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don't use constructors for C API structures

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This commit is contained in:
Alexander Alekhin
2018-09-06 14:34:16 +03:00
parent ad146e5a6b
commit 8a3c394d6a
70 changed files with 547 additions and 578 deletions
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modules/calib3d/src/calibration.cpp
+106 -94
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@@ -977,7 +977,7 @@ CV_IMPL void cvFindExtrinsicCameraParams2( const CvMat* objectPoints,
int i, count;
double a[9], ar[9]={1,0,0,0,1,0,0,0,1}, R[9];
double MM[9], U[9], V[9], W[3];
CvScalar Mc;
cv::Scalar Mc;
double param[6];
CvMat matA = cvMat( 3, 3, CV_64F, a );
CvMat _Ar = cvMat( 3, 3, CV_64F, ar );
@@ -1478,7 +1478,7 @@ static double cvCalibrateCamera2Internal( const CvMat* objectPoints,
CV_Error( CV_StsOutOfRange,
"The specified aspect ratio (= cameraMatrix[0][0] / cameraMatrix[1][1]) is incorrect" );
}
CvMat _matM(matM), m(_m);
CvMat _matM = cvMat(matM), m = cvMat(_m);
cvInitIntrinsicParams2D( &_matM, &m, npoints, imageSize, &matA, aspectRatio );
}
@@ -1550,8 +1550,8 @@ static double cvCalibrateCamera2Internal( const CvMat* objectPoints,
cvGetRows( solver.param, &_ri, NINTRINSIC + i*6, NINTRINSIC + i*6 + 3 );
cvGetRows( solver.param, &_ti, NINTRINSIC + i*6 + 3, NINTRINSIC + i*6 + 6 );
CvMat _Mi(matM.colRange(pos, pos + ni));
CvMat _mi(_m.colRange(pos, pos + ni));
CvMat _Mi = cvMat(matM.colRange(pos, pos + ni));
CvMat _mi = cvMat(_m.colRange(pos, pos + ni));
cvFindExtrinsicCameraParams2( &_Mi, &_mi, &matA, &_k, &_ri, &_ti );
}
@@ -1590,17 +1590,17 @@ static double cvCalibrateCamera2Internal( const CvMat* objectPoints,
cvGetRows( solver.param, &_ri, NINTRINSIC + i*6, NINTRINSIC + i*6 + 3 );
cvGetRows( solver.param, &_ti, NINTRINSIC + i*6 + 3, NINTRINSIC + i*6 + 6 );
CvMat _Mi(matM.colRange(pos, pos + ni));
CvMat _mi(_m.colRange(pos, pos + ni));
CvMat _me(allErrors.colRange(pos, pos + ni));
CvMat _Mi = cvMat(matM.colRange(pos, pos + ni));
CvMat _mi = cvMat(_m.colRange(pos, pos + ni));
CvMat _me = cvMat(allErrors.colRange(pos, pos + ni));
_Je.resize(ni*2); _Ji.resize(ni*2); _err.resize(ni*2);
CvMat _dpdr(_Je.colRange(0, 3));
CvMat _dpdt(_Je.colRange(3, 6));
CvMat _dpdf(_Ji.colRange(0, 2));
CvMat _dpdc(_Ji.colRange(2, 4));
CvMat _dpdk(_Ji.colRange(4, NINTRINSIC));
CvMat _mp(_err.reshape(2, 1));
CvMat _dpdr = cvMat(_Je.colRange(0, 3));
CvMat _dpdt = cvMat(_Je.colRange(3, 6));
CvMat _dpdf = cvMat(_Ji.colRange(0, 2));
CvMat _dpdc = cvMat(_Ji.colRange(2, 4));
CvMat _dpdk = cvMat(_Ji.colRange(4, NINTRINSIC));
CvMat _mp = cvMat(_err.reshape(2, 1));
if( calcJ )
{
@@ -2081,7 +2081,7 @@ static double cvStereoCalibrateImpl( const CvMat* _objectPoints, const CvMat* _i
for( i = ofs = 0; i < nimages; ofs += ni, i++ )
{
ni = npoints->data.i[i];
CvMat objpt_i, _part;
CvMat objpt_i;
om[0] = cvMat(3,1,CV_64F,solver.param->data.db+(i+1)*6);
T[0] = cvMat(3,1,CV_64F,solver.param->data.db+(i+1)*6+3);
@@ -2095,12 +2095,12 @@ static double cvStereoCalibrateImpl( const CvMat* _objectPoints, const CvMat* _i
objpt_i = cvMat(1, ni, CV_64FC3, objectPoints->data.db + ofs*3);
err.resize(ni*2); Je.resize(ni*2); J_LR.resize(ni*2); Ji.resize(ni*2);
CvMat tmpimagePoints(err.reshape(2, 1));
CvMat dpdf(Ji.colRange(0, 2));
CvMat dpdc(Ji.colRange(2, 4));
CvMat dpdk(Ji.colRange(4, NINTRINSIC));
CvMat dpdrot(Je.colRange(0, 3));
CvMat dpdt(Je.colRange(3, 6));
CvMat tmpimagePoints = cvMat(err.reshape(2, 1));
CvMat dpdf = cvMat(Ji.colRange(0, 2));
CvMat dpdc = cvMat(Ji.colRange(2, 4));
CvMat dpdk = cvMat(Ji.colRange(4, NINTRINSIC));
CvMat dpdrot = cvMat(Je.colRange(0, 3));
CvMat dpdt = cvMat(Je.colRange(3, 6));
for( k = 0; k < 2; k++ )
{
@@ -2363,7 +2363,7 @@ void cvStereoRectify( const CvMat* _cameraMatrix1, const CvMat* _cameraMatrix2,
// calculate projection/camera matrices
// these contain the relevant rectified image internal params (fx, fy=fx, cx, cy)
double fc_new = DBL_MAX;
CvPoint2D64f cc_new[2] = {{0,0}, {0,0}};
CvPoint2D64f cc_new[2] = {};
newImgSize = newImgSize.width * newImgSize.height != 0 ? newImgSize : imageSize;
const double ratio_x = (double)newImgSize.width / imageSize.width / 2;
@@ -2375,8 +2375,8 @@ void cvStereoRectify( const CvMat* _cameraMatrix1, const CvMat* _cameraMatrix2,
{
const CvMat* A = k == 0 ? _cameraMatrix1 : _cameraMatrix2;
const CvMat* Dk = k == 0 ? _distCoeffs1 : _distCoeffs2;
CvPoint2D32f _pts[4];
CvPoint3D32f _pts_3[4];
CvPoint2D32f _pts[4] = {};
CvPoint3D32f _pts_3[4] = {};
CvMat pts = cvMat(1, 4, CV_32FC2, _pts);
CvMat pts_3 = cvMat(1, 4, CV_32FC3, _pts_3);
@@ -2485,18 +2485,22 @@ void cvStereoRectify( const CvMat* _cameraMatrix1, const CvMat* _cameraMatrix2,
if(roi1)
{
*roi1 = cv::Rect(cvCeil((inner1.x - cx1_0)*s + cx1),
*roi1 = cvRect(
cv::Rect(cvCeil((inner1.x - cx1_0)*s + cx1),
cvCeil((inner1.y - cy1_0)*s + cy1),
cvFloor(inner1.width*s), cvFloor(inner1.height*s))
& cv::Rect(0, 0, newImgSize.width, newImgSize.height);
& cv::Rect(0, 0, newImgSize.width, newImgSize.height)
);
}
if(roi2)
{
*roi2 = cv::Rect(cvCeil((inner2.x - cx2_0)*s + cx2),
*roi2 = cvRect(
cv::Rect(cvCeil((inner2.x - cx2_0)*s + cx2),
cvCeil((inner2.y - cy2_0)*s + cy2),
cvFloor(inner2.width*s), cvFloor(inner2.height*s))
& cv::Rect(0, 0, newImgSize.width, newImgSize.height);
& cv::Rect(0, 0, newImgSize.width, newImgSize.height)
);
}
}
@@ -2557,7 +2561,7 @@ void cvGetOptimalNewCameraMatrix( const CvMat* cameraMatrix, const CvMat* distCo
(float)(inner.height*s));
cv::Rect r(cvCeil(inner.x), cvCeil(inner.y), cvFloor(inner.width), cvFloor(inner.height));
r &= cv::Rect(0, 0, newImgSize.width, newImgSize.height);
*validPixROI = r;
*validPixROI = cvRect(r);
}
}
else
@@ -2589,7 +2593,7 @@ void cvGetOptimalNewCameraMatrix( const CvMat* cameraMatrix, const CvMat* distCo
icvGetRectangles( cameraMatrix, distCoeffs, 0, &matM, imgSize, inner, outer );
cv::Rect r = inner;
r &= cv::Rect(0, 0, newImgSize.width, newImgSize.height);
*validPixROI = r;
*validPixROI = cvRect(r);
}
}
@@ -3162,30 +3166,29 @@ static void collectCalibrationData( InputArrayOfArrays objectPoints,
Point3f* objPtData = objPtMat.ptr<Point3f>();
Point2f* imgPtData1 = imgPtMat1.ptr<Point2f>();
