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Merge branch 4.x

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This commit is contained in:
Alexander Alekhin
2023-01-09 11:08:02 +00:00
parent 8a62b03761 2ab46d9553
commit 593a376566
880 changed files with 83958 additions and 9368 deletions
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samples/cpp/calibration.cpp
+49 -13
View File
@@ -39,9 +39,6 @@ const char * usage =
"</images>\n"
"</opencv_storage>\n";
const char* liveCaptureHelp =
"When the live video from camera is used as input, the following hot-keys may be used:\n"
" <ESC>, 'q' - quit the program\n"
@@ -60,19 +57,25 @@ static void help(char** argv)
" # of board views actually available)\n"
" [-d=<delay>] # a minimum delay in ms between subsequent attempts to capture a next view\n"
" # (used only for video capturing)\n"
" [-s=<squareSize>] # square size in some user-defined units (1 by default)\n"
" [-s=<squareSize>] # square size in some user-defined units (1 by default)\n"
" [-o=<out_camera_params>] # the output filename for intrinsic [and extrinsic] parameters\n"
" [-op] # write detected feature points\n"
" [-oe] # write extrinsic parameters\n"
" [-oo] # write refined 3D object points\n"
" [-zt] # assume zero tangential distortion\n"
" [-a=<aspectRatio>] # fix aspect ratio (fx/fy)\n"
" [-a=<aspectRatio>] # fix aspect ratio (fx/fy)\n"
" [-p] # fix the principal point at the center\n"
" [-v] # flip the captured images around the horizontal axis\n"
" [-V] # use a video file, and not an image list, uses\n"
" # [input_data] string for the video file name\n"
" [-su] # show undistorted images after calibration\n"
" [-ws=<number_of_pixel>] # Half of search window for cornerSubPix (11 by default)\n"
" [-ws=<number_of_pixel>] # half of search window for cornerSubPix (11 by default)\n"
" [-fx=<X focal length>] # focal length in X-dir as an initial intrinsic guess (if this flag is used, fx, fy, cx, cy must be set)\n"
" [-fy=<Y focal length>] # focal length in Y-dir as an initial intrinsic guess (if this flag is used, fx, fy, cx, cy must be set)\n"
" [-cx=<X center point>] # camera center point in X-dir as an initial intrinsic guess (if this flag is used, fx, fy, cx, cy must be set)\n"
" [-cy=<Y center point>] # camera center point in Y-dir as an initial intrinsic guess (if this flag is used, fx, fy, cx, cy must be set)\n"
" [-imshow-scale # image resize scaling factor when displaying the results (must be >= 1)\n"
" [-enable-k3=<0/1> # to enable (1) or disable (0) K3 coefficient for the distortion model\n"
" [-dt=<distance>] # actual distance between top-left and top-right corners of\n"
" # the calibration grid. If this parameter is specified, a more\n"
" # accurate calibration method will be used which may be better\n"
@@ -152,7 +155,6 @@ static bool runCalibration( vector<vector<Point2f> > imagePoints,
vector<Point3f>& newObjPoints,
double& totalAvgErr)
{
cameraMatrix = Mat::eye(3, 3, CV_64F);
if( flags & CALIB_FIX_ASPECT_RATIO )
cameraMatrix.at<double>(0,0) = aspectRatio;
@@ -171,7 +173,7 @@ static bool runCalibration( vector<vector<Point2f> > imagePoints,
iFixedPoint = boardSize.width - 1;
