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

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This commit is contained in:
Alexander Alekhin
2021-12-03 12:32:49 +00:00
parent c3910807c5 35ff9af6ce
commit 8b4fa2605e
89 changed files with 1116 additions and 542 deletions
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modules/calib3d/src/calibration.cpp
+4 -4
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@@ -2329,7 +2329,7 @@ static double cvStereoCalibrateImpl( const CvMat* _objectPoints, const CvMat* _i
if( solver.state == CvLevMarq::CALC_J )
{
int iofs = (nimages+1)*6 + k*NINTRINSIC, eofs = (i+1)*6;
assert( JtJ && JtErr );
CV_Assert( JtJ && JtErr );
Mat _JtJ(cvarrToMat(JtJ)), _JtErr(cvarrToMat(JtErr));
@@ -3140,7 +3140,7 @@ cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
CvMat Qx = cvMat(3, 3, CV_64F, _Qx);
cvMatMul(&M, &Qx, &R);
assert(fabs(matR[2][1]) < FLT_EPSILON);
CV_DbgAssert(fabs(matR[2][1]) < FLT_EPSILON);
matR[2][1] = 0;
/* Find Givens rotation for y axis. */
@@ -3159,7 +3159,7 @@ cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
CvMat Qy = cvMat(3, 3, CV_64F, _Qy);
cvMatMul(&R, &Qy, &M);
assert(fabs(matM[2][0]) < FLT_EPSILON);
CV_DbgAssert(fabs(matM[2][0]) < FLT_EPSILON);
matM[2][0] = 0;
/* Find Givens rotation for z axis. */
@@ -3179,7 +3179,7 @@ cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
CvMat Qz = cvMat(3, 3, CV_64F, _Qz);
cvMatMul(&M, &Qz, &R);
assert(fabs(matR[1][0]) < FLT_EPSILON);
CV_DbgAssert(fabs(matR[1][0]) < FLT_EPSILON);
matR[1][0] = 0;
// Solve the decomposition ambiguity.
modules/calib3d/src/compat_ptsetreg.cpp
+3 -3
View File
@@ -122,7 +122,7 @@ bool CvLevMarq::update( const CvMat*& _param, CvMat*& matJ, CvMat*& _err )
{
matJ = _err = 0;
assert( !err.empty() );
CV_Assert( !err.empty() );
if( state == DONE )
{
_param = param;
@@ -155,7 +155,7 @@ bool CvLevMarq::update( const CvMat*& _param, CvMat*& matJ, CvMat*& _err )
return true;
}
assert( state == CHECK_ERR );
CV_Assert( state == CHECK_ERR );
errNorm = cvNorm( err, 0, CV_L2 );
if( errNorm > prevErrNorm )
{
@@ -223,7 +223,7 @@ bool CvLevMarq::updateAlt( const CvMat*& _param, CvMat*& _JtJ, CvMat*& _JtErr, d
return true;
}
assert( state == CHECK_ERR );
CV_Assert( state == CHECK_ERR );
if( errNorm > prevErrNorm )
{
if( ++lambdaLg10 <= 16 )
modules/calib3d/test/test_cameracalibration.cpp
+1 -1
View File
@@ -1072,7 +1072,7 @@ void CV_ProjectPointsTest::run(int)
imgPoints, dpdrot, dpdt, dpdf, dpdc, dpddist, 0 );
// calculate and check image points
assert( (int)imgPoints.size() == pointCount );
CV_Assert( (int)imgPoints.size() == pointCount );
vector<Point2f>::const_iterator it = imgPoints.begin();
for( int i = 0; i < pointCount; i++, ++it )
{
modules/calib3d/test/test_fundam.cpp
+4 -4
View File
@@ -57,7 +57,7 @@ static int cvTsRodrigues( const CvMat* src, CvMat* dst, CvMat* jacobian )
if( jacobian )
{
