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Merge pull request #29230 from asmorkalov:as/move_undistort
Inverted imgproc-geometry dependency and moved more functions to geometry #29230 Fixes: https://github.com/opencv/opencv/issues/20267 Continues: https://github.com/opencv/opencv/pull/29175 OpenCV Contrib: https://github.com/opencv/opencv_contrib/pull/4137 OpenCV Extra: https://github.com/opencv/opencv_extra/pull/1377 Summary: - LSD returned back to imgproc - drawing functions moved to imgproc - undistort image and related perf-pixel functions moved to imgproc - moments moved to geometry - estimateXXXtransform moved to geometry After the patch the geometry module depends on code and Flann and may be used everywhere without potential circular dependencies ### 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 - [ ] 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
This commit is contained in:
Alexander Smorkalov
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GitHub
GitHub
parent
ada32973b4
commit
40ddc700aa
@@ -17,6 +17,25 @@
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"dst" : {"ctype" : "vector_Point2f"} },
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"projectPoints" : { "objectPoints" : {"ctype" : "vector_Point3f"},
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"imagePoints" : {"ctype" : "vector_Point2f"},
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"distCoeffs" : {"ctype" : "vector_double" } }
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"distCoeffs" : {"ctype" : "vector_double" } },
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"minEnclosingCircle" : { "points" : {"ctype" : "vector_Point2f"} },
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"fitEllipse" : { "points" : {"ctype" : "vector_Point2f"} },
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"fillPoly" : { "pts" : {"ctype" : "vector_vector_Point"} },
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"polylines" : { "pts" : {"ctype" : "vector_vector_Point"} },
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"fillConvexPoly" : { "points" : {"ctype" : "vector_Point"} },
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"approxPolyDP" : { "curve" : {"ctype" : "vector_Point2f"},
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"approxCurve" : {"ctype" : "vector_Point2f"} },
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"arcLength" : { "curve" : {"ctype" : "vector_Point2f"} },
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"pointPolygonTest" : { "contour" : {"ctype" : "vector_Point2f"} },
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"minAreaRect" : { "points" : {"ctype" : "vector_Point2f"} },
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"getAffineTransform" : { "src" : {"ctype" : "vector_Point2f"},
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"dst" : {"ctype" : "vector_Point2f"} },
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"convexityDefects" : { "contour" : {"ctype" : "vector_Point"},
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"convexhull" : {"ctype" : "vector_int"},
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"convexityDefects" : {"ctype" : "vector_Vec4i"} },
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"isContourConvex" : { "contour" : {"ctype" : "vector_Point"} },
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"convexHull" : { "points" : {"ctype" : "vector_Point"},
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"hull" : {"ctype" : "vector_int"},
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"returnPoints" : {"ctype" : ""} }
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}
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}
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@@ -0,0 +1,242 @@
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package org.opencv.geometry;
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//javadoc:Moments
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public class Moments {
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public double m00;
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public double m10;
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public double m01;
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public double m20;
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public double m11;
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public double m02;
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public double m30;
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public double m21;
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public double m12;
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public double m03;
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public double mu20;
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public double mu11;
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public double mu02;
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public double mu30;
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public double mu21;
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public double mu12;
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public double mu03;
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public double nu20;
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public double nu11;
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public double nu02;
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public double nu30;
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public double nu21;
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public double nu12;
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public double nu03;
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public Moments(
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double m00,
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double m10,
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double m01,
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double m20,
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double m11,
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double m02,
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double m30,
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double m21,
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double m12,
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double m03)
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{
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this.m00 = m00;
