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Merge remote-tracking branch 'upstream/3.4' into merge-3.4

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Alexander Alekhin
2022-10-15 16:08:07 +00:00
parent 2763f988da ea5ca16036
commit 762481411d
41 changed files with 1216 additions and 122 deletions
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modules/calib3d/include/opencv2/calib3d.hpp
+31 -17
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@@ -685,7 +685,7 @@ a vector\<Point2f\> .
- @ref RHO - PROSAC-based robust method
@param ransacReprojThreshold Maximum allowed reprojection error to treat a point pair as an inlier
(used in the RANSAC and RHO methods only). That is, if
\f[\| \texttt{dstPoints} _i - \texttt{convertPointsHomogeneous} ( \texttt{H} * \texttt{srcPoints} _i) \|_2 > \texttt{ransacReprojThreshold}\f]
\f[\| \texttt{dstPoints} _i - \texttt{convertPointsHomogeneous} ( \texttt{H} \cdot \texttt{srcPoints} _i) \|_2 > \texttt{ransacReprojThreshold}\f]
then the point \f$i\f$ is considered as an outlier. If srcPoints and dstPoints are measured in pixels,
it usually makes sense to set this parameter somewhere in the range of 1 to 10.
@param mask Optional output mask set by a robust method ( RANSAC or LMeDS ). Note that the input
@@ -788,7 +788,7 @@ be used in OpenGL. Note, there is always more than one sequence of rotations abo
principal axes that results in the same orientation of an object, e.g. see @cite Slabaugh . Returned
tree rotation matrices and corresponding three Euler angles are only one of the possible solutions.
The function is based on RQDecomp3x3 .
The function is based on #RQDecomp3x3 .
*/
CV_EXPORTS_W void decomposeProjectionMatrix( InputArray projMatrix, OutputArray cameraMatrix,
OutputArray rotMatrix, OutputArray transVect,
@@ -834,10 +834,10 @@ The functions compute:
\f[\begin{array}{l} \texttt{rvec3} = \mathrm{rodrigues} ^{-1} \left ( \mathrm{rodrigues} ( \texttt{rvec2} ) \cdot \mathrm{rodrigues} ( \texttt{rvec1} ) \right ) \\ \texttt{tvec3} = \mathrm{rodrigues} ( \texttt{rvec2} ) \cdot \texttt{tvec1} + \texttt{tvec2} \end{array} ,\f]
where \f$\mathrm{rodrigues}\f$ denotes a rotation vector to a rotation matrix transformation, and
\f$\mathrm{rodrigues}^{-1}\f$ denotes the inverse transformation. See Rodrigues for details.
\f$\mathrm{rodrigues}^{-1}\f$ denotes the inverse transformation. See #Rodrigues for details.
Also, the functions can compute the derivatives of the output vectors with regards to the input
vectors (see matMulDeriv ). The functions are used inside #stereoCalibrate but can also be used in
vectors (see #matMulDeriv ). The functions are used inside #stereoCalibrate but can also be used in
your own code where Levenberg-Marquardt or another gradient-based solver is used to optimize a
function that contains a matrix multiplication.
*/
@@ -1206,7 +1206,7 @@ coordinate space. In the old interface all the per-view vectors are concatenated
old interface all the per-view vectors are concatenated.
@param imageSize Image size in pixels used to initialize the principal point.
@param aspectRatio If it is zero or negative, both \f$f_x\f$ and \f$f_y\f$ are estimated independently.
Otherwise, \f$f_x = f_y * \texttt{aspectRatio}\f$ .
Otherwise, \f$f_x = f_y \cdot \texttt{aspectRatio}\f$ .
The function estimates and returns an initial camera intrinsic matrix for the camera calibration process.
