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Merge branch '4.x' into '5.x'

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This commit is contained in:
Maksim Shabunin
2024-06-11 19:38:59 +03:00
parent a2d2ea6536 a03b813167
commit 26ea34c4cb
573 changed files with 72922 additions and 7355 deletions
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modules/3d/src/calibration_base.cpp
+124 -7
View File
@@ -41,6 +41,7 @@
//M*/
#include "precomp.hpp"
#include "hal_replacement.hpp"
#include "distortion_model.hpp"
#include <stdio.h>
#include <iterator>
@@ -539,20 +540,15 @@ void cv::projectPoints( InputArray _objectPoints,
(objectPoints.rows == count && objpt_cn*objectPoints.cols == 3) ||
(objectPoints.rows == 3 && objpt_cn == 1 && objectPoints.cols == count));
Mat matM(objectPoints.size(), CV_64FC(objpt_cn));
objectPoints.convertTo(matM, CV_64F);
if (objectPoints.rows == 3 && objectPoints.cols == count) {
Mat temp;
transpose(matM, temp);
matM = temp;
transpose(objectPoints, temp);
objectPoints = temp;
}
CV_Assert( _imagePoints.needed() );
_imagePoints.create(count, 1, CV_MAKETYPE(objpt_depth, 2), -1, true);
Mat ipoints = _imagePoints.getMat();
ipoints.convertTo(_m, CV_64F);
const Point3d* M = matM.ptr<Point3d>();
Point2d* m = _m.ptr<Point2d>();
Mat rvec = _rvec.getMat(), tvec = _tvec.getMat();
if(!((rvec.depth() == CV_32F || rvec.depth() == CV_64F) &&
@@ -656,6 +652,127 @@ void cv::projectPoints( InputArray _objectPoints,
bool calc_derivatives = dpdr.data || dpdt.data || dpdf.data ||
dpdc.data || dpdk.data || dpdo.data;
if (!calc_derivatives)
{
if (objpt_depth == CV_32F && ipoints.type() == CV_32F)
{
float rtMatrix[12] = { (float)R[0], (float)R[1], (float)R[2], (float)t[0],
(float)R[3], (float)R[4], (float)R[5], (float)t[1],
(float)R[6], (float)R[7], (float)R[8], (float)t[2] };
cv_camera_intrinsics_pinhole_32f intr;
intr.fx = (float)fx; intr.fy = (float)fy;
intr.cx = (float)cx; intr.cy = (float)cy;
intr.amt_k = 0; intr.amt_p = 0; intr.amt_s = 0; intr.use_tau = false;
switch (ktotal)
{
case 0: break;
case 4: // [k_1, k_2, p_1, p_2]
intr.amt_k = 2; intr.amt_p = 2;
break;
case 5: // [k_1, k_2, p_1, p_2, k_3]
intr.amt_k = 3; intr.amt_p = 2;
break;
case 8: // [k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6]
intr.amt_k = 6; intr.amt_p = 2;
break;
case 12: // [k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6, s_1, s_2, s_3, s_4]
intr.amt_k = 6; intr.amt_p = 2; intr.amt_s = 4;
break;
case 14: // [k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6, s_1, s_2, s_3, s_4, tau_x, tau_y]
intr.amt_k = 6; intr.amt_p = 2; intr.amt_s = 4; intr.use_tau = true;
break;
default:
CV_Error(cv::Error::StsInternal, "Wrong number of distortion coefficients");
}
intr.k[0] = (float)k[0];
intr.k[1] = (float)k[1];
intr.k[2] = (float)k[4];
intr.k[3] = (float)k[5];
intr.k[4] = (float)k[6];
intr.k[5] = (float)k[7];
intr.p[0] = (float)k[2];
intr.p[1] = (float)k[3];
for (int ctr = 0; ctr < 4; ctr++)
{
intr.s[ctr] = (float)k[8+ctr];
}
intr.tau_x = (float)k[12];
intr.tau_y = (float)k[13];
CALL_HAL(projectPoints, cv_hal_project_points_pinhole32f,
(float*)objectPoints.data, objectPoints.step, count,
(float*)ipoints.data, ipoints.step, rtMatrix, &intr);
}
if (objpt_depth == CV_64F && ipoints.type() == CV_64F)
{
double rtMatrix[12] = { R[0], R[1], R[2], t[0],
R[3], R[4], R[5], t[1],
R[6], R[7], R[8], t[2] };
cv_camera_intrinsics_pinhole_64f intr;
intr.fx = fx; intr.fy = fy;
intr.cx = cx; intr.cy = cy;