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this.m10 = m10;
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this.m01 = m01;
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this.m20 = m20;
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this.m11 = m11;
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this.m02 = m02;
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this.m30 = m30;
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this.m21 = m21;
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this.m12 = m12;
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this.m03 = m03;
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this.completeState();
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}
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public Moments() {
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this(0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
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}
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public Moments(double[] vals) {
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set(vals);
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}
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public void set(double[] vals) {
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if (vals != null) {
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m00 = vals.length > 0 ? vals[0] : 0;
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m10 = vals.length > 1 ? vals[1] : 0;
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m01 = vals.length > 2 ? vals[2] : 0;
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m20 = vals.length > 3 ? vals[3] : 0;
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m11 = vals.length > 4 ? vals[4] : 0;
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m02 = vals.length > 5 ? vals[5] : 0;
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m30 = vals.length > 6 ? vals[6] : 0;
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m21 = vals.length > 7 ? vals[7] : 0;
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m12 = vals.length > 8 ? vals[8] : 0;
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m03 = vals.length > 9 ? vals[9] : 0;
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this.completeState();
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} else {
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m00 = 0;
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m10 = 0;
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m01 = 0;
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m20 = 0;
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m11 = 0;
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m02 = 0;
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m30 = 0;
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m21 = 0;
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m12 = 0;
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m03 = 0;
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mu20 = 0;
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mu11 = 0;
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mu02 = 0;
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mu30 = 0;
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mu21 = 0;
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mu12 = 0;
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mu03 = 0;
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nu20 = 0;
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nu11 = 0;
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nu02 = 0;
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nu30 = 0;
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nu21 = 0;
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nu12 = 0;
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nu03 = 0;
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}
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}
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@Override
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public String toString() {
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return "Moments [ " +
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"\n" +
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"m00=" + m00 + ", " +
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"\n" +
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"m10=" + m10 + ", " +
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"m01=" + m01 + ", " +
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"\n" +
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"m20=" + m20 + ", " +
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"m11=" + m11 + ", " +
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"m02=" + m02 + ", " +
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"\n" +
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"m30=" + m30 + ", " +
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"m21=" + m21 + ", " +
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"m12=" + m12 + ", " +
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"m03=" + m03 + ", " +
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"\n" +
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"mu20=" + mu20 + ", " +
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"mu11=" + mu11 + ", " +
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"mu02=" + mu02 + ", " +
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"\n" +
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"mu30=" + mu30 + ", " +
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"mu21=" + mu21 + ", " +
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"mu12=" + mu12 + ", " +
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"mu03=" + mu03 + ", " +
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"\n" +
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"nu20=" + nu20 + ", " +
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"nu11=" + nu11 + ", " +
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"nu02=" + nu02 + ", " +
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"\n" +
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"nu30=" + nu30 + ", " +
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"nu21=" + nu21 + ", " +
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"nu12=" + nu12 + ", " +
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"nu03=" + nu03 + ", " +
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"\n]";
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}
