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
* Added a mall note describing BUILD_opencv_world cmake option to the Installation in Windows tutorial.
* Made slight changes in BUILD_opencv_world documentation.
* Update windows_install.markdown
improved grammar
In this tutorial you will learn:
- what is a degradation image model
- what is a PSF of an out-of-focus image
- how to restore a blurred image
- what is the Wiener filter
Additionally adds a tutorial on how to use the tag file in other
projects to link back to the OpenCV documentation.
The tutorial is also the only place which links to the tag file as of
now.
For more information on tag files and external documentation, check
https://www.stack.nl/~dimitri/doxygen/manual/external.html
* Adding CMake script to check if pylint is installed
* Adding Pylint config file (to choose the tests that are enabled)
* Adding CMake script to samples/python/tutorial_code
Testing: bad-indentation, mixed-indentation, unnecessary-semicolon, unused-variable
Add constructors taking initializer_list for some of OpenCV data types (#9034)
* Add a constructor taking initializer_list for Matx
* Add a constructor taking initializer list for Mat and Mat_
* Add one more method to initialize Mat to the corresponding tutorial
* Add a note how to initialize Matx
* CV_CXX_11->CV_CXX11
* Extending template_matching tutorial with Java
* adding mask to java version of the tutorial
* adding the python toggle and code
* updating table of content
* adding py and java to table of content
* adding mask to python
* going back to markdown with duplicated text
* non duplicated text
* GSoC 2016 - Adding toggle files to be used by tutorials.
Add a toggle option for tutorials.
* adds a button on the HTML tutorial pages to switch between blocks
* the default option is for languages: one can write a block
for C++ and another one for Python without re-writing the tutorial
Add aliases to the doxyfile.
* adding alises to make a link to previous and next tutorial.
* adding alias to specify the toggle options in the tutorials index.
* adding alias to add a youtube video directly from link.
Add a sample tutorial (mat_mask_opertaions) using the developed aliases:
* youtube alias
* previous and next tutorial alias
* buttons
* languages info for tutorial table of content
* code referances with snippets (and associated sample code files)
* Removing the automatic ordering.
Adding specific toggles for cpp, java and python.
Move all the code to the footer / header and Doxyfile.
Updating documentation.
[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
* 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