#if defined __GNUC__ && __GNUC__ >= 8
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wclass-memaccess"
#endif
for( i = 0; i < nimages; i++, j += ni )
{
Mat objpt = objectPoints.getMat(i);
Mat imgpt1 = imagePoints1.getMat(i);
ni = objpt.checkVector(3, CV_32F);
npoints.at<int>(i) = ni;
memcpy( objPtData + j, objpt.ptr(), ni*sizeof(objPtData[0]) );
memcpy( imgPtData1 + j, imgpt1.ptr(), ni*sizeof(imgPtData1[0]) );
for (int n = 0; n < ni; ++n)
{
objPtData[j + n] = objpt.ptr<Point3f>()[n];
imgPtData1[j + n] = imgpt1.ptr<Point2f>()[n];
}
if( imgPtData2 )
{
Mat imgpt2 = imagePoints2.getMat(i);
int ni2 = imgpt2.checkVector(2, CV_32F);
CV_Assert( ni == ni2 );
memcpy( imgPtData2 + j, imgpt2.ptr(), ni*sizeof(imgPtData2[0]) );
for (int n = 0; n < ni2; ++n)
{
imgPtData2[j + n] = imgpt2.ptr<Point2f>()[n];
}
}
}
#if defined __GNUC__ && __GNUC__ >= 8
#pragma GCC diagnostic pop
#endif
}
static Mat prepareCameraMatrix(Mat& cameraMatrix0, int rtype)
@@ -3228,11 +3231,11 @@ void cv::Rodrigues(InputArray _src, OutputArray _dst, OutputArray _jacobian)
bool v2m = src.cols == 1 || src.rows == 1;
_dst.create(3, v2m ? 3 : 1, src.depth());
Mat dst = _dst.getMat();
CvMat _csrc = src, _cdst = dst, _cjacobian;
CvMat _csrc = cvMat(src), _cdst = cvMat(dst), _cjacobian;
if( _jacobian.needed() )
{
_jacobian.create(v2m ? Size(9, 3) : Size(3, 9), src.depth());
_cjacobian = _jacobian.getMat();
_cjacobian = cvMat(_jacobian.getMat());
}
bool ok = cvRodrigues2(&_csrc, &_cdst, _jacobian.needed() ? &_cjacobian : 0) > 0;
if( !ok )
@@ -3247,7 +3250,8 @@ void cv::matMulDeriv( InputArray _Amat, InputArray _Bmat,
Mat A = _Amat.getMat(), B = _Bmat.getMat();
_dABdA.create(A.rows*B.cols, A.rows*A.cols, A.type());
_dABdB.create(A.rows*B.cols, B.rows*B.cols, A.type());
CvMat matA = A, matB = B, c_dABdA = _dABdA.getMat(), c_dABdB = _dABdB.getMat();
Mat dABdA = _dABdA.getMat(), dABdB = _dABdB.getMat();
CvMat matA = cvMat(A), matB = cvMat(B), c_dABdA = cvMat(dABdA), c_dABdB = cvMat(dABdB);
cvCalcMatMulDeriv(&matA, &matB, &c_dABdA, &c_dABdB);
}
@@ -3267,8 +3271,8 @@ void cv::composeRT( InputArray _rvec1, InputArray _tvec1,
_tvec3.create(tvec1.size(), rtype);
Mat rvec3 = _rvec3.getMat(), tvec3 = _tvec3.getMat();
CvMat c_rvec1 = rvec1, c_tvec1 = tvec1, c_rvec2 = rvec2,
c_tvec2 = tvec2, c_rvec3 = rvec3, c_tvec3 = tvec3;
CvMat c_rvec1 = cvMat(rvec1), c_tvec1 = cvMat(tvec1), c_rvec2 = cvMat(rvec2),
c_tvec2 = cvMat(tvec2), c_rvec3 = cvMat(rvec3), c_tvec3 = cvMat(tvec3);
CvMat c_dr3dr1, c_dr3dt1, c_dr3dr2, c_dr3dt2, c_dt3dr1, c_dt3dt1, c_dt3dr2, c_dt3dt2;
CvMat *p_dr3dr1=0, *p_dr3dt1=0, *p_dr3dr2=0, *p_dr3dt2=0, *p_dt3dr1=0, *p_dt3dt1=0, *p_dt3dr2=0, *p_dt3dt2=0;
#define CV_COMPOSE_RT_PARAM(name) \
@@ -3277,7 +3281,7 @@ void cv::composeRT( InputArray _rvec1, InputArray _tvec1,
{ \
_ ## name.create(3, 3, rtype); \
name = _ ## name.getMat(); \
p_ ## name = &(c_ ## name = name); \
p_ ## name = &(c_ ## name = cvMat(name)); \
}
CV_COMPOSE_RT_PARAM(dr3dr1); CV_COMPOSE_RT_PARAM(dr3dt1);
@@ -3310,31 +3314,32 @@ void cv::projectPoints( InputArray _opoints,
_ipoints.create(npoints, 1, CV_MAKETYPE(depth, 2), -1, true);
Mat imagePoints = _ipoints.getMat();
CvMat c_imagePoints(imagePoints);
CvMat c_objectPoints = opoints;
CvMat c_imagePoints = cvMat(imagePoints);
CvMat c_objectPoints = cvMat(opoints);
Mat cameraMatrix = _cameraMatrix.getMat();
Mat rvec = _rvec.getMat(), tvec = _tvec.getMat();
CvMat c_cameraMatrix = cameraMatrix;
CvMat c_rvec = rvec, c_tvec = tvec;
CvMat c_cameraMatrix = cvMat(cameraMatrix);
CvMat c_rvec = cvMat(rvec), c_tvec = cvMat(tvec);
double dc0buf[5]={0};
Mat dc0(5,1,CV_64F,dc0buf);
Mat distCoeffs = _distCoeffs.getMat();
if( distCoeffs.empty() )
distCoeffs = dc0;
CvMat c_distCoeffs = distCoeffs;
CvMat c_distCoeffs = cvMat(distCoeffs);
int ndistCoeffs = distCoeffs.rows + distCoeffs.cols - 1;
Mat jacobian;
if( _jacobian.needed() )
{
_jacobian.create(npoints*2, 3+3+2+2+ndistCoeffs, CV_64F);
Mat jacobian = _jacobian.getMat();
pdpdrot = &(dpdrot = jacobian.colRange(0, 3));
pdpdt = &(dpdt = jacobian.colRange(3, 6));
pdpdf = &(dpdf = jacobian.colRange(6, 8));
pdpdc = &(dpdc = jacobian.colRange(8, 10));
pdpddist = &(dpddist = jacobian.colRange(10, 10+ndistCoeffs));
jacobian = _jacobian.getMat();
pdpdrot = &(dpdrot = cvMat(jacobian.colRange(0, 3)));
pdpdt = &(dpdt = cvMat(jacobian.colRange(3, 6)));
pdpdf = &(dpdf = cvMat(jacobian.colRange(6, 8)));
pdpdc = &(dpdc = cvMat(jacobian.colRange(8, 10)));
pdpddist = &(dpddist = cvMat(jacobian.colRange(10, 10+ndistCoeffs)));
}
cvProjectPoints2( &c_objectPoints, &c_rvec, &c_tvec, &c_cameraMatrix, &c_distCoeffs,
@@ -3350,9 +3355,9 @@ cv::Mat cv::initCameraMatrix2D( InputArrayOfArrays objectPoints,
Mat objPt, imgPt, npoints, cameraMatrix(3, 3, CV_64F);
collectCalibrationData( objectPoints, imagePoints, noArray(),
objPt, imgPt, 0, npoints );
CvMat _objPt = objPt, _imgPt = imgPt, _npoints = npoints, _cameraMatrix = cameraMatrix;
CvMat _objPt = cvMat(objPt), _imgPt = cvMat(imgPt), _npoints = cvMat(npoints), _cameraMatrix = cvMat(cameraMatrix);
cvInitIntrinsicParams2D( &_objPt, &_imgPt, &_npoints,
imageSize, &_cameraMatrix, aspectRatio );
cvSize(imageSize), &_cameraMatrix, aspectRatio );
return cameraMatrix;
}
@@ -3434,16 +3439,16 @@ double cv::calibrateCamera(InputArrayOfArrays _objectPoints,
collectCalibrationData( _objectPoints, _imagePoints, noArray(),
objPt, imgPt, 0, npoints );
CvMat c_objPt = objPt, c_imgPt = imgPt, c_npoints = npoints;
CvMat c_cameraMatrix = cameraMatrix, c_distCoeffs = distCoeffs;
CvMat c_rvecM = rvecM, c_tvecM = tvecM, c_stdDev = stdDeviationsM, c_errors = errorsM;
CvMat c_objPt = cvMat(objPt), c_imgPt = cvMat(imgPt), c_npoints = cvMat(npoints);
CvMat c_cameraMatrix = cvMat(cameraMatrix), c_distCoeffs = cvMat(distCoeffs);
CvMat c_rvecM = cvMat(rvecM), c_tvecM = cvMat(tvecM), c_stdDev = cvMat(stdDeviationsM), c_errors = cvMat(errorsM);
double reprojErr = cvCalibrateCamera2Internal(&c_objPt, &c_imgPt, &c_npoints, imageSize,
double reprojErr = cvCalibrateCamera2Internal(&c_objPt, &c_imgPt, &c_npoints, cvSize(imageSize),
&c_cameraMatrix, &c_distCoeffs,
rvecs_needed ? &c_rvecM : NULL,
tvecs_needed ? &c_tvecM : NULL,
stddev_needed ? &c_stdDev : NULL,