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protected void completeState()
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{
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double cx = 0, cy = 0;
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double mu20, mu11, mu02;
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double inv_m00 = 0.0;
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if( Math.abs(this.m00) > 0.00000001 )
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{
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inv_m00 = 1. / this.m00;
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cx = this.m10 * inv_m00;
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cy = this.m01 * inv_m00;
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}
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// mu20 = m20 - m10*cx
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mu20 = this.m20 - this.m10 * cx;
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// mu11 = m11 - m10*cy
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mu11 = this.m11 - this.m10 * cy;
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// mu02 = m02 - m01*cy
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mu02 = this.m02 - this.m01 * cy;
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this.mu20 = mu20;
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this.mu11 = mu11;
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this.mu02 = mu02;
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// mu30 = m30 - cx*(3*mu20 + cx*m10)
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this.mu30 = this.m30 - cx * (3 * mu20 + cx * this.m10);
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mu11 += mu11;
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// mu21 = m21 - cx*(2*mu11 + cx*m01) - cy*mu20
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this.mu21 = this.m21 - cx * (mu11 + cx * this.m01) - cy * mu20;
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// mu12 = m12 - cy*(2*mu11 + cy*m10) - cx*mu02
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this.mu12 = this.m12 - cy * (mu11 + cy * this.m10) - cx * mu02;
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// mu03 = m03 - cy*(3*mu02 + cy*m01)
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this.mu03 = this.m03 - cy * (3 * mu02 + cy * this.m01);
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double inv_sqrt_m00 = Math.sqrt(Math.abs(inv_m00));
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double s2 = inv_m00*inv_m00, s3 = s2*inv_sqrt_m00;
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this.nu20 = this.mu20*s2;
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this.nu11 = this.mu11*s2;
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this.nu02 = this.mu02*s2;
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this.nu30 = this.mu30*s3;
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this.nu21 = this.mu21*s3;
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this.nu12 = this.mu12*s3;
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this.nu03 = this.mu03*s3;
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}
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public double get_m00() { return this.m00; }
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public double get_m10() { return this.m10; }
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public double get_m01() { return this.m01; }
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public double get_m20() { return this.m20; }
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public double get_m11() { return this.m11; }
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public double get_m02() { return this.m02; }
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public double get_m30() { return this.m30; }
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public double get_m21() { return this.m21; }
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public double get_m12() { return this.m12; }
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public double get_m03() { return this.m03; }
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public double get_mu20() { return this.mu20; }
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public double get_mu11() { return this.mu11; }
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public double get_mu02() { return this.mu02; }
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public double get_mu30() { return this.mu30; }
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public double get_mu21() { return this.mu21; }
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public double get_mu12() { return this.mu12; }
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public double get_mu03() { return this.mu03; }
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public double get_nu20() { return this.nu20; }
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public double get_nu11() { return this.nu11; }
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public double get_nu02() { return this.nu02; }
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public double get_nu30() { return this.nu30; }
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public double get_nu21() { return this.nu21; }
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public double get_nu12() { return this.nu12; }
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public double get_nu03() { return this.nu03; }
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public void set_m00(double m00) { this.m00 = m00; }
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public void set_m10(double m10) { this.m10 = m10; }
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public void set_m01(double m01) { this.m01 = m01; }
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public void set_m20(double m20) { this.m20 = m20; }
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public void set_m11(double m11) { this.m11 = m11; }
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public void set_m02(double m02) { this.m02 = m02; }
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public void set_m30(double m30) { this.m30 = m30; }
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public void set_m21(double m21) { this.m21 = m21; }
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public void set_m12(double m12) { this.m12 = m12; }
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public void set_m03(double m03) { this.m03 = m03; }
