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Merge pull request #29175 from asmorkalov:as/geometry2

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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
This commit is contained in:
Alexander Smorkalov
2026-05-31 14:23:15 +03:00
committed by GitHub
parent 14a475aa0b
commit 59218f9edd
291 changed files with 267 additions and 248 deletions
Download Patch File Download Diff File Expand all files Collapse all files
samples/android/camera-calibration/src/org/opencv/samples/cameracalibration/CameraCalibrator.java
+2 -2
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@@ -3,7 +3,7 @@ package org.opencv.samples.cameracalibration;
import java.util.ArrayList;
import java.util.List;
import org.opencv.cv3d.Cv3d;
import org.opencv.geometry.Geometry;
import org.opencv.calib.Calib;
import org.opencv.core.Core;
import org.opencv.core.CvType;
@@ -109,7 +109,7 @@ public class CameraCalibrator {
int totalPoints = 0;
for (int i = 0; i < objectPoints.size(); i++) {
MatOfPoint3f points = new MatOfPoint3f(objectPoints.get(i));
Cv3d.projectPoints(points, rvecs.get(i), tvecs.get(i),
Geometry.projectPoints(points, rvecs.get(i), tvecs.get(i),
mCameraMatrix, distortionCoefficients, cornersProjected);
error = Core.norm(mCornersBuffer.get(i), cornersProjected, Core.NORM_L2);
samples/android/camera-calibration/src/org/opencv/samples/cameracalibration/OnCameraFrameRender.java
+3 -3
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@@ -4,7 +4,7 @@ import java.util.ArrayList;
import java.util.List;
import org.opencv.android.CameraBridgeViewBase.CvCameraViewFrame;
import org.opencv.cv3d.Cv3d;
import org.opencv.geometry.Geometry;
import org.opencv.calib.Calib;
import org.opencv.core.Core;
import org.opencv.core.Mat;
@@ -52,7 +52,7 @@ class UndistortionFrameRender extends FrameRender {
@Override
public Mat render(CvCameraViewFrame inputFrame) {
Mat renderedFrame = new Mat(inputFrame.rgba().size(), inputFrame.rgba().type());
Cv3d.undistort(inputFrame.rgba(), renderedFrame,
Geometry.undistort(inputFrame.rgba(), renderedFrame,
mCalibrator.getCameraMatrix(), mCalibrator.getDistortionCoefficients());
return renderedFrame;
@@ -73,7 +73,7 @@ class ComparisonFrameRender extends FrameRender {
@Override
public Mat render(CvCameraViewFrame inputFrame) {
Mat undistortedFrame = new Mat(inputFrame.rgba().size(), inputFrame.rgba().type());
Cv3d.undistort(inputFrame.rgba(), undistortedFrame,
Geometry.undistort(inputFrame.rgba(), undistortedFrame,
mCalibrator.getCameraMatrix(), mCalibrator.getDistortionCoefficients());
Mat comparisonFrame = inputFrame.rgba();
samples/cpp/3calibration.cpp
+1 -1
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@@ -2,7 +2,7 @@
* 3calibration.cpp -- Calibrate 3 cameras in a horizontal line together.