errors_needed ? &c_errors : NULL, flags, criteria );
errors_needed ? &c_errors : NULL, flags, cvTermCriteria(criteria));
if( stddev_needed )
{
@@ -3582,35 +3587,40 @@ double cv::stereoCalibrate( InputArrayOfArrays _objectPoints,
collectCalibrationData( _objectPoints, _imagePoints1, _imagePoints2,
objPt, imgPt, &imgPt2, npoints );
CvMat c_objPt = objPt, c_imgPt = imgPt, c_imgPt2 = imgPt2, c_npoints = npoints;
CvMat c_cameraMatrix1 = cameraMatrix1, c_distCoeffs1 = distCoeffs1;
CvMat c_cameraMatrix2 = cameraMatrix2, c_distCoeffs2 = distCoeffs2;
CvMat c_matR = _Rmat.getMat(), c_matT = _Tmat.getMat(), c_matE, c_matF, c_matErr;
CvMat c_objPt = cvMat(objPt), c_imgPt = cvMat(imgPt), c_imgPt2 = cvMat(imgPt2), c_npoints = cvMat(npoints);
CvMat c_cameraMatrix1 = cvMat(cameraMatrix1), c_distCoeffs1 = cvMat(distCoeffs1);
CvMat c_cameraMatrix2 = cvMat(cameraMatrix2), c_distCoeffs2 = cvMat(distCoeffs2);
Mat matR_ = _Rmat.getMat(), matT_ = _Tmat.getMat();
CvMat c_matR = cvMat(matR_), c_matT = cvMat(matT_), c_matE, c_matF, c_matErr;
bool E_needed = _Emat.needed(), F_needed = _Fmat.needed(), errors_needed = _perViewErrors.needed();
Mat matE_, matF_, matErr_;
if( E_needed )
{
_Emat.create(3, 3, rtype);
c_matE = _Emat.getMat();
matE_ = _Emat.getMat();
c_matE = cvMat(matE_);
}
if( F_needed )
{
_Fmat.create(3, 3, rtype);
c_matF = _Fmat.getMat();
matF_ = _Fmat.getMat();
c_matF = cvMat(matF_);
}
if( errors_needed )
{
int nimages = int(_objectPoints.total());
_perViewErrors.create(nimages, 2, CV_64F);
c_matErr = _perViewErrors.getMat();
matErr_ = _perViewErrors.getMat();
c_matErr = cvMat(matErr_);
}
double err = cvStereoCalibrateImpl(&c_objPt, &c_imgPt, &c_imgPt2, &c_npoints, &c_cameraMatrix1,
&c_distCoeffs1, &c_cameraMatrix2, &c_distCoeffs2, imageSize, &c_matR,
&c_distCoeffs1, &c_cameraMatrix2, &c_distCoeffs2, cvSize(imageSize), &c_matR,
&c_matT, E_needed ? &c_matE : NULL, F_needed ? &c_matF : NULL,
errors_needed ? &c_matErr : NULL, flags, criteria);
errors_needed ? &c_matErr : NULL, flags, cvTermCriteria(criteria));
cameraMatrix1.copyTo(_cameraMatrix1);
cameraMatrix2.copyTo(_cameraMatrix2);
@@ -3633,31 +3643,32 @@ void cv::stereoRectify( InputArray _cameraMatrix1, InputArray _distCoeffs1,
Mat cameraMatrix1 = _cameraMatrix1.getMat(), cameraMatrix2 = _cameraMatrix2.getMat();
Mat distCoeffs1 = _distCoeffs1.getMat(), distCoeffs2 = _distCoeffs2.getMat();
Mat Rmat = _Rmat.getMat(), Tmat = _Tmat.getMat();
CvMat c_cameraMatrix1 = cameraMatrix1;
CvMat c_cameraMatrix2 = cameraMatrix2;
CvMat c_distCoeffs1 = distCoeffs1;
CvMat c_distCoeffs2 = distCoeffs2;
CvMat c_R = Rmat, c_T = Tmat;
CvMat c_cameraMatrix1 = cvMat(cameraMatrix1);
CvMat c_cameraMatrix2 = cvMat(cameraMatrix2);
CvMat c_distCoeffs1 = cvMat(distCoeffs1);
CvMat c_distCoeffs2 = cvMat(distCoeffs2);
CvMat c_R = cvMat(Rmat), c_T = cvMat(Tmat);
int rtype = CV_64F;
_Rmat1.create(3, 3, rtype);
_Rmat2.create(3, 3, rtype);
_Pmat1.create(3, 4, rtype);
_Pmat2.create(3, 4, rtype);
CvMat c_R1 = _Rmat1.getMat(), c_R2 = _Rmat2.getMat(), c_P1 = _Pmat1.getMat(), c_P2 = _Pmat2.getMat();
Mat R1 = _Rmat1.getMat(), R2 = _Rmat2.getMat(), P1 = _Pmat1.getMat(), P2 = _Pmat2.getMat(), Q;
CvMat c_R1 = cvMat(R1), c_R2 = cvMat(R2), c_P1 = cvMat(P1), c_P2 = cvMat(P2);
CvMat c_Q, *p_Q = 0;
if( _Qmat.needed() )
{
_Qmat.create(4, 4, rtype);
p_Q = &(c_Q = _Qmat.getMat());
p_Q = &(c_Q = cvMat(Q = _Qmat.getMat()));
}
CvMat *p_distCoeffs1 = distCoeffs1.empty() ? NULL : &c_distCoeffs1;
CvMat *p_distCoeffs2 = distCoeffs2.empty() ? NULL : &c_distCoeffs2;
cvStereoRectify( &c_cameraMatrix1, &c_cameraMatrix2, p_distCoeffs1, p_distCoeffs2,
imageSize, &c_R, &c_T, &c_R1, &c_R2, &c_P1, &c_P2, p_Q, flags, alpha,
newImageSize, (CvRect*)validPixROI1, (CvRect*)validPixROI2);
cvSize(imageSize), &c_R, &c_T, &c_R1, &c_R2, &c_P1, &c_P2, p_Q, flags, alpha,
cvSize(newImageSize), (CvRect*)validPixROI1, (CvRect*)validPixROI2);
}
bool cv::stereoRectifyUncalibrated( InputArray _points1, InputArray _points2,
@@ -3671,11 +3682,12 @@ bool cv::stereoRectifyUncalibrated( InputArray _points1, InputArray _points2,
_Hmat2.create(3, 3, rtype);
Mat F = _Fmat.getMat();
Mat points1 = _points1.getMat(), points2 = _points2.getMat();
CvMat c_pt1 = points1, c_pt2 = points2;
CvMat c_F, *p_F=0, c_H1 = _Hmat1.getMat(), c_H2 = _Hmat2.getMat();
CvMat c_pt1 = cvMat(points1), c_pt2 = cvMat(points2);
Mat H1 = _Hmat1.getMat(), H2 = _Hmat2.getMat();
CvMat c_F, *p_F=0, c_H1 = cvMat(H1), c_H2 = cvMat(H2);
if( F.size() == Size(3, 3) )
p_F = &(c_F = F);
return cvStereoRectifyUncalibrated(&c_pt1, &c_pt2, p_F, imgSize, &c_H1, &c_H2, threshold) > 0;
p_F = &(c_F = cvMat(F));
return cvStereoRectifyUncalibrated(&c_pt1, &c_pt2, p_F, cvSize(imgSize), &c_H1, &c_H2, threshold) > 0;
}
cv::Mat cv::getOptimalNewCameraMatrix( InputArray _cameraMatrix,
@@ -3686,14 +3698,14 @@ cv::Mat cv::getOptimalNewCameraMatrix( InputArray _cameraMatrix,
CV_INSTRUMENT_REGION()
Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat();
CvMat c_cameraMatrix = cameraMatrix, c_distCoeffs = distCoeffs;
CvMat c_cameraMatrix = cvMat(cameraMatrix), c_distCoeffs = cvMat(distCoeffs);
Mat newCameraMatrix(3, 3, CV_MAT_TYPE(c_cameraMatrix.type));
CvMat c_newCameraMatrix = newCameraMatrix;
CvMat c_newCameraMatrix = cvMat(newCameraMatrix);
cvGetOptimalNewCameraMatrix(&c_cameraMatrix, &c_distCoeffs, imgSize,
cvGetOptimalNewCameraMatrix(&c_cameraMatrix, &c_distCoeffs, cvSize(imgSize),
alpha, &c_newCameraMatrix,
newImgSize, (CvRect*)validPixROI, (int)centerPrincipalPoint);
cvSize(newImgSize), (CvRect*)validPixROI, (int)centerPrincipalPoint);
return newCameraMatrix;
}
@@ -3714,7 +3726,7 @@ cv::Vec3d cv::RQDecomp3x3( InputArray _Mmat,
Mat Qmat = _Qmat.getMat();
Vec3d eulerAngles;
CvMat matM = M, matR = Rmat, matQ = Qmat;
CvMat matM = cvMat(M), matR = cvMat(Rmat), matQ = cvMat(Qmat);
#define CV_RQDecomp3x3_PARAM(name) \
Mat name; \
CvMat c_ ## name, *p ## name = NULL; \
@@ -3722,7 +3734,7 @@ cv::Vec3d cv::RQDecomp3x3( InputArray _Mmat,
{ \
_ ## name.create(3, 3, M.type()); \
name = _ ## name.getMat(); \
c_ ## name = name; p ## name = &c_ ## name; \
c_ ## name = cvMat(name); p ## name = &c_ ## name; \
}
CV_RQDecomp3x3_PARAM(Qx);