assert( (jacobian->rows == 9 && jacobian->cols == 3) ||
CV_Assert( (jacobian->rows == 9 && jacobian->cols == 3) ||
(jacobian->rows == 3 && jacobian->cols == 9) );
}
@@ -66,7 +66,7 @@ static int cvTsRodrigues( const CvMat* src, CvMat* dst, CvMat* jacobian )
double r[3], theta;
CvMat _r = cvMat( src->rows, src->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(src->type)), r);
assert( dst->rows == 3 && dst->cols == 3 );
CV_Assert( dst->rows == 3 && dst->cols == 3 );
cvConvert( src, &_r );
@@ -321,7 +321,7 @@ static int cvTsRodrigues( const CvMat* src, CvMat* dst, CvMat* jacobian )
}
else
{
assert(0);
CV_Assert(0);
return 0;
}
@@ -407,7 +407,7 @@ static void test_convertHomogeneous( const Mat& _src, Mat& _dst )
}
else
{
assert( count == dst.cols );
CV_Assert( count == dst.cols );
ddims = dst.channels()*dst.rows;
if( dst.rows == 1 )
{
modules/calib3d/test/test_stereomatching.cpp
+17 -17
View File
@@ -406,7 +406,7 @@ void CV_StereoMatchingTest::run(int)
{
string dataPath = ts->get_data_path() + "cv/";
string algorithmName = name;
assert( !algorithmName.empty() );
CV_Assert( !algorithmName.empty() );
if( dataPath.empty() )
{
ts->printf( cvtest::TS::LOG, "dataPath is empty" );
@@ -553,22 +553,22 @@ int CV_StereoMatchingTest::processStereoMatchingResults( FileStorage& fs, int ca
{
// rightDisp is not used in current test virsion
int code = cvtest::TS::OK;
assert( fs.isOpened() );
assert( trueLeftDisp.type() == CV_32FC1 );
assert( trueRightDisp.empty() || trueRightDisp.type() == CV_32FC1 );
assert( leftDisp.type() == CV_32FC1 && (rightDisp.empty() || rightDisp.type() == CV_32FC1) );
CV_Assert( fs.isOpened() );
CV_Assert( trueLeftDisp.type() == CV_32FC1 );
CV_Assert( trueRightDisp.empty() || trueRightDisp.type() == CV_32FC1 );
CV_Assert( leftDisp.type() == CV_32FC1 && (rightDisp.empty() || rightDisp.type() == CV_32FC1) );
// get masks for unknown ground truth disparity values
Mat leftUnknMask, rightUnknMask;
DatasetParams params = datasetsParams[caseDatasets[caseIdx]];
absdiff( trueLeftDisp, Scalar(params.dispUnknVal), leftUnknMask );
leftUnknMask = leftUnknMask < std::numeric_limits<float>::epsilon();
assert(leftUnknMask.type() == CV_8UC1);
CV_Assert(leftUnknMask.type() == CV_8UC1);
if( !trueRightDisp.empty() )
{
absdiff( trueRightDisp, Scalar(params.dispUnknVal), rightUnknMask );
rightUnknMask = rightUnknMask < std::numeric_limits<float>::epsilon();
assert(rightUnknMask.type() == CV_8UC1);
CV_Assert(rightUnknMask.type() == CV_8UC1);
}
// calculate errors
@@ -623,7 +623,7 @@ int CV_StereoMatchingTest::readDatasetsParams( FileStorage& fs )
}
datasetsParams.clear();
FileNode fn = fs.getFirstTopLevelNode();
assert(fn.isSeq());
CV_Assert(fn.isSeq());
for( int i = 0; i < (int)fn.size(); i+=3 )
{
String _name = fn[i];
@@ -649,7 +649,7 @@ int CV_StereoMatchingTest::readRunParams( FileStorage& fs )
void CV_StereoMatchingTest::writeErrors( const string& errName, const vector<float>& errors, FileStorage* fs )