rms = calibrateCameraRO(objectPoints, imagePoints, imageSize, iFixedPoint,
cameraMatrix, distCoeffs, rvecs, tvecs, newObjPoints,
flags | CALIB_FIX_K3 | CALIB_USE_LU);
flags | CALIB_USE_LU);
printf("RMS error reported by calibrateCamera: %g\n", rms);
bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);
@@ -192,7 +194,6 @@ static bool runCalibration( vector<vector<Point2f> > imagePoints,
return ok;
}
static void saveCameraParams( const string& filename,
Size imageSize, Size boardSize,
float squareSize, float aspectRatio, int flags,
@@ -347,7 +348,6 @@ static bool runAndSave(const string& outputFilename,
return ok;
}
int main( int argc, char** argv )
{
Size boardSize, imageSize;
@@ -376,6 +376,8 @@ int main( int argc, char** argv )
"{help ||}{w||}{h||}{pt|chessboard|}{n|10|}{d|1000|}{s|1|}{o|out_camera_data.yml|}"
"{op||}{oe||}{zt||}{a||}{p||}{v||}{V||}{su||}"
"{oo||}{ws|11|}{dt||}"
"{fx||}{fy||}{cx||}{cy||}"
"{imshow-scale|1|}{enable-k3|0|}"
"{@input_data|0|}");
if (parser.has("help"))
{
@@ -420,6 +422,23 @@ int main( int argc, char** argv )
else
inputFilename = parser.get<string>("@input_data");
int winSize = parser.get<int>("ws");
cameraMatrix = Mat::eye(3, 3, CV_64F);
if (parser.has("fx") && parser.has("fy") && parser.has("cx") && parser.has("cy"))
{
cameraMatrix.at<double>(0,0) = parser.get<double>("fx");
cameraMatrix.at<double>(0,2) = parser.get<double>("cx");
cameraMatrix.at<double>(1,1) = parser.get<double>("fy");
cameraMatrix.at<double>(1,2) = parser.get<double>("cy");
flags |= CALIB_USE_INTRINSIC_GUESS;
std::cout << "Use the following camera matrix as an initial guess:\n" << cameraMatrix << std::endl;
}
int viewScaleFactor = parser.get<int>("imshow-scale");
bool useK3 = parser.get<bool>("enable-k3");
std::cout << "Use K3 distortion coefficient? " << useK3 << std::endl;
if (!useK3)
{
flags |= CALIB_FIX_K3;
}
float grid_width = squareSize * (boardSize.width - 1);
bool release_object = false;
if (parser.has("dt")) {
@@ -555,8 +574,17 @@ int main( int argc, char** argv )
Mat temp = view.clone();
undistort(temp, view, cameraMatrix, distCoeffs);
}
if (viewScaleFactor > 1)
{
Mat viewScale;
resize(view, viewScale, Size(), 1.0/viewScaleFactor, 1.0/viewScaleFactor, INTER_AREA);
imshow("Image View", viewScale);
}
else
{
imshow("Image View", view);
}
imshow("Image View", view);
char key = (char)waitKey(capture.isOpened() ? 50 : 500);
if( key == 27 )
@@ -597,9 +625,17 @@ int main( int argc, char** argv )
view = imread(imageList[i], 1);
if(view.empty())
continue;
//undistort( view, rview, cameraMatrix, distCoeffs, cameraMatrix );
remap(view, rview, map1, map2, INTER_LINEAR);
imshow("Image View", rview);
if (viewScaleFactor > 1)
{
Mat rviewScale;
resize(rview, rviewScale, Size(), 1.0/viewScaleFactor, 1.0/viewScaleFactor, INTER_AREA);
imshow("Image View", rviewScale);
}
else
{
imshow("Image View", rview);
}
char c = (char)waitKey();
if( c == 27 || c == 'q' || c == 'Q' )
break;
samples/cpp/tutorial_code/ImgTrans/generalizedHoughTransform.cpp
+108
View File
@@ -0,0 +1,108 @@
/**
@file generalizedHoughTransform.cpp
@author Markus Heck
@brief Detects an object, given by a template, in an image using GeneralizedHoughBallard and GeneralizedHoughGuil.