@@ -3749,8 +3761,8 @@ void cv::decomposeProjectionMatrix( InputArray _projMatrix, OutputArray _cameraM
Mat cameraMatrix = _cameraMatrix.getMat();
Mat rotMatrix = _rotMatrix.getMat();
Mat transVect = _transVect.getMat();
CvMat c_projMatrix = projMatrix, c_cameraMatrix = cameraMatrix;
CvMat c_rotMatrix = rotMatrix, c_transVect = transVect;
CvMat c_projMatrix = cvMat(projMatrix), c_cameraMatrix = cvMat(cameraMatrix);
CvMat c_rotMatrix = cvMat(rotMatrix), c_transVect = cvMat(transVect);
CvPoint3D64f *p_eulerAngles = 0;
#define CV_decomposeProjectionMatrix_PARAM(name) \
@@ -3760,7 +3772,7 @@ void cv::decomposeProjectionMatrix( InputArray _projMatrix, OutputArray _cameraM
{ \
_ ## name.create(3, 3, type); \
name = _ ## name.getMat(); \
c_ ## name = name; p_ ## name = &c_ ## name; \
c_ ## name = cvMat(name); p_ ## name = &c_ ## name; \
}
CV_decomposeProjectionMatrix_PARAM(rotMatrixX);
modules/calib3d/src/compat_stereo.cpp
+2 -2
View File
@@ -111,8 +111,8 @@ void cvFindStereoCorrespondenceBM( const CvArr* leftarr, const CvArr* rightarr,
CvRect cvGetValidDisparityROI( CvRect roi1, CvRect roi2, int minDisparity,
int numberOfDisparities, int SADWindowSize )
{
return (CvRect)cv::getValidDisparityROI( roi1, roi2, minDisparity,
numberOfDisparities, SADWindowSize );
return cvRect(cv::getValidDisparityROI( roi1, roi2, minDisparity,
numberOfDisparities, SADWindowSize));
}
void cvValidateDisparity( CvArr* _disp, const CvArr* _cost, int minDisparity,
modules/calib3d/src/solvepnp.cpp
+3 -3
View File
@@ -134,9 +134,9 @@ bool solvePnP( InputArray _opoints, InputArray _ipoints,
}
else if (flags == SOLVEPNP_ITERATIVE)
{
CvMat c_objectPoints = opoints, c_imagePoints = ipoints;
CvMat c_cameraMatrix = cameraMatrix, c_distCoeffs = distCoeffs;
CvMat c_rvec = rvec, c_tvec = tvec;
CvMat c_objectPoints = cvMat(opoints), c_imagePoints = cvMat(ipoints);
CvMat c_cameraMatrix = cvMat(cameraMatrix), c_distCoeffs = cvMat(distCoeffs);
CvMat c_rvec = cvMat(rvec), c_tvec = cvMat(tvec);
cvFindExtrinsicCameraParams2(&c_objectPoints, &c_imagePoints, &c_cameraMatrix,
(c_distCoeffs.rows && c_distCoeffs.cols) ? &c_distCoeffs : 0,
&c_rvec, &c_tvec, useExtrinsicGuess );
modules/calib3d/src/triangulate.cpp
+8 -6
View File
@@ -358,11 +358,12 @@ void cv::triangulatePoints( InputArray _projMatr1, InputArray _projMatr2,
if((points2.rows == 1 || points2.cols == 1) && points2.channels() == 2)
points2 = points2.reshape(1, static_cast<int>(points2.total())).t();
CvMat cvMatr1 = matr1, cvMatr2 = matr2;
CvMat cvPoints1 = points1, cvPoints2 = points2;
CvMat cvMatr1 = cvMat(matr1), cvMatr2 = cvMat(matr2);
CvMat cvPoints1 = cvMat(points1), cvPoints2 = cvMat(points2);
_points4D.create(4, points1.cols, points1.type());
CvMat cvPoints4D = _points4D.getMat();
Mat cvPoints4D_ = _points4D.getMat();
CvMat cvPoints4D = cvMat(cvPoints4D_);
cvTriangulatePoints(&cvMatr1, &cvMatr2, &cvPoints1, &cvPoints2, &cvPoints4D);
}
@@ -375,12 +376,13 @@ void cv::correctMatches( InputArray _F, InputArray _points1, InputArray _points2
Mat F = _F.getMat();
Mat points1 = _points1.getMat(), points2 = _points2.getMat();
CvMat cvPoints1 = points1, cvPoints2 = points2;
CvMat cvF = F;
CvMat cvPoints1 = cvMat(points1), cvPoints2 = cvMat(points2);
CvMat cvF = cvMat(F);
_newPoints1.create(points1.size(), points1.type());
_newPoints2.create(points2.size(), points2.type());
CvMat cvNewPoints1 = _newPoints1.getMat(), cvNewPoints2 = _newPoints2.getMat();
Mat cvNewPoints1_ = _newPoints1.getMat(), cvNewPoints2_ = _newPoints2.getMat();
CvMat cvNewPoints1 = cvMat(cvNewPoints1_), cvNewPoints2 = cvMat(cvNewPoints2_);
cvCorrectMatches(&cvF, &cvPoints1, &cvPoints2, &cvNewPoints1, &cvNewPoints2);
}
modules/calib3d/test/test_cameracalibration.cpp
+27 -27
View File
@@ -290,8 +290,8 @@ void CV_CameraCalibrationTest::run( int start_from )
cv::String filepath;
cv::String filename;
CvSize imageSize;
CvSize etalonSize;
Size imageSize;
Size etalonSize;
int numImages;
CvPoint2D64f* imagePoints;
@@ -531,7 +531,7 @@ void CV_CameraCalibrationTest::run( int start_from )
/* Now we can calibrate camera */
calibrate( numImages,
numbers,
imageSize,
cvSize(imageSize),
imagePoints,
objectPoints,
distortion,
@@ -1009,9 +1009,9 @@ void CV_CalibrationMatrixValuesTest_C::calibMatrixValues( const Mat& _cameraMatr
double& fovx, double& fovy, double& focalLength,
Point2d& principalPoint, double& aspectRatio )
{
CvMat cameraMatrix = _cameraMatrix;
CvPoint2D64f pp;
cvCalibrationMatrixValues( &cameraMatrix, imageSize, apertureWidth, apertureHeight,
CvMat cameraMatrix = cvMat(_cameraMatrix);
CvPoint2D64f pp = {0, 0};
cvCalibrationMatrixValues( &cameraMatrix, cvSize(imageSize), apertureWidth, apertureHeight,
&fovx, &fovy, &focalLength, &pp, &aspectRatio );
principalPoint.x = pp.x;
principalPoint.y = pp.y;
@@ -1305,9 +1305,9 @@ void CV_ProjectPointsTest_C::project( const Mat& opoints, const Mat& rvec, const
dpdc.create(npoints*2, 2, CV_64F);
dpddist.create(npoints*2, distCoeffs.rows + distCoeffs.cols - 1, CV_64F);
Mat imagePoints(ipoints);
CvMat _objectPoints = opoints, _imagePoints = imagePoints;
CvMat _rvec = rvec, _tvec = tvec, _cameraMatrix = cameraMatrix, _distCoeffs = distCoeffs;
CvMat _dpdrot = dpdrot, _dpdt = dpdt, _dpdf = dpdf, _dpdc = dpdc, _dpddist = dpddist;
CvMat _objectPoints = cvMat(opoints), _imagePoints = cvMat(imagePoints);
CvMat _rvec = cvMat(rvec), _tvec = cvMat(tvec), _cameraMatrix = cvMat(cameraMatrix), _distCoeffs = cvMat(distCoeffs);
CvMat _dpdrot = cvMat(dpdrot), _dpdt = cvMat(dpdt), _dpdf = cvMat(dpdf), _dpdc = cvMat(dpdc), _dpddist = cvMat(dpddist);
cvProjectPoints2( &_objectPoints, &_rvec, &_tvec, &_cameraMatrix, &_distCoeffs,
&_imagePoints, &_dpdrot, &_dpdt, &_dpdf, &_dpdc, &_dpddist, aspectRatio );
@@ -1925,14 +1925,14 @@ double CV_StereoCalibrationTest_C::calibrateStereoCamera( const vector<vector<Po
std::copy(imagePoints1[i].begin(), imagePoints1[i].end(), imgPtData + j);
std::copy(imagePoints2[i].begin(), imagePoints2[i].end(), imgPtData2 + j);
}
CvMat _objPt = objPt, _imgPt = imgPt, _imgPt2 = imgPt2, _npoints = npoints;
CvMat _cameraMatrix1 = cameraMatrix1, _distCoeffs1 = distCoeffs1;
CvMat _cameraMatrix2 = cameraMatrix2, _distCoeffs2 = distCoeffs2;
CvMat matR = R, matT = T, matE = E, matF = F;