intr.amt_k = 0; intr.amt_p = 0; intr.amt_s = 0; intr.use_tau = false;
switch (ktotal)
{
case 0: break;
case 4: // [k_1, k_2, p_1, p_2]
intr.amt_k = 2; intr.amt_p = 2;
break;
case 5: // [k_1, k_2, p_1, p_2, k_3]
intr.amt_k = 3; intr.amt_p = 2;
break;
case 8: // [k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6]
intr.amt_k = 6; intr.amt_p = 2;
break;
case 12: // [k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6, s_1, s_2, s_3, s_4]
intr.amt_k = 6; intr.amt_p = 2; intr.amt_s = 4;
break;
case 14: // [k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6, s_1, s_2, s_3, s_4, tau_x, tau_y]
intr.amt_k = 6; intr.amt_p = 2; intr.amt_s = 4; intr.use_tau = true;
break;
default:
CV_Error(cv::Error::StsInternal, "Wrong number of distortion coefficients");
}
intr.k[0] = k[0];
intr.k[1] = k[1];
intr.k[2] = k[4];
intr.k[3] = k[5];
intr.k[4] = k[6];
intr.k[5] = k[7];
intr.p[0] = k[2];
intr.p[1] = k[3];
for (int ctr = 0; ctr < 4; ctr++)
{
intr.s[ctr] = k[8+ctr];
}
intr.tau_x = k[12];
intr.tau_y = k[13];
CALL_HAL(projectPoints, cv_hal_project_points_pinhole64f,
(double*)objectPoints.data, objectPoints.step, count,
(double*)ipoints.data, ipoints.step, rtMatrix, &intr);
}
}
Mat matM(objectPoints.size(), CV_64FC(objpt_cn));
objectPoints.convertTo(matM, CV_64F);
ipoints.convertTo(_m, CV_64F);
const Point3d* M = matM.ptr<Point3d>();
Point2d* m = _m.ptr<Point2d>();
for( i = 0; i < count; i++ )
{
double X = M[i].x, Y = M[i].y, Z = M[i].z;
modules/3d/src/fundam.cpp
+19 -21
View File
@@ -48,6 +48,13 @@
namespace cv {
static inline double scaleFor(double x){
return (std::fabs(x) > std::numeric_limits<float>::epsilon()) ? 1./x : 1.;
}
static inline float scaleFor(float x){
return (std::fabs(x) > std::numeric_limits<float>::epsilon()) ? 1.f/x : 1.f;
}
/**
* This class estimates a homography \f$H\in \mathbb{R}^{3\times 3}\f$
* between \f$\mathbf{x} \in \mathbb{R}^3\f$ and
@@ -176,8 +183,7 @@ public:
eigen( _LtL, matW, matV );
_Htemp = _invHnorm*_H0;
_H0 = _Htemp*_Hnorm2;
_H0.convertTo(_model, _H0.type(), 1./_H0.at<double>(2,2) );
_H0.convertTo(_model, _H0.type(), scaleFor(_H0.at<double>(2,2)));
return 1;
}
@@ -196,14 +202,14 @@ public:
const Point2f* M = m1.ptr<Point2f>();
const Point2f* m = m2.ptr<Point2f>();
const double* H = model.ptr<double>();
float Hf[] = { (float)H[0], (float)H[1], (float)H[2], (float)H[3], (float)H[4], (float)H[5], (float)H[6], (float)H[7] };
float Hf[] = { (float)H[0], (float)H[1], (float)H[2], (float)H[3], (float)H[4], (float)H[5], (float)H[6], (float)H[7], (float)H[8] };
_err.create(count, 1, CV_32F);
float* err = _err.getMat().ptr<float>();
for( i = 0; i < count; i++ )
{
float ww = 1.f/(Hf[6]*M[i].x + Hf[7]*M[i].y + 1.f);
float ww = 1.f/(Hf[6]*M[i].x + Hf[7]*M[i].y + Hf[8]);
float dx = (Hf[0]*M[i].x + Hf[1]*M[i].y + Hf[2])*ww - m[i].x;
float dy = (Hf[3]*M[i].x + Hf[4]*M[i].y + Hf[5])*ww - m[i].y;
err[i] = dx*dx + dy*dy;
@@ -357,7 +363,7 @@ Mat findHomography( InputArray _points1, InputArray _points2,
dst = dst1;
if( method == RANSAC || method == LMEDS )
cb->runKernel( src, dst, H );
Mat H8(8, 1, CV_64F, H.ptr<double>());
Mat H8(9, 1, CV_64F, H.ptr<double>());
auto homographyRefineCallback = [src, dst](InputOutputArray _param, OutputArray _err, OutputArray _Jac) -> bool
{
@@ -368,8 +374,9 @@ Mat findHomography( InputArray _points1, InputArray _points2,
if (_Jac.needed())
{
_Jac.create(count * 2, param.rows, CV_64F);
_Jac.setTo(0.);
J = _Jac.getMat();
CV_Assert(J.isContinuous() && J.cols == 8);
CV_Assert(J.isContinuous() && J.cols == 9);
}