Currently, the function only supports planar calibration patterns, which are patterns where each
@@ -1225,7 +1225,7 @@ CV_EXPORTS_W Mat initCameraMatrix2D( InputArrayOfArrays objectPoints,
@param flags Various operation flags that can be zero or a combination of the following values:
- @ref CALIB_CB_ADAPTIVE_THRESH Use adaptive thresholding to convert the image to black
and white, rather than a fixed threshold level (computed from the average image brightness).
- @ref CALIB_CB_NORMALIZE_IMAGE Normalize the image gamma with equalizeHist before
- @ref CALIB_CB_NORMALIZE_IMAGE Normalize the image gamma with #equalizeHist before
applying fixed or adaptive thresholding.
- @ref CALIB_CB_FILTER_QUADS Use additional criteria (like contour area, perimeter,
square-like shape) to filter out false quads extracted at the contour retrieval stage.
@@ -1239,7 +1239,7 @@ are found and they are placed in a certain order (row by row, left to right in e
Otherwise, if the function fails to find all the corners or reorder them, it returns 0. For example,
a regular chessboard has 8 x 8 squares and 7 x 7 internal corners, that is, points where the black
squares touch each other. The detected coordinates are approximate, and to determine their positions
more accurately, the function calls cornerSubPix. You also may use the function cornerSubPix with
more accurately, the function calls #cornerSubPix. You also may use the function #cornerSubPix with
different parameters if returned coordinates are not accurate enough.
Sample usage of detecting and drawing chessboard corners: :
@@ -1942,11 +1942,18 @@ coordinates. The function distinguishes the following two cases:
\end{bmatrix}\f]
\f[\texttt{P2} = \begin{bmatrix}
f & 0 & cx_2 & T_x*f \\
f & 0 & cx_2 & T_x \cdot f \\
0 & f & cy & 0 \\
0 & 0 & 1 & 0
\end{bmatrix} ,\f]
\f[\texttt{Q} = \begin{bmatrix}
1 & 0 & 0 & -cx_1 \\
0 & 1 & 0 & -cy \\
0 & 0 & 0 & f \\
0 & 0 & -\frac{1}{T_x} & \frac{cx_1 - cx_2}{T_x}
\end{bmatrix} \f]
where \f$T_x\f$ is a horizontal shift between the cameras and \f$cx_1=cx_2\f$ if
@ref CALIB_ZERO_DISPARITY is set.
@@ -1962,10 +1969,17 @@ coordinates. The function distinguishes the following two cases:
\f[\texttt{P2} = \begin{bmatrix}
f & 0 & cx & 0 \\
0 & f & cy_2 & T_y*f \\
0 & f & cy_2 & T_y \cdot f \\
0 & 0 & 1 & 0
\end{bmatrix},\f]
\f[\texttt{Q} = \begin{bmatrix}
1 & 0 & 0 & -cx \\
0 & 1 & 0 & -cy_1 \\
0 & 0 & 0 & f \\
0 & 0 & -\frac{1}{T_y} & \frac{cy_1 - cy_2}{T_y}
\end{bmatrix} \f]
where \f$T_y\f$ is a vertical shift between the cameras and \f$cy_1=cy_2\f$ if
@ref CALIB_ZERO_DISPARITY is set.
@@ -2001,8 +2015,8 @@ CV_EXPORTS_W void stereoRectify( InputArray cameraMatrix1, InputArray distCoeffs
@param H2 Output rectification homography matrix for the second image.
@param threshold Optional threshold used to filter out the outliers. If the parameter is greater
than zero, all the point pairs that do not comply with the epipolar geometry (that is, the points
for which \f$|\texttt{points2[i]}^T*\texttt{F}*\texttt{points1[i]}|>\texttt{threshold}\f$ ) are
rejected prior to computing the homographies. Otherwise, all the points are considered inliers.
for which \f$|\texttt{points2[i]}^T \cdot \texttt{F} \cdot \texttt{points1[i]}|>\texttt{threshold}\f$ )
are rejected prior to computing the homographies. Otherwise, all the points are considered inliers.