*/
#include "opencv2/3d.hpp"
#include "opencv2/geometry.hpp"
#include "opencv2/stereo.hpp"
#include "opencv2/calib.hpp"
#include "opencv2/imgproc.hpp"
samples/cpp/CMakeLists.txt
+1 -1
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@@ -11,7 +11,7 @@ set(OPENCV_CPP_SAMPLES_REQUIRED_DEPS
opencv_objdetect
opencv_photo
opencv_features
opencv_3d
opencv_geometry
opencv_stereo
opencv_calib
opencv_stitching
samples/cpp/asift.cpp
+1 -1
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@@ -2,7 +2,7 @@
#include <opencv2/imgproc.hpp>
#include <opencv2/features.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/3d.hpp>
#include <opencv2/geometry/3d.hpp>
#include <iostream>
#include <iomanip>
#ifdef HAVE_OPENCV_XFEATURES2D
samples/cpp/calibration.cpp
+1 -1
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@@ -1,7 +1,7 @@
#include "opencv2/core.hpp"
#include "opencv2/core/utility.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/3d.hpp"
#include "opencv2/geometry.hpp"
#include "opencv2/calib.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/videoio.hpp"
samples/cpp/delaunay2.cpp
+1 -1
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@@ -1,4 +1,4 @@
#include <opencv2/3d.hpp>
#include <opencv2/geometry/2d.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/highgui.hpp>
#include <iostream>
samples/cpp/essential_mat_reconstr.cpp
+1 -1
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@@ -2,7 +2,7 @@
// 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 "opencv2/3d.hpp"
#include "opencv2/geometry.hpp"
#include "opencv2/features.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
samples/cpp/geometry.cpp
+1 -1
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@@ -16,7 +16,7 @@
*
*********************************************************************************/
#include "opencv2/3d.hpp"
#include "opencv2/geometry/2d.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/highgui.hpp"
#include <iostream>
samples/cpp/select3dobj.cpp
+1 -1
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@@ -11,7 +11,7 @@
#include "opencv2/core.hpp"
#include <opencv2/core/utility.hpp>
#include "opencv2/imgproc.hpp"
#include "opencv2/3d.hpp"
#include "opencv2/geometry.hpp"
#include "opencv2/calib.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/objdetect.hpp"
samples/cpp/snippets/epipolar_lines.cpp
+2 -2
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@@ -2,7 +2,7 @@
// 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 "opencv2/3d.hpp"
#include "opencv2/geometry.hpp"
#include "opencv2/features.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
@@ -104,4 +104,4 @@ int main(int args, char** argv) {
imshow("epipolar lines, image 1, 2", image1);
imwrite("epipolar_lines.png", image1);
waitKey(0);
}
}
samples/cpp/snippets/intersectExample.cpp
+1 -1
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@@ -4,7 +4,7 @@
* A program that illustrates intersectConvexConvex in various scenarios
*/
#include "opencv2/3d.hpp"
#include "opencv2/geometry.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/highgui.hpp"
samples/cpp/snippets/lsd_lines.cpp
+1 -1
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@@ -1,4 +1,4 @@
#include "opencv2/3d.hpp"
#include "opencv2/geometry/2d.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui.hpp"
samples/cpp/snippets/squares.cpp
+1 -1
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@@ -4,7 +4,7 @@
// each image
#include "opencv2/core.hpp"
#include "opencv2/3d.hpp"
#include "opencv2/geometry.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui.hpp"
samples/cpp/stereo_calib.cpp
+1 -1
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@@ -20,7 +20,7 @@
GitHub: https://github.com/opencv/opencv/
************************************************** */
#include "opencv2/3d.hpp"
#include "opencv2/geometry.hpp"
#include "opencv2/stereo.hpp"
#include "opencv2/calib.hpp"
#include "opencv2/imgcodecs.hpp"
samples/cpp/stereo_match.cpp
+1 -1
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@@ -6,7 +6,7 @@
* Copyright 2010 Argus Corp. All rights reserved.
