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Merge branch 4.x

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This commit is contained in:
Alexander Smorkalov
2026-04-23 11:00:34 +03:00
parent 323ea1782d 273e52ce8d
commit 7bde3f9ae9
38 changed files with 3437 additions and 293 deletions
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modules/imgproc/src/shapedescr.cpp
+22 -10
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@@ -579,7 +579,9 @@ cv::RotatedRect cv::fitEllipseAMS( InputArray _points )
M(4,3)=DM(3,4);
M(4,4)=DM(4,4);
if (fabs(cv::determinant(M)) > 1.0e-10) {
double npow = (double)n * (double)n;
npow = npow * npow * (double)n; // n^5
if (fabs(cv::determinant(M)) > 1.0e-10 / npow) {
break;
}
@@ -703,6 +705,8 @@ cv::RotatedRect cv::fitEllipseDirect( InputArray _points )
Matx<double, 3, 1> pVec;
double x0, y0, a, b, theta, Ts;
Mat eVal, eVec;
double cond[3];
double s = 0;
for( i = 0; i < n; i++ )
@@ -763,6 +767,11 @@ cv::RotatedRect cv::fitEllipseDirect( InputArray _points )
Ts=(-(DM(3,5)*DM(4,4)*DM(5,3)) + DM(3,4)*DM(4,5)*DM(5,3) + DM(3,5)*DM(4,3)*DM(5,4) - \
DM(3,3)*DM(4,5)*DM(5,4) - DM(3,4)*DM(4,3)*DM(5,5) + DM(3,3)*DM(4,4)*DM(5,5));
if (fabs(Ts) < DBL_EPSILON) {
eps = (float)(s/(n*2)*1e-2);
continue;
}
M(0,0) = (DM(2,0) + (DM(2,3)*TM(0,0) + DM(2,4)*TM(1,0) + DM(2,5)*TM(2,0))/Ts)/2.;
M(0,1) = (DM(2,1) + (DM(2,3)*TM(0,1) + DM(2,4)*TM(1,1) + DM(2,5)*TM(2,1))/Ts)/2.;
M(0,2) = (DM(2,2) + (DM(2,3)*TM(0,2) + DM(2,4)*TM(1,2) + DM(2,5)*TM(2,2))/Ts)/2.;
@@ -773,18 +782,9 @@ cv::RotatedRect cv::fitEllipseDirect( InputArray _points )
M(2,1) = (DM(0,1) + (DM(0,3)*TM(0,1) + DM(0,4)*TM(1,1) + DM(0,5)*TM(2,1))/Ts)/2.;
M(2,2) = (DM(0,2) + (DM(0,3)*TM(0,2) + DM(0,4)*TM(1,2) + DM(0,5)*TM(2,2))/Ts)/2.;
double det = cv::determinant(M);
if (fabs(det) > 1.0e-10)
break;
eps = (float)(s/(n*2)*1e-2);
}
if( iter < 2 ) {
Mat eVal, eVec;
eigenNonSymmetric(M, eVal, eVec);
// Select the eigen vector {a,b,c} which satisfies 4ac-b^2 > 0
double cond[3];
cond[0]=(4.0 * eVec.at<double>(0,0) * eVec.at<double>(0,2) - eVec.at<double>(0,1) * eVec.at<double>(0,1));
cond[1]=(4.0 * eVec.at<double>(1,0) * eVec.at<double>(1,2) - eVec.at<double>(1,1) * eVec.at<double>(1,1));
cond[2]=(4.0 * eVec.at<double>(2,0) * eVec.at<double>(2,2) - eVec.at<double>(2,1) * eVec.at<double>(2,1));
@@ -793,6 +793,18 @@ cv::RotatedRect cv::fitEllipseDirect( InputArray _points )
} else {
i = (cond[0]<cond[2]) ? 2 : 0;
}
// Check that the ellipse condition 4ac-b^2 is meaningfully positive
// (not just positive due to floating-point noise from complex eigenvalues)
{
double v0 = eVec.at<double>(i,0), v1 = eVec.at<double>(i,1), v2 = eVec.at<double>(i,2);
double vnorm2 = v0*v0 + v1*v1 + v2*v2;
if (cond[i] > 1e-6 * vnorm2)
break;
}
eps = (float)(s/(n*2)*1e-2);
}
if( iter < 2 ) {
double norm = std::sqrt(eVec.at<double>(i,0)*eVec.at<double>(i,0) + eVec.at<double>(i,1)*eVec.at<double>(i,1) + eVec.at<double>(i,2)*eVec.at<double>(i,2));
if (((eVec.at<double>(i,0)<0.0 ? -1 : 1) * (eVec.at<double>(i,1)<0.0 ? -1 : 1) * (eVec.at<double>(i,2)<0.0 ? -1 : 1)) <= 0.0) {
norm=-1.0*norm;