CvMat _objPt = cvMat(objPt), _imgPt = cvMat(imgPt), _imgPt2 = cvMat(imgPt2), _npoints = cvMat(npoints);
CvMat _cameraMatrix1 = cvMat(cameraMatrix1), _distCoeffs1 = cvMat(distCoeffs1);
CvMat _cameraMatrix2 = cvMat(cameraMatrix2), _distCoeffs2 = cvMat(distCoeffs2);
CvMat matR = cvMat(R), matT = cvMat(T), matE = cvMat(E), matF = cvMat(F);
return cvStereoCalibrate(&_objPt, &_imgPt, &_imgPt2, &_npoints, &_cameraMatrix1,
&_distCoeffs1, &_cameraMatrix2, &_distCoeffs2, imageSize,
&matR, &matT, &matE, &matF, flags, criteria );
&_distCoeffs1, &_cameraMatrix2, &_distCoeffs2, cvSize(imageSize),
&matR, &matT, &matE, &matF, flags, cvTermCriteria(criteria));
}
void CV_StereoCalibrationTest_C::rectify( const Mat& cameraMatrix1, const Mat& distCoeffs1,
@@ -1948,12 +1948,12 @@ void CV_StereoCalibrationTest_C::rectify( const Mat& cameraMatrix1, const Mat& d
P1.create(3, 4, rtype);
P2.create(3, 4, rtype);
Q.create(4, 4, rtype);
CvMat _cameraMatrix1 = cameraMatrix1, _distCoeffs1 = distCoeffs1;
CvMat _cameraMatrix2 = cameraMatrix2, _distCoeffs2 = distCoeffs2;
CvMat matR = R, matT = T, _R1 = R1, _R2 = R2, _P1 = P1, _P2 = P2, matQ = Q;
CvMat _cameraMatrix1 = cvMat(cameraMatrix1), _distCoeffs1 = cvMat(distCoeffs1);
CvMat _cameraMatrix2 = cvMat(cameraMatrix2), _distCoeffs2 = cvMat(distCoeffs2);
CvMat matR = cvMat(R), matT = cvMat(T), _R1 = cvMat(R1), _R2 = cvMat(R2), _P1 = cvMat(P1), _P2 = cvMat(P2), matQ = cvMat(Q);
cvStereoRectify( &_cameraMatrix1, &_cameraMatrix2, &_distCoeffs1, &_distCoeffs2,
imageSize, &matR, &matT, &_R1, &_R2, &_P1, &_P2, &matQ, flags,
alpha, newImageSize, (CvRect*)validPixROI1, (CvRect*)validPixROI2);
cvSize(imageSize), &matR, &matT, &_R1, &_R2, &_P1, &_P2, &matQ, flags,
alpha, cvSize(newImageSize), (CvRect*)validPixROI1, (CvRect*)validPixROI2);
}
bool CV_StereoCalibrationTest_C::rectifyUncalibrated( const Mat& points1,
@@ -1961,19 +1961,19 @@ bool CV_StereoCalibrationTest_C::rectifyUncalibrated( const Mat& points1,
{
H1.create(3, 3, CV_64F);
H2.create(3, 3, CV_64F);
CvMat _pt1 = points1, _pt2 = points2, matF, *pF=0, _H1 = H1, _H2 = H2;
CvMat _pt1 = cvMat(points1), _pt2 = cvMat(points2), matF, *pF=0, _H1 = cvMat(H1), _H2 = cvMat(H2);
if( F.size() == Size(3, 3) )
pF = &(matF = F);
return cvStereoRectifyUncalibrated(&_pt1, &_pt2, pF, imgSize, &_H1, &_H2, threshold) > 0;
pF = &(matF = cvMat(F));
return cvStereoRectifyUncalibrated(&_pt1, &_pt2, pF, cvSize(imgSize), &_H1, &_H2, threshold) > 0;
}
void CV_StereoCalibrationTest_C::triangulate( const Mat& P1, const Mat& P2,
const Mat &points1, const Mat &points2,
Mat &points4D )
{
CvMat _P1 = P1, _P2 = P2, _points1 = points1, _points2 = points2;
CvMat _P1 = cvMat(P1), _P2 = cvMat(P2), _points1 = cvMat(points1), _points2 = cvMat(points2);
points4D.create(4, points1.cols, points1.type());
CvMat _points4D = points4D;
CvMat _points4D = cvMat(points4D);
cvTriangulatePoints(&_P1, &_P2, &_points1, &_points2, &_points4D);
}
@@ -1981,10 +1981,10 @@ void CV_StereoCalibrationTest_C::correct( const Mat& F,
const Mat &points1, const Mat &points2,
Mat &newPoints1, Mat &newPoints2 )
{
CvMat _F = F, _points1 = points1, _points2 = points2;
CvMat _F = cvMat(F), _points1 = cvMat(points1), _points2 = cvMat(points2);
newPoints1.create(1, points1.cols, points1.type());
newPoints2.create(1, points2.cols, points2.type());
CvMat _newPoints1 = newPoints1, _newPoints2 = newPoints2;
CvMat _newPoints1 = cvMat(newPoints1), _newPoints2 = cvMat(newPoints2);
cvCorrectMatches(&_F, &_points1, &_points2, &_newPoints1, &_newPoints2);
}
modules/calib3d/test/test_cameracalibration_badarg.cpp
+64 -72
View File
@@ -75,7 +75,7 @@ protected:
void operator()() const
{
cvCalibrateCamera2(objPts, imgPts, npoints, imageSize,
cvCalibrateCamera2(objPts, imgPts, npoints, cvSize(imageSize),
cameraMatrix, distCoeffs, rvecs, tvecs, flags );
}
};
@@ -137,13 +137,13 @@ void CV_CameraCalibrationBadArgTest::run( int /* start_from */ )
//CV_CALIB_FIX_PRINCIPAL_POINT //CV_CALIB_ZERO_TANGENT_DIST
//CV_CALIB_FIX_FOCAL_LENGTH //CV_CALIB_FIX_K1 //CV_CALIB_FIX_K2 //CV_CALIB_FIX_K3
objPts = objPts_cpp;
imgPts = imgPts_cpp;
npoints = npoints_cpp;
cameraMatrix = cameraMatrix_cpp;
distCoeffs = distCoeffs_cpp;
rvecs = rvecs_cpp;
tvecs = tvecs_cpp;
objPts = cvMat(objPts_cpp);
imgPts = cvMat(imgPts_cpp);
npoints = cvMat(npoints_cpp);
cameraMatrix = cvMat(cameraMatrix_cpp);
distCoeffs = cvMat(distCoeffs_cpp);
rvecs = cvMat(rvecs_cpp);
tvecs = cvMat(tvecs_cpp);
/* /*//*/ */
int errors = 0;
@@ -178,8 +178,8 @@ void CV_CameraCalibrationBadArgTest::run( int /* start_from */ )
Mat bad_nts_cpp1 = Mat_<float>(M, 1, 1.f);
Mat bad_nts_cpp2 = Mat_<int>(3, 3, corSize.width * corSize.height);
CvMat bad_npts_c1 = bad_nts_cpp1;
CvMat bad_npts_c2 = bad_nts_cpp2;
CvMat bad_npts_c1 = cvMat(bad_nts_cpp1);
CvMat bad_npts_c2 = cvMat(bad_nts_cpp2);
bad_caller = caller;
bad_caller.npoints = &bad_npts_c1;
@@ -197,13 +197,13 @@ void CV_CameraCalibrationBadArgTest::run( int /* start_from */ )
bad_caller.tvecs = (CvMat*)zeros.ptr();
errors += run_test_case( CV_StsBadArg, "Bad tvecs header", bad_caller );
Mat bad_rvecs_cpp1(M+1, 1, CV_32FC3); CvMat bad_rvecs_c1 = bad_rvecs_cpp1;
Mat bad_tvecs_cpp1(M+1, 1, CV_32FC3); CvMat bad_tvecs_c1 = bad_tvecs_cpp1;
Mat bad_rvecs_cpp1(M+1, 1, CV_32FC3); CvMat bad_rvecs_c1 = cvMat(bad_rvecs_cpp1);
Mat bad_tvecs_cpp1(M+1, 1, CV_32FC3); CvMat bad_tvecs_c1 = cvMat(bad_tvecs_cpp1);
Mat bad_rvecs_cpp2(M, 2, CV_32FC3); CvMat bad_rvecs_c2 = bad_rvecs_cpp2;
Mat bad_tvecs_cpp2(M, 2, CV_32FC3); CvMat bad_tvecs_c2 = bad_tvecs_cpp2;
Mat bad_rvecs_cpp2(M, 2, CV_32FC3); CvMat bad_rvecs_c2 = cvMat(bad_rvecs_cpp2);
Mat bad_tvecs_cpp2(M, 2, CV_32FC3); CvMat bad_tvecs_c2 = cvMat(bad_tvecs_cpp2);
bad_caller = caller;
bad_caller.rvecs = &bad_rvecs_c1;
@@ -221,9 +221,9 @@ void CV_CameraCalibrationBadArgTest::run( int /* start_from */ )
bad_caller.tvecs = &bad_tvecs_c2;
errors += run_test_case( CV_StsBadArg, "Bad tvecs header", bad_caller );
Mat bad_cameraMatrix_cpp1(3, 3, CV_32S); CvMat bad_cameraMatrix_c1 = bad_cameraMatrix_cpp1;
Mat bad_cameraMatrix_cpp2(2, 3, CV_32F); CvMat bad_cameraMatrix_c2 = bad_cameraMatrix_cpp2;
Mat bad_cameraMatrix_cpp3(3, 2, CV_64F); CvMat bad_cameraMatrix_c3 = bad_cameraMatrix_cpp3;
