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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
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@@ -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);
}