #12731 from UnderscoreAsterisk:fix-12012 
* fix #12012

* Replace CV_StsBadFlag with Error::StsBadFlag
 2018-10-03 15:50:04 +03:00
Hamdi Sahloul
5d54def264 Add semicolons after CV_INSTRUMENT macros 2018-09-14 06:45:31 +09:00
Hamdi Sahloul
03b3be0f51 MSVC: Slience external/meaningless warnings 2018-09-12 20:02:13 +09:00