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public void set_mu20(double mu20) { this.mu20 = mu20; }
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public void set_mu11(double mu11) { this.mu11 = mu11; }
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public void set_mu02(double mu02) { this.mu02 = mu02; }
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public void set_mu30(double mu30) { this.mu30 = mu30; }
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public void set_mu21(double mu21) { this.mu21 = mu21; }
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public void set_mu12(double mu12) { this.mu12 = mu12; }
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public void set_mu03(double mu03) { this.mu03 = mu03; }
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public void set_nu20(double nu20) { this.nu20 = nu20; }
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public void set_nu11(double nu11) { this.nu11 = nu11; }
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public void set_nu02(double nu02) { this.nu02 = nu02; }
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public void set_nu30(double nu30) { this.nu30 = nu30; }
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public void set_nu21(double nu21) { this.nu21 = nu21; }
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public void set_nu12(double nu12) { this.nu12 = nu12; }
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public void set_nu03(double nu03) { this.nu03 = nu03; }
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}
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@@ -452,101 +452,6 @@ public class GeometryTest extends OpenCVTestCase {
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// TODO_: write better test
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}
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public void testInitUndistortRectifyMap() {
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fail("Not yet implemented");
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Mat cameraMatrix = new Mat(3, 3, CvType.CV_32F);
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cameraMatrix.put(0, 0, 1, 0, 1);
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cameraMatrix.put(1, 0, 0, 1, 1);
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cameraMatrix.put(2, 0, 0, 0, 1);
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Mat R = new Mat(3, 3, CvType.CV_32F, new Scalar(2));
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Mat newCameraMatrix = new Mat(3, 3, CvType.CV_32F, new Scalar(3));
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Mat distCoeffs = new Mat();
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Mat map1 = new Mat();
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Mat map2 = new Mat();
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// TODO: complete this test
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Geometry.initUndistortRectifyMap(cameraMatrix, distCoeffs, R, newCameraMatrix, size, CvType.CV_32F, map1, map2);
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}
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public void testInitWideAngleProjMapMatMatSizeIntIntMatMat() {
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fail("Not yet implemented");
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Mat cameraMatrix = new Mat(3, 3, CvType.CV_32F);
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Mat distCoeffs = new Mat(1, 4, CvType.CV_32F);
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// Size imageSize = new Size(2, 2);
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cameraMatrix.put(0, 0, 1, 0, 1);
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cameraMatrix.put(1, 0, 0, 1, 2);
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cameraMatrix.put(2, 0, 0, 0, 1);
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distCoeffs.put(0, 0, 1, 3, 2, 4);
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truth = new Mat(3, 3, CvType.CV_32F);
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truth.put(0, 0, 0, 0, 0);
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truth.put(1, 0, 0, 0, 0);
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truth.put(2, 0, 0, 3, 0);
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// TODO: No documentation for this function
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// Geometry.initWideAngleProjMap(cameraMatrix, distCoeffs, imageSize,
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// 5, m1type, truthput1, truthput2);
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}
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public void testInitWideAngleProjMapMatMatSizeIntIntMatMatInt() {
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fail("Not yet implemented");
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}
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public void testInitWideAngleProjMapMatMatSizeIntIntMatMatIntDouble() {
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fail("Not yet implemented");
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}
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public void testUndistortMatMatMatMat() {
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Mat src = new Mat(3, 3, CvType.CV_32F, new Scalar(3));
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Mat cameraMatrix = new Mat(3, 3, CvType.CV_32F) {
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{
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put(0, 0, 1, 0, 1);
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put(1, 0, 0, 1, 2);
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put(2, 0, 0, 0, 1);
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}
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};
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Mat distCoeffs = new Mat(1, 4, CvType.CV_32F) {
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{
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put(0, 0, 1, 3, 2, 4);
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}
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};
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Geometry.undistort(src, dst, cameraMatrix, distCoeffs);
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truth = new Mat(3, 3, CvType.CV_32F) {
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{
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put(0, 0, 0, 0, 0);
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put(1, 0, 0, 0, 0);