*/
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
using namespace cv;
using namespace std;
int main() {
//! [generalized-hough-transform-load-and-setup]
// load source image and grayscale template
Mat image = imread("images/generalized_hough_mini_image.jpg");
Mat templ = imread("images/generalized_hough_mini_template.jpg", IMREAD_GRAYSCALE);
// create grayscale image
Mat grayImage;
cvtColor(image, grayImage, COLOR_RGB2GRAY);
// create variable for location, scale and rotation of detected templates
vector<Vec4f> positionBallard, positionGuil;
// template width and height
int w = templ.cols;
int h = templ.rows;
//! [generalized-hough-transform-load-and-setup]
//! [generalized-hough-transform-setup-parameters]
// create ballard and set options
Ptr<GeneralizedHoughBallard> ballard = createGeneralizedHoughBallard();
ballard->setMinDist(10);
ballard->setLevels(360);
ballard->setDp(2);
ballard->setMaxBufferSize(1000);
ballard->setVotesThreshold(40);
ballard->setCannyLowThresh(30);
ballard->setCannyHighThresh(110);
ballard->setTemplate(templ);
// create guil and set options
Ptr<GeneralizedHoughGuil> guil = createGeneralizedHoughGuil();
guil->setMinDist(10);
guil->setLevels(360);
guil->setDp(3);
guil->setMaxBufferSize(1000);
guil->setMinAngle(0);
guil->setMaxAngle(360);
guil->setAngleStep(1);
guil->setAngleThresh(1500);
guil->setMinScale(0.5);
guil->setMaxScale(2.0);
guil->setScaleStep(0.05);
guil->setScaleThresh(50);
guil->setPosThresh(10);
guil->setCannyLowThresh(30);
guil->setCannyHighThresh(110);
guil->setTemplate(templ);
//! [generalized-hough-transform-setup-parameters]
//! [generalized-hough-transform-run]
// execute ballard detection
ballard->detect(grayImage, positionBallard);
// execute guil detection
guil->detect(grayImage, positionGuil);
//! [generalized-hough-transform-run]
//! [generalized-hough-transform-draw-results]
// draw ballard
for (vector<Vec4f>::iterator iter = positionBallard.begin(); iter != positionBallard.end(); ++iter) {
RotatedRect rRect = RotatedRect(Point2f((*iter)[0], (*iter)[1]),
Size2f(w * (*iter)[2], h * (*iter)[2]),
(*iter)[3]);
Point2f vertices[4];
rRect.points(vertices);
for (int i = 0; i < 4; i++)
line(image, vertices[i], vertices[(i + 1) % 4], Scalar(255, 0, 0), 6);
}
// draw guil
for (vector<Vec4f>::iterator iter = positionGuil.begin(); iter != positionGuil.end(); ++iter) {
RotatedRect rRect = RotatedRect(Point2f((*iter)[0], (*iter)[1]),
Size2f(w * (*iter)[2], h * (*iter)[2]),
(*iter)[3]);
Point2f vertices[4];
rRect.points(vertices);
for (int i = 0; i < 4; i++)
line(image, vertices[i], vertices[(i + 1) % 4], Scalar(0, 255, 0), 2);
}
imshow("result_img", image);
waitKey();
//! [generalized-hough-transform-draw-results]
return EXIT_SUCCESS;
}
samples/cpp/tutorial_code/video/meanshift/camshift.cpp
+1 -1
View File
@@ -58,7 +58,7 @@ int main(int argc, char **argv)
calcHist(&hsv_roi, 1, channels, mask, roi_hist, 1, histSize, range);
normalize(roi_hist, roi_hist, 0, 255, NORM_MINMAX);
// Setup the termination criteria, either 10 iteration or move by atleast 1 pt
// Setup the termination criteria, either 10 iteration or move by at least 1 pt
TermCriteria term_crit(TermCriteria::EPS | TermCriteria::COUNT, 10, 1);
while(true){
samples/cpp/tutorial_code/video/meanshift/meanshift.cpp
+1 -1
View File
@@ -58,7 +58,7 @@ int main(int argc, char **argv)
calcHist(&hsv_roi, 1, channels, mask, roi_hist, 1, histSize, range);
normalize(roi_hist, roi_hist, 0, 255, NORM_MINMAX);
// Setup the termination criteria, either 10 iteration or move by atleast 1 pt
// Setup the termination criteria, either 10 iteration or move by at least 1 pt
TermCriteria term_crit(TermCriteria::EPS | TermCriteria::COUNT, 10, 1);
while(true){