Merge pull request #29175 from asmorkalov:as/geometry2

Geometry module #29175 OpenCV Contrib: https://github.com/opencv/opencv_contrib/pull/4129 CI changes: https://github.com/opencv/ci-gha-workflow/pull/313 Continues - https://github.com/opencv/opencv/pull/28804 - https://github.com/opencv/opencv/pull/29101 - https://github.com/opencv/opencv/pull/29108 - https://github.com/opencv/opencv/pull/28810 Todo for followup PRs: - [x] Rename doxygen groups - [x] Fix JS modules layout and whitelists - [ ] Sort tutorials code/snippets ### 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 - [x] 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
2026-07-31 08:13:04 +04:00 · 2026-05-31 14:23:15 +03:00
parent 14a475aa0b
commit 59218f9edd
291 changed files with 267 additions and 248 deletions
@@ -0,0 +1,62 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html
+#include "perf_precomp.hpp"
+
+namespace opencv_test {
+
+PERF_TEST(Undistort, InitUndistortMap)
+{
+    Size size_w_h(512 + 3, 512);
+    Mat k(3, 3, CV_32FC1);
+    Mat d(1, 14, CV_64FC1);
+    Mat dst(size_w_h, CV_32FC2);
+    declare.in(k, d, WARMUP_RNG).out(dst);
+    TEST_CYCLE() initUndistortRectifyMap(k, d, noArray(), k, size_w_h, CV_32FC2, dst, noArray());
+    SANITY_CHECK_NOTHING();
+}
+
+PERF_TEST(Undistort, DISABLED_InitInverseRectificationMap)
+{
+    Size size_w_h(512 + 3, 512);
+    Mat k(3, 3, CV_32FC1);
+    Mat d(1, 14, CV_64FC1);
+    Mat dst(size_w_h, CV_32FC2);
+    declare.in(k, d, WARMUP_RNG).out(dst);
+    TEST_CYCLE() initInverseRectificationMap(k, d, noArray(), k, size_w_h, CV_32FC2, dst, noArray());
+    SANITY_CHECK_NOTHING();
+}
+
+PERF_TEST(Undistort, fisheye_undistortPoints_100k_10iter)
+{
+    const int pointsNumber = 100000;
+    const Size imageSize(1280, 800);
+
+    /* Set camera matrix */
+    const Matx33d K(558.478087865323,  0, 620.458515360843,
+                         0, 560.506767351568, 381.939424848348,
+                         0,               0,                1);
+
+    /* Set distortion coefficients */
+    const Matx14d D(2.81e-06, 1.31e-06, -4.42e-06, -1.25e-06);
+
+    /* Create two-channel points matrix */
+    Mat xy[2] = {};
+    xy[0].create(pointsNumber, 1, CV_64F);
+    theRNG().fill(xy[0], RNG::UNIFORM, 0, imageSize.width); // x
+    xy[1].create(pointsNumber, 1, CV_64F);
+    theRNG().fill(xy[1], RNG::UNIFORM, 0, imageSize.height); // y
+
+    Mat points;
+    merge(xy, 2, points);
+
+    /* Set fixed iteration number to check only c++ code, not algo convergence */
+    TermCriteria termCriteria(TermCriteria::MAX_ITER, 10, 0);
+
+    Mat undistortedPoints;
+    TEST_CYCLE() fisheye::undistortPoints(points, undistortedPoints, K, D, noArray(), noArray(), termCriteria);
+
+    SANITY_CHECK_NOTHING();
+}
+
+} // namespace