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put(2, 0, 0, 3, 0);
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}
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};
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assertMatEqual(truth, dst, EPS);
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}
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public void testUndistortMatMatMatMatMat() {
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Mat src = new Mat(3, 3, CvType.CV_32F, new Scalar(3));
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Mat cameraMatrix = new Mat(3, 3, CvType.CV_32F) {
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{
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put(0, 0, 1, 0, 1);
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put(1, 0, 0, 1, 2);
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put(2, 0, 0, 0, 1);
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}
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};
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Mat distCoeffs = new Mat(1, 4, CvType.CV_32F) {
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{
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put(0, 0, 2, 1, 4, 5);
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}
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};
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Mat newCameraMatrix = new Mat(3, 3, CvType.CV_32F, new Scalar(1));
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Geometry.undistort(src, dst, cameraMatrix, distCoeffs, newCameraMatrix);
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truth = new Mat(3, 3, CvType.CV_32F, new Scalar(3));
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assertMatEqual(truth, dst, EPS);
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}
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//undistortPoints(List<Point> src, List<Point> dst, Mat cameraMatrix, Mat distCoeffs)
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public void testUndistortPointsListOfPointListOfPointMatMat() {
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MatOfPoint2f src = new MatOfPoint2f(new Point(1, 2), new Point(3, 4), new Point(-1, -1));
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@@ -687,7 +592,7 @@ public class GeometryTest extends OpenCVTestCase {
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Mat linePoints = new Mat(4, 1, CvType.CV_32FC1);
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linePoints.put(0, 0, 0.53198653, 0.84675282, 2.5, 3.75);
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Geometry.fitLine(points, dst, Imgproc.DIST_L12, 0, 0.01, 0.01);
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Geometry.fitLine(points, dst, Geometry.DIST_L12, 0, 0.01, 0.01);
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assertMatEqual(linePoints, dst, EPS);
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}
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@@ -780,4 +685,44 @@ public class GeometryTest extends OpenCVTestCase {
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assertTrue(bbox.contains(p1));
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assertFalse(bbox.contains(p2));
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}
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public void testGetAffineTransform() {
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MatOfPoint2f src = new MatOfPoint2f(new Point(2, 3), new Point(3, 1), new Point(1, 4));
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MatOfPoint2f dst = new MatOfPoint2f(new Point(3, 3), new Point(7, 4), new Point(5, 6));
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Mat transform = Geometry.getAffineTransform(src, dst);
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Mat truth = new Mat(2, 3, CvType.CV_64FC1) {
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{
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put(0, 0, -8, -6, 37);
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||||
put(1, 0, -7, -4, 29);
|
||||
}
|
||||
};
|
||||
assertMatEqual(truth, transform, EPS);
|
||||
}
|
||||
|
||||
public void testGetRotationMatrix2D() {
|
||||
Point center = new Point(0, 0);
|
||||
|
||||
dst = Geometry.getRotationMatrix2D(center, 0, 1);
|
||||
|
||||
truth = new Mat(2, 3, CvType.CV_64F) {
|
||||
{
|
||||
put(0, 0, 1, 0, 0);
|
||||
put(1, 0, 0, 1, 0);
|
||||
}
|
||||
};
|
||||
|
||||
assertMatEqual(truth, dst, EPS);
|
||||
}
|
||||
|
||||
public void testInvertAffineTransform() {
|
||||
Mat src = new Mat(2, 3, CvType.CV_64F, new Scalar(1));
|
||||
|
||||
Geometry.invertAffineTransform(src, dst);
|
||||
|
||||
truth = new Mat(2, 3, CvType.CV_64F, new Scalar(0));
|
||||
assertMatEqual(truth, dst, EPS);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@@ -0,0 +1,51 @@
|
||||
package org.opencv.test.geometry;
|
||||
|
||||
import org.opencv.test.OpenCVTestCase;
|
||||
import org.opencv.core.Core;
|
||||
import org.opencv.core.Mat;
|
||||
import org.opencv.core.CvType;
|
||||
import org.opencv.core.Scalar;
|
||||
import org.opencv.geometry.Geometry;
|
||||
import org.opencv.geometry.Moments;
|
||||
|
||||
public class MomentsTest extends OpenCVTestCase {
|
||||
|
||||
Mat data;
|
||||
|
||||
@Override
|
||||
protected void setUp() throws Exception {
|
||||
super.setUp();
|
||||
|
||||
data = new Mat(3,3, CvType.CV_8UC1, new Scalar(1));
|
||||
data.row(1).setTo(new Scalar(5));
|
||||
}
|
||||
|
||||
public void testAll() {
|
||||
Moments res = Geometry.moments(data);
|
||||
assertEquals(res.m00, 21.0, EPS);
|
||||
assertEquals(res.m10, 21.0, EPS);
|
||||
assertEquals(res.m01, 21.0, EPS);
|
||||
assertEquals(res.m20, 35.0, EPS);
|
||||
assertEquals(res.m11, 21.0, EPS);
|
||||
assertEquals(res.m02, 27.0, EPS);
|
||||
assertEquals(res.m30, 63.0, EPS);
|
||||
assertEquals(res.m21, 35.0, EPS);
|
||||
assertEquals(res.m12, 27.0, EPS);
|
||||
assertEquals(res.m03, 39.0, EPS);
|
||||
assertEquals(res.mu20, 14.0, EPS);
|
||||
assertEquals(res.mu11, 0.0, EPS);
|
||||
assertEquals(res.mu02, 6.0, EPS);
|
||||
assertEquals(res.mu30, 0.0, EPS);
|
||||
assertEquals(res.mu21, 0.0, EPS);
|
||||
assertEquals(res.mu12, 0.0, EPS);
|
||||
assertEquals(res.mu03, 0.0, EPS);
|
||||
assertEquals(res.nu20, 0.031746031746031744, EPS);
|
||||
assertEquals(res.nu11, 0.0, EPS);
|
||||
assertEquals(res.nu02, 0.013605442176870746, EPS);
|
||||
assertEquals(res.nu30, 0.0, EPS);
|
||||
assertEquals(res.nu21, 0.0, EPS);
|
||||
assertEquals(res.nu12, 0.0, EPS);
|
||||
assertEquals(res.nu03, 0.0, EPS);
|
||||
}
|
||||
|
||||
}
|
||||
Reference in New Issue
Block a user