Mat bad_cameraMatrix_cpp1(3, 3, CV_32S); CvMat bad_cameraMatrix_c1 = cvMat(bad_cameraMatrix_cpp1);
Mat bad_cameraMatrix_cpp2(2, 3, CV_32F); CvMat bad_cameraMatrix_c2 = cvMat(bad_cameraMatrix_cpp2);
Mat bad_cameraMatrix_cpp3(3, 2, CV_64F); CvMat bad_cameraMatrix_c3 = cvMat(bad_cameraMatrix_cpp3);
@@ -239,9 +239,9 @@ void CV_CameraCalibrationBadArgTest::run( int /* start_from */ )
bad_caller.cameraMatrix = &bad_cameraMatrix_c3;
errors += run_test_case( CV_StsBadArg, "Bad camearaMatrix header", bad_caller );
Mat bad_distCoeffs_cpp1(1, 5, CV_32S); CvMat bad_distCoeffs_c1 = bad_distCoeffs_cpp1;
Mat bad_distCoeffs_cpp2(2, 2, CV_64F); CvMat bad_distCoeffs_c2 = bad_distCoeffs_cpp2;
Mat bad_distCoeffs_cpp3(1, 6, CV_64F); CvMat bad_distCoeffs_c3 = bad_distCoeffs_cpp3;
Mat bad_distCoeffs_cpp1(1, 5, CV_32S); CvMat bad_distCoeffs_c1 = cvMat(bad_distCoeffs_cpp1);
Mat bad_distCoeffs_cpp2(2, 2, CV_64F); CvMat bad_distCoeffs_c2 = cvMat(bad_distCoeffs_cpp2);
Mat bad_distCoeffs_cpp3(1, 6, CV_64F); CvMat bad_distCoeffs_c3 = cvMat(bad_distCoeffs_cpp3);
@@ -259,7 +259,7 @@ void CV_CameraCalibrationBadArgTest::run( int /* start_from */ )
errors += run_test_case( CV_StsBadArg, "Bad distCoeffs header", bad_caller );
double CM[] = {0, 0, 0, /**/0, 0, 0, /**/0, 0, 0};
Mat bad_cameraMatrix_cpp4(3, 3, CV_64F, CM); CvMat bad_cameraMatrix_c4 = bad_cameraMatrix_cpp4;
Mat bad_cameraMatrix_cpp4(3, 3, CV_64F, CM); CvMat bad_cameraMatrix_c4 = cvMat(bad_cameraMatrix_cpp4);
bad_caller = caller;
bad_caller.flags |= CV_CALIB_USE_INTRINSIC_GUESS;
@@ -302,7 +302,7 @@ void CV_CameraCalibrationBadArgTest::run( int /* start_from */ )
/////////////////////////////////////////////////////////////////////////////////////
bad_caller = caller;
Mat bad_objPts_cpp5 = objPts_cpp.clone(); CvMat bad_objPts_c5 = bad_objPts_cpp5;
Mat bad_objPts_cpp5 = objPts_cpp.clone(); CvMat bad_objPts_c5 = cvMat(bad_objPts_cpp5);
bad_caller.objPts = &bad_objPts_c5;
cv::RNG& rng = theRNG();
@@ -347,9 +347,9 @@ protected:
Mat zeros(1, sizeof(CvMat), CV_8U, Scalar(0));
CvMat src_c, dst_c, jacobian_c;
Mat src_cpp(3, 1, CV_32F); src_c = src_cpp;
Mat dst_cpp(3, 3, CV_32F); dst_c = dst_cpp;
Mat jacobian_cpp(3, 9, CV_32F); jacobian_c = jacobian_cpp;
Mat src_cpp(3, 1, CV_32F); src_c = cvMat(src_cpp);
Mat dst_cpp(3, 3, CV_32F); dst_c = cvMat(dst_cpp);
Mat jacobian_cpp(3, 9, CV_32F); jacobian_c = cvMat(jacobian_cpp);
C_Caller caller, bad_caller;
caller.src = &src_c;
@@ -373,11 +373,11 @@ protected:
bad_caller.dst = 0;
errors += run_test_case( CV_StsNullPtr, "Dst is zero pointer", bad_caller );
Mat bad_src_cpp1(3, 1, CV_8U); CvMat bad_src_c1 = bad_src_cpp1;
Mat bad_dst_cpp1(3, 1, CV_8U); CvMat bad_dst_c1 = bad_dst_cpp1;
Mat bad_jac_cpp1(3, 1, CV_8U); CvMat bad_jac_c1 = bad_jac_cpp1;
Mat bad_jac_cpp2(3, 1, CV_32FC2); CvMat bad_jac_c2 = bad_jac_cpp2;
Mat bad_jac_cpp3(3, 1, CV_32F); CvMat bad_jac_c3 = bad_jac_cpp3;
Mat bad_src_cpp1(3, 1, CV_8U); CvMat bad_src_c1 = cvMat(bad_src_cpp1);
Mat bad_dst_cpp1(3, 1, CV_8U); CvMat bad_dst_c1 = cvMat(bad_dst_cpp1);
Mat bad_jac_cpp1(3, 1, CV_8U); CvMat bad_jac_c1 = cvMat(bad_jac_cpp1);
Mat bad_jac_cpp2(3, 1, CV_32FC2); CvMat bad_jac_c2 = cvMat(bad_jac_cpp2);
Mat bad_jac_cpp3(3, 1, CV_32F); CvMat bad_jac_c3 = cvMat(bad_jac_cpp3);
bad_caller = caller;
bad_caller.src = &bad_src_c1;
@@ -403,15 +403,15 @@ protected:
bad_caller.jacobian = &bad_jac_c3;
errors += run_test_case( CV_StsBadSize, "Bad jacobian format", bad_caller );
Mat bad_src_cpp2(1, 1, CV_32F); CvMat bad_src_c2 = bad_src_cpp2;
Mat bad_src_cpp2(1, 1, CV_32F); CvMat bad_src_c2 = cvMat(bad_src_cpp2);
bad_caller = caller;
bad_caller.src = &bad_src_c2;
errors += run_test_case( CV_StsBadSize, "Bad src format", bad_caller );
Mat bad_dst_cpp2(2, 1, CV_32F); CvMat bad_dst_c2 = bad_dst_cpp2;
Mat bad_dst_cpp3(3, 2, CV_32F); CvMat bad_dst_c3 = bad_dst_cpp3;
Mat bad_dst_cpp4(3, 3, CV_32FC2); CvMat bad_dst_c4 = bad_dst_cpp4;
Mat bad_dst_cpp2(2, 1, CV_32F); CvMat bad_dst_c2 = cvMat(bad_dst_cpp2);
Mat bad_dst_cpp3(3, 2, CV_32F); CvMat bad_dst_c3 = cvMat(bad_dst_cpp3);
Mat bad_dst_cpp4(3, 3, CV_32FC2); CvMat bad_dst_c4 = cvMat(bad_dst_cpp4);
bad_caller = caller;
bad_caller.dst = &bad_dst_c2;
@@ -427,11 +427,11 @@ protected:
/********/
src_cpp.create(3, 3, CV_32F); src_c = src_cpp;
dst_cpp.create(3, 1, CV_32F); dst_c = dst_cpp;
src_cpp.create(3, 3, CV_32F); src_c = cvMat(src_cpp);
dst_cpp.create(3, 1, CV_32F); dst_c = cvMat(dst_cpp);
Mat bad_dst_cpp5(5, 5, CV_32F); CvMat bad_dst_c5 = bad_dst_cpp5;
Mat bad_dst_cpp5(5, 5, CV_32F); CvMat bad_dst_c5 = cvMat(bad_dst_cpp5);
bad_caller = caller;
bad_caller.dst = &bad_dst_c5;
@@ -488,15 +488,7 @@ protected:
void run(int /* start_from */ )
{
CvMat zeros;
#if defined __GNUC__ && __GNUC__ >= 8
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wclass-memaccess"
#endif
memset(&zeros, 0, sizeof(zeros));
#if defined __GNUC__ && __GNUC__ >= 8
#pragma GCC diagnostic pop
#endif
CvMat zeros = CvMat();
C_Caller caller, bad_caller;
CvMat objectPoints_c, r_vec_c, t_vec_c, A_c, distCoeffs_c, imagePoints_c,
@@ -504,24 +496,24 @@ protected:
const int n = 10;
Mat imagePoints_cpp(1, n, CV_32FC2); imagePoints_c = imagePoints_cpp;
Mat imagePoints_cpp(1, n, CV_32FC2); imagePoints_c = cvMat(imagePoints_cpp);
Mat objectPoints_cpp(1, n, CV_32FC3);
randu(objectPoints_cpp, Scalar::all(1), Scalar::all(10));
objectPoints_c = objectPoints_cpp;
objectPoints_c = cvMat(objectPoints_cpp);
Mat t_vec_cpp(Mat::zeros(1, 3, CV_32F)); t_vec_c = t_vec_cpp;
Mat t_vec_cpp(Mat::zeros(1, 3, CV_32F)); t_vec_c = cvMat(t_vec_cpp);
Mat r_vec_cpp(3, 1, CV_32F);
cvtest::Rodrigues(Mat::eye(3, 3, CV_32F), r_vec_cpp); r_vec_c = r_vec_cpp;
cvtest::Rodrigues(Mat::eye(3, 3, CV_32F), r_vec_cpp); r_vec_c = cvMat(r_vec_cpp);
Mat A_cpp = camMat.clone(); A_c = A_cpp;
Mat distCoeffs_cpp = distCoeffs.clone(); distCoeffs_c = distCoeffs_cpp;
Mat A_cpp = camMat.clone(); A_c = cvMat(A_cpp);
Mat distCoeffs_cpp = distCoeffs.clone(); distCoeffs_c = cvMat(distCoeffs_cpp);
Mat dpdr_cpp(2*n, 3, CV_32F); dpdr_c = dpdr_cpp;
Mat dpdt_cpp(2*n, 3, CV_32F); dpdt_c = dpdt_cpp;
Mat dpdf_cpp(2*n, 2, CV_32F); dpdf_c = dpdf_cpp;
Mat dpdc_cpp(2*n, 2, CV_32F); dpdc_c = dpdc_cpp;