{
assert( (int)errors.size() == ERROR_KINDS_COUNT );
CV_Assert( (int)errors.size() == ERROR_KINDS_COUNT );
vector<float>::const_iterator it = errors.begin();
if( fs )
for( int i = 0; i < ERROR_KINDS_COUNT; i++, ++it )
@@ -696,9 +696,9 @@ void CV_StereoMatchingTest::readROI( FileNode& fn, Rect& validROI )
int CV_StereoMatchingTest::compareErrors( const vector<float>& calcErrors, const vector<float>& validErrors,
const vector<float>& eps, const string& errName )
{
assert( (int)calcErrors.size() == ERROR_KINDS_COUNT );
assert( (int)validErrors.size() == ERROR_KINDS_COUNT );
assert( (int)eps.size() == ERROR_KINDS_COUNT );
CV_Assert( (int)calcErrors.size() == ERROR_KINDS_COUNT );
CV_Assert( (int)validErrors.size() == ERROR_KINDS_COUNT );
CV_Assert( (int)eps.size() == ERROR_KINDS_COUNT );
vector<float>::const_iterator calcIt = calcErrors.begin(),
validIt = validErrors.begin(),
epsIt = eps.begin();
@@ -757,7 +757,7 @@ protected:
{
int code = CV_StereoMatchingTest::readRunParams( fs );
FileNode fn = fs.getFirstTopLevelNode();
assert(fn.isSeq());
CV_Assert(fn.isSeq());
for( int i = 0; i < (int)fn.size(); i+=5 )
{
String caseName = fn[i], datasetName = fn[i+1];
@@ -776,8 +776,8 @@ protected:
Rect& calcROI, Mat& leftDisp, Mat& /*rightDisp*/, int caseIdx )
{
RunParams params = caseRunParams[caseIdx];
assert( params.ndisp%16 == 0 );
assert( _leftImg.type() == CV_8UC3 && _rightImg.type() == CV_8UC3 );
CV_Assert( params.ndisp%16 == 0 );
CV_Assert( _leftImg.type() == CV_8UC3 && _rightImg.type() == CV_8UC3 );
Mat leftImg; cvtColor( _leftImg, leftImg, COLOR_BGR2GRAY );
Mat rightImg; cvtColor( _rightImg, rightImg, COLOR_BGR2GRAY );
@@ -883,7 +883,7 @@ protected:
{
int code = CV_StereoMatchingTest::readRunParams(fs);
FileNode fn = fs.getFirstTopLevelNode();
assert(fn.isSeq());
CV_Assert(fn.isSeq());
for( int i = 0; i < (int)fn.size(); i+=5 )
{
String caseName = fn[i], datasetName = fn[i+1];
@@ -902,7 +902,7 @@ protected:
Rect& calcROI, Mat& leftDisp, Mat& /*rightDisp*/, int caseIdx )
{
RunParams params = caseRunParams[caseIdx];
assert( params.ndisp%16 == 0 );
CV_Assert( params.ndisp%16 == 0 );
Ptr<StereoSGBM> sgbm = StereoSGBM::create( 0, params.ndisp, params.winSize,
10*params.winSize*params.winSize,
40*params.winSize*params.winSize,
modules/calib3d/test/test_undistort.cpp
+3 -3
View File
@@ -1108,7 +1108,7 @@ static void test_remap( const Mat& src, Mat& dst, const Mat& mapx, const Mat& ma
}
break;
default:
assert(0);
CV_Assert(0);
}
}
}
@@ -1240,7 +1240,7 @@ int CV_ImgWarpBaseTest::prepare_test_case( int test_case_idx )
}
break;
default:
assert(0);
CV_Assert(0);
}
/*switch( depth )
@@ -1258,7 +1258,7 @@ int CV_ImgWarpBaseTest::prepare_test_case( int test_case_idx )
((float*)ptr)[j] = (float)buffer[j];
break;
default:
assert(0);
CV_Assert(0);
}*/
cv::Mat src(1, cols*cn, CV_32F, &buffer[0]);
cv::Mat dst(1, cols*cn, depth, ptr);