const Point2f* M = src.ptr<Point2f>();
@@ -381,7 +388,7 @@ Mat findHomography( InputArray _points1, InputArray _points2,
for (i = 0; i < count; i++)
{
double Mx = M[i].x, My = M[i].y;
double ww = h[6] * Mx + h[7] * My + 1.;
double ww = h[6] * Mx + h[7] * My + h[8];
ww = fabs(ww) > DBL_EPSILON ? 1. / ww : 0;
double xi = (h[0] * Mx + h[1] * My + h[2]) * ww;
double yi = (h[3] * Mx + h[4] * My + h[5]) * ww;
@@ -391,13 +398,11 @@ Mat findHomography( InputArray _points1, InputArray _points2,
if (Jptr)
{
Jptr[0] = Mx * ww; Jptr[1] = My * ww; Jptr[2] = ww;
Jptr[3] = Jptr[4] = Jptr[5] = 0.;
Jptr[6] = -Mx * ww * xi; Jptr[7] = -My * ww * xi;
Jptr[8] = Jptr[9] = Jptr[10] = 0.;
Jptr[11] = Mx * ww; Jptr[12] = My * ww; Jptr[13] = ww;
Jptr[14] = -Mx * ww * yi; Jptr[15] = -My * ww * yi;
Jptr[6] = -Mx * ww * xi; Jptr[7] = -My * ww * xi; Jptr[8] = -ww * xi;
Jptr[12] = Mx * ww; Jptr[13] = My * ww; Jptr[14] = ww;
Jptr[15] = -Mx * ww * yi; Jptr[16] = -My * ww * yi; Jptr[17] = -ww * yi;
Jptr += 16;
Jptr += 18;
}
}
@@ -408,6 +413,7 @@ Mat findHomography( InputArray _points1, InputArray _points2,
.setMaxIterations(10)
.setGeodesic(true));
solver.optimize();
H.convertTo(H, H.type(), scaleFor(H.at<double>(2, 2)));
}
}
@@ -984,14 +990,6 @@ void computeCorrespondEpilines( InputArray _points, int whichImage,
}
}
static inline double scaleFor(double x){
return (std::fabs(x) > std::numeric_limits<float>::epsilon()) ? 1./x : 1.;
}
static inline float scaleFor(float x){
return (std::fabs(x) > std::numeric_limits<float>::epsilon()) ? 1.f/x : 1.f;
}
void convertPointsFromHomogeneous( InputArray _src, OutputArray _dst, int dtype )
{
CV_INSTRUMENT_REGION();
modules/3d/src/hal_replacement.hpp
+188
View File
@@ -0,0 +1,188 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Copyright (C) 2015, Itseez Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef OPENCV_CALIB3D_HAL_REPLACEMENT_HPP
#define OPENCV_CALIB3D_HAL_REPLACEMENT_HPP
#include "opencv2/core/hal/interface.h"
#if defined(__clang__) // clang or MSVC clang
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wunused-parameter"
#elif defined(_MSC_VER)
#pragma warning(push)
#pragma warning(disable : 4100)
#elif defined(__GNUC__)
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-parameter"
#endif
//! @addtogroup calib3d_hal_interface
//! @note Define your functions to override default implementations:
//! @code
//! #undef hal_add8u
//! #define hal_add8u my_add8u
//! @endcode
//! @{
/**
* @brief Camera intrinsics structure, see projectPoints() documentation for details
*/
struct cv_camera_intrinsics_pinhole_32f
{
// focal length, principal point
float fx, fy, cx, cy;
// radial distortion coefficients
float k[6];
// amount of radial distortion coefficients passed
int amt_k;
// tangential distortion coefficients
float p[2];
// amount of tangential distortion coefficients passed
int amt_p;
// prism distortion coefficients
float s[4];
// amount of prism distortion coefficients passed
int amt_s;
// tilt distortion coefficients
float tau_x, tau_y;
// to use tilt distortion coefficients or not
bool use_tau;
};
/**
@brief Project points from 3D world space to 2D screen space using rotation and translation matrix and camera intrinsic parameters
@param src_data Pointer to 3D points array with coordinates interleaved as X, Y, Z, X, Y, Z,..
@param src_step Step between consecutive 3D points
@param src_size Amount of points
@param dst_data Pointer to resulting projected 2D points with coordinates interleaved as u, v, u, v,..