Mat dpdk_cpp(2*n, 4, CV_32F); dpdk_c = dpdk_cpp;
Mat dpdr_cpp(2*n, 3, CV_32F); dpdr_c = cvMat(dpdr_cpp);
Mat dpdt_cpp(2*n, 3, CV_32F); dpdt_c = cvMat(dpdt_cpp);
Mat dpdf_cpp(2*n, 2, CV_32F); dpdf_c = cvMat(dpdf_cpp);
Mat dpdc_cpp(2*n, 2, CV_32F); dpdc_c = cvMat(dpdc_cpp);
Mat dpdk_cpp(2*n, 4, CV_32F); dpdk_c = cvMat(dpdk_cpp);
caller.aspectRatio = 1.0;
caller.objectPoints = &objectPoints_c;
@@ -561,9 +553,9 @@ protected:
errors += run_test_case( CV_StsBadArg, "Zero imagePoints", bad_caller );
/****************************/
Mat bad_r_vec_cpp1(r_vec_cpp.size(), CV_32S); CvMat bad_r_vec_c1 = bad_r_vec_cpp1;
Mat bad_r_vec_cpp2(2, 2, CV_32F); CvMat bad_r_vec_c2 = bad_r_vec_cpp2;
Mat bad_r_vec_cpp3(r_vec_cpp.size(), CV_32FC2); CvMat bad_r_vec_c3 = bad_r_vec_cpp3;
Mat bad_r_vec_cpp1(r_vec_cpp.size(), CV_32S); CvMat bad_r_vec_c1 = cvMat(bad_r_vec_cpp1);
Mat bad_r_vec_cpp2(2, 2, CV_32F); CvMat bad_r_vec_c2 = cvMat(bad_r_vec_cpp2);
Mat bad_r_vec_cpp3(r_vec_cpp.size(), CV_32FC2); CvMat bad_r_vec_c3 = cvMat(bad_r_vec_cpp3);
bad_caller = caller;
bad_caller.r_vec = &bad_r_vec_c1;
@@ -578,9 +570,9 @@ protected:
errors += run_test_case( CV_StsBadArg, "Bad rvec format", bad_caller );
/****************************/
Mat bad_t_vec_cpp1(t_vec_cpp.size(), CV_32S); CvMat bad_t_vec_c1 = bad_t_vec_cpp1;
Mat bad_t_vec_cpp2(2, 2, CV_32F); CvMat bad_t_vec_c2 = bad_t_vec_cpp2;
Mat bad_t_vec_cpp3(1, 1, CV_32FC2); CvMat bad_t_vec_c3 = bad_t_vec_cpp3;
Mat bad_t_vec_cpp1(t_vec_cpp.size(), CV_32S); CvMat bad_t_vec_c1 = cvMat(bad_t_vec_cpp1);
Mat bad_t_vec_cpp2(2, 2, CV_32F); CvMat bad_t_vec_c2 = cvMat(bad_t_vec_cpp2);
Mat bad_t_vec_cpp3(1, 1, CV_32FC2); CvMat bad_t_vec_c3 = cvMat(bad_t_vec_cpp3);
bad_caller = caller;
bad_caller.t_vec = &bad_t_vec_c1;
@@ -595,8 +587,8 @@ protected:
errors += run_test_case( CV_StsBadArg, "Bad tvec format", bad_caller );
/****************************/
Mat bad_A_cpp1(A_cpp.size(), CV_32S); CvMat bad_A_c1 = bad_A_cpp1;
Mat bad_A_cpp2(2, 2, CV_32F); CvMat bad_A_c2 = bad_A_cpp2;
Mat bad_A_cpp1(A_cpp.size(), CV_32S); CvMat bad_A_c1 = cvMat(bad_A_cpp1);
Mat bad_A_cpp2(2, 2, CV_32F); CvMat bad_A_c2 = cvMat(bad_A_cpp2);
bad_caller = caller;
bad_caller.A = &bad_A_c1;
@@ -607,9 +599,9 @@ protected:
errors += run_test_case( CV_StsBadArg, "Bad A format", bad_caller );
/****************************/
Mat bad_distCoeffs_cpp1(distCoeffs_cpp.size(), CV_32S); CvMat bad_distCoeffs_c1 = bad_distCoeffs_cpp1;
Mat bad_distCoeffs_cpp2(2, 2, CV_32F); CvMat bad_distCoeffs_c2 = bad_distCoeffs_cpp2;
Mat bad_distCoeffs_cpp3(1, 7, CV_32F); CvMat bad_distCoeffs_c3 = bad_distCoeffs_cpp3;
Mat bad_distCoeffs_cpp1(distCoeffs_cpp.size(), CV_32S); CvMat bad_distCoeffs_c1 = cvMat(bad_distCoeffs_cpp1);
Mat bad_distCoeffs_cpp2(2, 2, CV_32F); CvMat bad_distCoeffs_c2 = cvMat(bad_distCoeffs_cpp2);
Mat bad_distCoeffs_cpp3(1, 7, CV_32F); CvMat bad_distCoeffs_c3 = cvMat(bad_distCoeffs_cpp3);
bad_caller = caller;
bad_caller.distCoeffs = &zeros;
@@ -629,9 +621,9 @@ protected:
/****************************/
Mat bad_dpdr_cpp1(dpdr_cpp.size(), CV_32S); CvMat bad_dpdr_c1 = bad_dpdr_cpp1;
Mat bad_dpdr_cpp2(dpdr_cpp.cols+1, 3, CV_32F); CvMat bad_dpdr_c2 = bad_dpdr_cpp2;
Mat bad_dpdr_cpp3(dpdr_cpp.cols, 7, CV_32F); CvMat bad_dpdr_c3 = bad_dpdr_cpp3;
Mat bad_dpdr_cpp1(dpdr_cpp.size(), CV_32S); CvMat bad_dpdr_c1 = cvMat(bad_dpdr_cpp1);
Mat bad_dpdr_cpp2(dpdr_cpp.cols+1, 3, CV_32F); CvMat bad_dpdr_c2 = cvMat(bad_dpdr_cpp2);
Mat bad_dpdr_cpp3(dpdr_cpp.cols, 7, CV_32F); CvMat bad_dpdr_c3 = cvMat(bad_dpdr_cpp3);
bad_caller = caller;
bad_caller.dpdr = &zeros;
@@ -669,7 +661,7 @@ protected:
/****************************/
Mat bad_dpdf_cpp2(dpdr_cpp.cols+1, 2, CV_32F); CvMat bad_dpdf_c2 = bad_dpdf_cpp2;
Mat bad_dpdf_cpp2(dpdr_cpp.cols+1, 2, CV_32F); CvMat bad_dpdf_c2 = cvMat(bad_dpdf_cpp2);
bad_caller = caller;
bad_caller.dpdf = &zeros;
modules/calib3d/test/test_chesscorners_badarg.cpp
+4 -4
View File
@@ -78,9 +78,9 @@ protected:
findChessboardCorners(img, pattern_size, corners, flags);
else
if (!drawCorners)
cvFindChessboardCorners( &arr, pattern_size, out_corners, out_corner_count, flags );
cvFindChessboardCorners( &arr, cvSize(pattern_size), out_corners, out_corner_count, flags );
else
cvDrawChessboardCorners( &drawCorImg, pattern_size,
cvDrawChessboardCorners( &drawCorImg, cvSize(pattern_size),
(CvPoint2D32f*)(corners.empty() ? 0 : &corners[0]),
(int)corners.size(), was_found);
}
@@ -128,14 +128,14 @@ void CV_ChessboardDetectorBadArgTest::run( int /*start_from */)
drawCorners = false;
img = cb.clone();
arr = img;
arr = cvMat(img);
out_corner_count = 0;
out_corners = 0;
errors += run_test_case( CV_StsNullPtr, "Null pointer to corners" );
drawCorners = true;
Mat cvdrawCornImg(img.size(), CV_8UC2);
drawCorImg = cvdrawCornImg;
drawCorImg = cvMat(cvdrawCornImg);
was_found = true;
errors += run_test_case( CV_StsUnsupportedFormat, "2 channel image" );
modules/calib3d/test/test_chesscorners_timing.cpp
+4 -4
View File
@@ -96,7 +96,7 @@ void CV_ChessboardDetectorTimingTest::run( int start_from )
{
int count0 = -1;
int count = 0;
CvSize pattern_size;
Size pattern_size;
int result, result1 = 0;
const char* imgname = cvReadString((CvFileNode*)cvGetSeqElem(board_list->data.seq,idx*4), "dummy.txt");
@@ -110,7 +110,7 @@ void CV_ChessboardDetectorTimingTest::run( int start_from )
filename = cv::format("%s%s", filepath.c_str(), imgname );
cv::Mat img2 = cv::imread( filename );
img = img2;
img = cvIplImage(img2);
if( img2.empty() )
{
@@ -135,11 +135,11 @@ void CV_ChessboardDetectorTimingTest::run( int start_from )
v = (CvPoint2D32f*)_v->data.fl;
int64 _time0 = cvGetTickCount();
result = cvCheckChessboard(gray, pattern_size);
result = cvCheckChessboard(gray, cvSize(pattern_size));
int64 _time01 = cvGetTickCount();
OPENCV_CALL( result1 = cvFindChessboardCorners(
gray, pattern_size, v, &count, 15 ));
gray, cvSize(pattern_size), v, &count, 15 ));
int64 _time1 = cvGetTickCount();
if( result != is_chessboard )
modules/calib3d/test/test_cornerssubpix.cpp
+1 -1
View File
@@ -180,7 +180,7 @@ void CV_ChessboardSubpixelTest::run( int )
break;
}
IplImage chessboard_image_header = chessboard_image;
IplImage chessboard_image_header = cvIplImage(chessboard_image);