*
*/
#include "opencv2/3d.hpp"
#include "opencv2/geometry.hpp"
#include "opencv2/stereo.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
samples/cpp/tutorial_code/ShapeDescriptors/generalContours_demo1.cpp
+1 -1
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@@ -6,7 +6,7 @@
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/3d.hpp"
#include "opencv2/geometry.hpp"
#include "opencv2/imgproc.hpp"
#include <iostream>
samples/cpp/tutorial_code/ShapeDescriptors/generalContours_demo2.cpp
+1 -1
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@@ -6,7 +6,7 @@
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/3d.hpp"
#include "opencv2/geometry.hpp"
#include "opencv2/imgproc.hpp"
#include <iostream>
samples/cpp/tutorial_code/ShapeDescriptors/hull_demo.cpp
+1 -1
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@@ -6,7 +6,7 @@
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/3d.hpp"
#include "opencv2/geometry.hpp"
#include "opencv2/imgproc.hpp"
#include <iostream>
samples/cpp/tutorial_code/ShapeDescriptors/pointPolygonTest_demo.cpp
+1 -1
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@@ -5,7 +5,7 @@
*/
#include "opencv2/highgui.hpp"
#include "opencv2/3d.hpp"
#include "opencv2/geometry.hpp"
#include "opencv2/imgproc.hpp"
#include <iostream>
samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp
+1 -1
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@@ -7,7 +7,7 @@
#include <opencv2/core.hpp>
#include <opencv2/core/utility.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/3d.hpp>
#include <opencv2/geometry.hpp>
#include <opencv2/calib.hpp>
#include <opencv2/imgcodecs.hpp>
#include <opencv2/videoio.hpp>
samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp
+1 -1
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@@ -6,7 +6,7 @@
*/
#include "Mesh.h"
#include <opencv2/3d.hpp>
#include <opencv2/geometry.hpp>
// --------------------------------------------------- //
// TRIANGLE CLASS //
samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp
+1 -1
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@@ -11,7 +11,7 @@
#include "PnPProblem.h"
#include "Mesh.h"
#include <opencv2/3d.hpp>
#include <opencv2/geometry.hpp>
/* Functions for Möller-Trumbore intersection algorithm */
static cv::Point3f CROSS(cv::Point3f v1, cv::Point3f v2)
samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
+1 -1
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@@ -13,7 +13,7 @@
#include <opencv2/opencv_modules.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/3d.hpp>
#include <opencv2/geometry.hpp>
#include <opencv2/flann.hpp>
#if defined (HAVE_OPENCV_XFEATURES2D)
#include <opencv2/xfeatures2d.hpp>
samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
+1 -1
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@@ -5,7 +5,7 @@
#include <opencv2/core/utils/filesystem.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/3d.hpp>
#include <opencv2/geometry.hpp>
#include <opencv2/video/tracking.hpp>
// PnP Tutorial
#include "Mesh.h"
samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
+1 -1
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@@ -3,7 +3,7 @@
// OpenCV
#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/3d.hpp>
#include <opencv2/geometry.hpp>
#include <opencv2/features.hpp>
// PnP Tutorial
#include "Mesh.h"
samples/cpp/tutorial_code/features/AKAZE_tracking/planar_tracking.cpp
+2 -2
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@@ -7,7 +7,7 @@
#include "opencv2/xfeatures2d.hpp"
#include <opencv2/videoio.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/3d.hpp>
#include <opencv2/geometry.hpp>
#include <opencv2/highgui.hpp> //for imshow
#include "stats.h" // Stats structure definition
@@ -220,4 +220,4 @@ int main()
std::cout << "This tutorial code needs the xfeatures2d contrib module to be run." << std::endl;
return 0;
}
#endif
#endif
samples/cpp/tutorial_code/features/Homography/decompose_homography.cpp
+1 -1
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@@ -1,7 +1,7 @@
#include <iostream>
#include <opencv2/core.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/3d.hpp>
#include <opencv2/geometry.hpp>
#include <opencv2/calib.hpp>
#include <opencv2/objdetect.hpp>
samples/cpp/tutorial_code/features/Homography/homography_from_camera_displacement.cpp
+1 -1
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@@ -2,7 +2,7 @@
#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/3d.hpp>
#include <opencv2/geometry.hpp>
#include <opencv2/objdetect.hpp>