@param dst_step Step between consecutive projected 2D points
@param rt_data Pointer to 3x4 array containing rotation-then-translation matrix
@param intr_data Pointer to camera intrinsics structure
*/
inline int hal_ni_project_points_pinhole32f(const float* src_data, size_t src_step, size_t src_size,
float* dst_data, size_t dst_step, const float* rt_data,
const cv_camera_intrinsics_pinhole_32f* intr_data)
{ return CV_HAL_ERROR_NOT_IMPLEMENTED; }
//! @cond IGNORED
#define cv_hal_project_points_pinhole32f hal_ni_project_points_pinhole32f
//! @endcond
/**
* @brief Camera intrinsics structure, see projectPoints() documentation for details
*/
struct cv_camera_intrinsics_pinhole_64f
{
// focal length, principal point
double fx, fy, cx, cy;
// radial distortion coefficients
double k[6];
// amount of radial distortion coefficients passed
int amt_k;
// tangential distortion coefficients
double p[2];
// amount of tangential distortion coefficients passed
int amt_p;
// prism distortion coefficients
double s[4];
// amount of prism distortion coefficients passed
int amt_s;
// tilt distortion coefficients
double tau_x, tau_y;
// to use tilt distortion coefficients or not
bool use_tau;
};
/**
@brief Project points from 3D world space to 2D screen space using rotation and translation matrix and camera intrinsic parameters
@param src_data Pointer to 3D points array with coordinates interleaved as X, Y, Z, X, Y, Z,..
@param src_step Step between consecutive 3D points
@param src_size Amount of points
@param dst_data Pointer to resulting projected 2D points with coordinates interleaved as u, v, u, v,..
@param dst_step Step between consecutive projected 2D points
@param rt_data Pointer to 3x4 array containing rotation-then-translation matrix
@param intr_data Pointer to camera intrinsics structure
*/
inline int hal_ni_project_points_pinhole64f(const double* src_data, size_t src_step, size_t src_size,
double* dst_data, size_t dst_step, const double* rt_data,
const cv_camera_intrinsics_pinhole_64f* intr_data)
{ return CV_HAL_ERROR_NOT_IMPLEMENTED; }
//! @cond IGNORED
#define cv_hal_project_points_pinhole64f hal_ni_project_points_pinhole64f
//! @endcond
//! @}
#if defined(__clang__)
#pragma clang diagnostic pop
#elif defined(_MSC_VER)
#pragma warning(pop)
#elif defined(__GNUC__)
#pragma GCC diagnostic pop
#endif
#include "custom_hal.hpp"
//! @cond IGNORED
#define CALL_HAL_RET(name, fun, retval, ...) \
int res = __CV_EXPAND(fun(__VA_ARGS__, &retval)); \
if (res == CV_HAL_ERROR_OK) \
return retval; \
else if (res != CV_HAL_ERROR_NOT_IMPLEMENTED) \
CV_Error_(cv::Error::StsInternal, \
("HAL implementation " CVAUX_STR(name) " ==> " CVAUX_STR(fun) " returned %d (0x%08x)", res, res));
#define CALL_HAL(name, fun, ...) \
int res = __CV_EXPAND(fun(__VA_ARGS__)); \
if (res == CV_HAL_ERROR_OK) \
return; \
else if (res != CV_HAL_ERROR_NOT_IMPLEMENTED) \
CV_Error_(cv::Error::StsInternal, \
("HAL implementation " CVAUX_STR(name) " ==> " CVAUX_STR(fun) " returned %d (0x%08x)", res, res));
//! @endcond
#endif
modules/3d/src/usac/dls_solver.cpp
+5
View File
@@ -155,7 +155,12 @@ public:
const auto &eigen_vectors = eigen_solver.eigenvectors();
const auto &eigen_values = eigen_solver.eigenvalues();
#else
#if defined (ACCELERATE_NEW_LAPACK) && defined (ACCELERATE_LAPACK_ILP64)
long mat_order = 27, info, lda = 27, ldvl = 1, ldvr = 27, lwork = 500;
#else
int mat_order = 27, info, lda = 27, ldvl = 1, ldvr = 27, lwork = 500;
#endif
double wr[27], wi[27] = {0}; // 27 = mat_order
std::vector<double> work(lwork), eig_vecs(729);
char jobvl = 'N', jobvr = 'V'; // only left eigen vectors are computed
modules/3d/src/usac/essential_solver.cpp
+4
View File
@@ -259,7 +259,11 @@ public:
action_mat_data[83] = -1.0; // 8 row, 3 col
action_mat_data[96] = -1.0; // 9 row, 6 col
#if defined (ACCELERATE_NEW_LAPACK) && defined (ACCELERATE_LAPACK_ILP64)
long mat_order = 10, info, lda = 10, ldvl = 10, ldvr = 1, lwork = 100;
#else
int mat_order = 10, info, lda = 10, ldvl = 10, ldvr = 1, lwork = 100;
#endif
double wr[10], wi[10] = {0}, eig_vecs[100], work[100]; // 10 = mat_order, 100 = lwork
char jobvl = 'V', jobvr = 'N'; // only left eigen vectors are computed
OCV_LAPACK_FUNC(dgeev)(&jobvl, &jobvr, &mat_order, action_mat_data, &lda, wr, wi, eig_vecs, &ldvl,