cvFindCornerSubPix(&chessboard_image_header, (CvPoint2D32f*)&test_corners[0],
(int)test_corners.size(), cvSize(3, 3), cvSize(1, 1), cvTermCriteria(CV_TERMCRIT_EPS|CV_TERMCRIT_ITER,300,0.1));
find4QuadCornerSubpix(chessboard_image, test_corners, Size(5, 5));
modules/calib3d/test/test_fundam.cpp
+9 -9
View File
@@ -351,9 +351,9 @@ static int cvTsRodrigues( const CvMat* src, CvMat* dst, CvMat* jacobian )
{
CV_Assert(src.data != dst.data && "Inplace is not supported");
CV_Assert(!dst.empty() && "'dst' must be allocated");
CvMat _src = src, _dst = dst, _jac;
CvMat _src = cvMat(src), _dst = cvMat(dst), _jac;
if( jac )
_jac = *jac;
_jac = cvMat(*jac);
cvTsRodrigues(&_src, &_dst, jac ? &_jac : 0);
}
@@ -667,13 +667,13 @@ void CV_RodriguesTest::run_func()
if( calc_jacobians )
{
v2m_jac = test_mat[OUTPUT][1];
m2v_jac = test_mat[OUTPUT][3];
v2m_jac = cvMat(test_mat[OUTPUT][1]);
m2v_jac = cvMat(test_mat[OUTPUT][3]);
}
if( !test_cpp )
{
CvMat _input = test_mat[INPUT][0], _output = test_mat[OUTPUT][0], _output2 = test_mat[OUTPUT][2];
CvMat _input = cvMat(test_mat[INPUT][0]), _output = cvMat(test_mat[OUTPUT][0]), _output2 = cvMat(test_mat[OUTPUT][2]);
cvRodrigues2( &_input, &_output, calc_jacobians ? &v2m_jac : 0 );
cvRodrigues2( &_output, &_output2, calc_jacobians ? &m2v_jac : 0 );
}
@@ -980,8 +980,8 @@ int CV_FundamentalMatTest::prepare_test_case( int test_case_idx )
void CV_FundamentalMatTest::run_func()
{
// cvFindFundamentalMat calls cv::findFundamentalMat
CvMat _input0 = test_mat[INPUT][0], _input1 = test_mat[INPUT][1];
CvMat F = test_mat[TEMP][0], mask = test_mat[TEMP][1];
CvMat _input0 = cvMat(test_mat[INPUT][0]), _input1 = cvMat(test_mat[INPUT][1]);
CvMat F = cvMat(test_mat[TEMP][0]), mask = cvMat(test_mat[TEMP][1]);
f_result = cvFindFundamentalMat( &_input0, &_input1, &F, method, MAX(sigma*3, 0.01), 0, &mask );
}
@@ -1543,7 +1543,7 @@ void CV_ConvertHomogeneousTest::fill_array( int /*test_case_idx*/, int /*i*/, in
void CV_ConvertHomogeneousTest::run_func()
{
CvMat _input = test_mat[INPUT][0], _output = test_mat[OUTPUT][0];
CvMat _input = cvMat(test_mat[INPUT][0]), _output = cvMat(test_mat[OUTPUT][0]);
cvConvertPointsHomogeneous( &_input, &_output );
}
@@ -1678,7 +1678,7 @@ void CV_ComputeEpilinesTest::fill_array( int test_case_idx, int i, int j, Mat& a
void CV_ComputeEpilinesTest::run_func()
{
CvMat _points = test_mat[INPUT][0], _F = test_mat[INPUT][1], _lines = test_mat[OUTPUT][0];
CvMat _points = cvMat(test_mat[INPUT][0]), _F = cvMat(test_mat[INPUT][1]), _lines = cvMat(test_mat[OUTPUT][0]);
cvComputeCorrespondEpilines( &_points, which_image, &_F, &_lines );
}
modules/calib3d/test/test_reproject_image_to_3d.cpp
+1 -1
View File
@@ -124,7 +124,7 @@ protected:
Mat_<out3d_t> _3dImg(disp.size());
CvMat cvdisp = disp; CvMat cv_3dImg = _3dImg; CvMat cvQ = Q;
CvMat cvdisp = cvMat(disp); CvMat cv_3dImg = cvMat(_3dImg); CvMat cvQ = cvMat(Q);
cvReprojectImageTo3D( &cvdisp, &cv_3dImg, &cvQ, handleMissingValues );
if (std::numeric_limits<OutT>::max() == std::numeric_limits<float>::max())
modules/calib3d/test/test_undistort.cpp
+17 -17
View File
@@ -410,7 +410,7 @@ void CV_UndistortPointsTest::prepare_to_validation(int /*test_case_idx*/)
{
if (useDstMat)
{
CvMat temp = dst_points_mat;
CvMat temp = cvMat(dst_points_mat);
for (int i=0;i<N_POINTS*2;i++)
{
points[i] = temp.data.fl[i];
@@ -469,14 +469,14 @@ void CV_UndistortPointsTest::run_func()
}
else
{
CvMat _input0 = test_mat[INPUT][0], _input1 = test_mat[INPUT][1], _input2, _input3, _input4;
CvMat _output = test_mat[TEMP][0];
CvMat _input0 = cvMat(test_mat[INPUT][0]), _input1 = cvMat(test_mat[INPUT][1]), _input2, _input3, _input4;
CvMat _output = cvMat(test_mat[TEMP][0]);
if(!zero_distortion)
_input2 = test_mat[INPUT][2];
_input2 = cvMat(test_mat[INPUT][2]);
if(!zero_R)
_input3 = test_mat[INPUT][3];
_input3 = cvMat(test_mat[INPUT][3]);
if(!zero_new_cam)
_input4 = test_mat[INPUT][4];
_input4 = cvMat(test_mat[INPUT][4]);
cvUndistortPoints(&_input0, &_output, &_input1,
zero_distortion ? 0 : &_input2,
zero_R ? 0 : &_input3,
@@ -853,10 +853,10 @@ void CV_InitUndistortRectifyMapTest::prepare_to_validation(int/* test_case_idx*/
CvMat _new_cam = cvMat(test_mat[INPUT][4].rows,test_mat[INPUT][4].cols,CV_64F,new_cam);
CvMat _points= cvMat(test_mat[INPUT][0].rows,test_mat[INPUT][0].cols,CV_64FC2,points);
CvMat _input1 = test_mat[INPUT][1];
CvMat _input2 = test_mat[INPUT][2];
CvMat _input3 = test_mat[INPUT][3];
CvMat _input4 = test_mat[INPUT][4];
CvMat _input1 = cvMat(test_mat[INPUT][1]);
CvMat _input2 = cvMat(test_mat[INPUT][2]);
CvMat _input3 = cvMat(test_mat[INPUT][3]);
CvMat _input4 = cvMat(test_mat[INPUT][4]);
cvtest::convert(cvarrToMat(&_input1), cvarrToMat(&_camera), -1);
cvtest::convert(cvarrToMat(&_input2), cvarrToMat(&_distort), -1);
@@ -871,8 +871,8 @@ void CV_InitUndistortRectifyMapTest::prepare_to_validation(int/* test_case_idx*/
}
cv::Mat map1,map2;
cv::convertMaps(mapx,mapy,map1,map2,CV_32FC1);
CvMat _map1 = map1;
CvMat _map2 = map2;
CvMat _map1 = cvMat(map1);
CvMat _map2 = cvMat(map2);
for (int i=0;i<N_POINTS;i++)
{
double u = test_mat[INPUT][0].ptr<double>()[2*i];
@@ -886,7 +886,7 @@ void CV_InitUndistortRectifyMapTest::prepare_to_validation(int/* test_case_idx*/
cvUndistortPoints(&_points,&ref_points,&_camera,
zero_distortion ? 0 : &_distort, zero_R ? 0 : &_rot, zero_new_cam ? &_camera : &_new_cam);
//cvTsDistortPoints(&_points,&ref_points,&_camera,&_distort,&_rot,&_new_cam);
CvMat dst = test_mat[REF_OUTPUT][0];
CvMat dst = cvMat(test_mat[REF_OUTPUT][0]);
cvtest::convert(cvarrToMat(&ref_points), cvarrToMat(&dst), -1);
cvtest::copy(test_mat[INPUT][0],test_mat[OUTPUT][0]);
@@ -912,13 +912,13 @@ void CV_InitUndistortRectifyMapTest::run_func()
}
else
{
CvMat input1 = test_mat[INPUT][1], input2, input3, input4;
CvMat input1 = cvMat(test_mat[INPUT][1]), input2, input3, input4;
if( !zero_distortion )
input2 = test_mat[INPUT][2];
input2 = cvMat(test_mat[INPUT][2]);
if( !zero_R )
input3 = test_mat[INPUT][3];
input3 = cvMat(test_mat[INPUT][3]);
if( !zero_new_cam )
input4 = test_mat[INPUT][4];
input4 = cvMat(test_mat[INPUT][4]);
cvInitUndistortRectifyMap(&input1,
zero_distortion ? 0 : &input2,
zero_R ? 0 : &input3,