#include <opencv2/calib.hpp>
samples/cpp/tutorial_code/features/Homography/perspective_correction.cpp
+1 -1
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@@ -1,7 +1,7 @@
#include <iostream>
#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/3d.hpp>
#include <opencv2/geometry.hpp>
#include <opencv2/calib.hpp>
#include <opencv2/objdetect.hpp>
#include <opencv2/highgui.hpp>
samples/cpp/tutorial_code/features/Homography/pose_from_homography.cpp
+1 -1
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@@ -1,7 +1,7 @@
#include <iostream>
#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/3d.hpp>
#include <opencv2/geometry.hpp>
#include <opencv2/calib.hpp>
#include <opencv2/objdetect.hpp>
#include <opencv2/highgui.hpp>
samples/cpp/tutorial_code/features/feature_homography/SURF_FLANN_matching_homography_Demo.cpp
+1 -1
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@@ -1,7 +1,7 @@
#include <iostream>
#include "opencv2/core.hpp"
#ifdef HAVE_OPENCV_XFEATURES2D
#include "opencv2/3d.hpp"
#include "opencv2/geometry.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/features.hpp"
samples/cpp/tutorial_code/snippets/3d_sac_segmentation.cpp
+2 -2
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@@ -11,7 +11,7 @@
*/
#include <opencv2/core.hpp>
#include <opencv2/3d.hpp>
#include <opencv2/geometry.hpp>
bool customFunc(const std::vector<double> &model_coefficients);
@@ -87,4 +87,4 @@ int planeSegmentationUsingRANSAC(const cv::Mat &pt_cloud,
int main()
{
}
}
samples/gpu/CMakeLists.txt
+1 -1
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@@ -11,7 +11,7 @@ set(OPENCV_CUDA_SAMPLES_REQUIRED_DEPS
opencv_video
opencv_objdetect
opencv_features
opencv_3d
opencv_geometry
opencv_superres
opencv_cudaarithm
opencv_cudafilters
samples/java/tutorial_code/features/Homography/PerspectiveCorrection.java
+2 -2
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@@ -3,7 +3,7 @@ import java.util.List;
import java.util.Random;
import org.opencv.core.*;
import org.opencv.3d.Cv3d;
import org.opencv.geometry.Geometry;
import org.opencv.calib.Calib;
import org.opencv.highgui.HighGui;
import org.opencv.imgcodecs.Imgcodecs;
@@ -29,7 +29,7 @@ class PerspectiveCorrectionRun {
//! [estimate-homography]
Mat H = new Mat();
H = Cv3d.findHomography(corners1, corners2);
H = Geometry.findHomography(corners1, corners2);
System.out.println(H.dump());
//! [estimate-homography]
samples/java/tutorial_code/features/feature_homography/SURFFLANNMatchingHomographyDemo.java
+2 -2
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@@ -1,7 +1,7 @@
import java.util.ArrayList;
import java.util.List;
import org.opencv._3d;
import org.opencv.geometry.Geometry;
import org.opencv.core.Core;
import org.opencv.core.CvType;
import org.opencv.core.DMatch;
@@ -82,7 +82,7 @@ class SURFFLANNMatchingHomography {
objMat.fromList(obj);
sceneMat.fromList(scene);
double ransacReprojThreshold = 3.0;
Mat H = Cv3d.findHomography( objMat, sceneMat, Cv3d.RANSAC, ransacReprojThreshold );
Mat H = Geometry.findHomography( objMat, sceneMat, Geometry.RANSAC, ransacReprojThreshold );
//-- Get the corners from the image_1 ( the object to be "detected" )
Mat objCorners = new Mat(4, 1, CvType.CV_32FC2), sceneCorners = new Mat();
samples/opengl/CMakeLists.txt
+1 -1
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@@ -13,7 +13,7 @@ SET(OPENCV_OPENGL_SAMPLES_REQUIRED_DEPS
opencv_core
opencv_imgproc
opencv_imgcodecs
opencv_3d
opencv_geometry
opencv_videoio
opencv_highgui)
ocv_check_dependencies(${OPENCV_OPENGL_SAMPLES_REQUIRED_DEPS})
samples/opengl/opengl_testdata_generator.cpp
+1 -1
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@@ -17,9 +17,9 @@
#include "opencv2/core.hpp"
#include "opencv2/core/opengl.hpp"
#include "opencv2/3d.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/geometry.hpp"
using namespace std;
using namespace cv;
samples/tapi/CMakeLists.txt
+1 -1
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@@ -9,7 +9,7 @@ set(OPENCV_TAPI_SAMPLES_REQUIRED_DEPS
opencv_highgui
opencv_objdetect
opencv_features
opencv_3d
opencv_geometry
opencv_stereo
opencv_flann)
ocv_check_dependencies(${OPENCV_TAPI_SAMPLES_REQUIRED_DEPS})
samples/tapi/squares.cpp
+1 -1
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@@ -2,7 +2,7 @@
#include "opencv2/core.hpp"
#include "opencv2/core/ocl.hpp"
#include "opencv2/core/utility.hpp"
#include "opencv2/3d.hpp"
#include "opencv2/geometry/2d.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui.hpp"