The function computes the rectification transformations without knowing intrinsic parameters of the
cameras and their relative position in the space, which explains the suffix "uncalibrated". Another
@@ -2425,7 +2439,7 @@ the found fundamental matrix. Normally just one matrix is found. But in case of
algorithm, the function may return up to 3 solutions ( \f$9 \times 3\f$ matrix that stores all 3
matrices sequentially).
The calculated fundamental matrix may be passed further to computeCorrespondEpilines that finds the
The calculated fundamental matrix may be passed further to #computeCorrespondEpilines that finds the
epipolar lines corresponding to the specified points. It can also be passed to
#stereoRectifyUncalibrated to compute the rectification transformation. :
@code
@@ -2495,7 +2509,7 @@ This function estimates essential matrix based on the five-point algorithm solve
where \f$E\f$ is an essential matrix, \f$p_1\f$ and \f$p_2\f$ are corresponding points in the first and the
second images, respectively. The result of this function may be passed further to
#decomposeEssentialMat or #recoverPose to recover the relative pose between cameras.
#decomposeEssentialMat or #recoverPose to recover the relative pose between cameras.
*/
CV_EXPORTS_W
Mat findEssentialMat(
@@ -2888,12 +2902,12 @@ CV_EXPORTS_W void triangulatePoints( InputArray projMatr1, InputArray projMatr2,
@param newPoints1 The optimized points1.
@param newPoints2 The optimized points2.
The function implements the Optimal Triangulation Method (see Multiple View Geometry for details).
The function implements the Optimal Triangulation Method (see Multiple View Geometry @cite HartleyZ00 for details).
For each given point correspondence points1[i] \<-\> points2[i], and a fundamental matrix F, it
computes the corrected correspondences newPoints1[i] \<-\> newPoints2[i] that minimize the geometric
error \f$d(points1[i], newPoints1[i])^2 + d(points2[i],newPoints2[i])^2\f$ (where \f$d(a,b)\f$ is the
geometric distance between points \f$a\f$ and \f$b\f$ ) subject to the epipolar constraint
\f$newPoints2^T * F * newPoints1 = 0\f$ .
\f$newPoints2^T \cdot F \cdot newPoints1 = 0\f$ .
*/
CV_EXPORTS_W void correctMatches( InputArray F, InputArray points1, InputArray points2,
OutputArray newPoints1, OutputArray newPoints2 );
@@ -3566,7 +3580,7 @@ where cameraMatrix can be chosen arbitrarily.
of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.
@param R Optional rectification transformation in the object space (3x3 matrix). R1 or R2 ,
computed by #stereoRectify can be passed here. If the matrix is empty, the identity transformation
is assumed. In cvInitUndistortMap R assumed to be an identity matrix.
is assumed. In #initUndistortRectifyMap R assumed to be an identity matrix.
@param newCameraMatrix New camera matrix \f$A'=\vecthreethree{f_x'}{0}{c_x'}{0}{f_y'}{c_y'}{0}{0}{1}\f$.
@param size Undistorted image size.
@param m1type Type of the first output map that can be CV_32FC1, CV_32FC2 or CV_16SC2, see #convertMaps
@@ -3959,7 +3973,7 @@ optimization. It is the \f$max(width,height)/\pi\f$ or the provided \f$f_x\f$, \
camera.
@param P2 Output 3x4 projection matrix in the new (rectified) coordinate systems for the second
camera.
@param Q Output \f$4 \times 4\f$ disparity-to-depth mapping matrix (see reprojectImageTo3D ).
@param Q Output \f$4 \times 4\f$ disparity-to-depth mapping matrix (see #reprojectImageTo3D ).
@param flags Operation flags that may be zero or @ref fisheye::CALIB_ZERO_DISPARITY . If the flag is set,
the function makes the principal points of each camera have the same pixel coordinates in the
rectified views. And if the flag is not set, the function may still shift the images in the