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Merge pull request #25075 from mshabunin:cleanup-imgproc-1

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C-API cleanup: apps, imgproc_c and some constants #25075

Merge with https://github.com/opencv/opencv_contrib/pull/3642

* Removed obsolete apps - traincascade and createsamples (please use older OpenCV versions if you need them). These apps relied heavily on C-API
* removed all mentions of imgproc C-API headers (imgproc_c.h, types_c.h) - they were empty, included core C-API headers
* replaced usage of several C constants with C++ ones (error codes, norm modes, RNG modes, PCA modes, ...) - most part of this PR (split into two parts - all modules and calib+3d - for easier backporting)
* removed imgproc C-API headers (as separate commit, so that other changes could be backported to 4.x)

Most of these changes can be backported to 4.x.
This commit is contained in:
Maksim Shabunin
2024-03-05 12:18:31 +03:00
committed by GitHub
parent 1d1faaabef
commit 8cbdd0c833
152 changed files with 820 additions and 18160 deletions
Download Patch File Download Diff File Expand all files Collapse all files
modules/calib/src/calibinit.cpp
-1
View File
@@ -71,7 +71,6 @@
#include "precomp.hpp"
#include "circlesgrid.hpp"
#include "opencv2/imgproc/imgproc_c.h"
#include "opencv2/flann.hpp"
#include <stack>
modules/calib/src/calibration.cpp
+24 -24
View File
@@ -70,7 +70,7 @@ static void initIntrinsicParams2D( const Mat& objectPoints,
imagePoints.type() == CV_64FC2 );
if( objectPoints.rows != 1 || imagePoints.rows != 1 )
CV_Error( CV_StsBadSize, "object points and image points must be a single-row matrices" );
CV_Error( cv::Error::StsBadSize, "object points and image points must be a single-row matrices" );
Mat_<double> matA(2*nimages, 2);
Mat_<double> matb(2*nimages, 1, CV_64F );
@@ -177,20 +177,20 @@ static double calibrateCameraInternal( const Mat& objectPoints,
// 0. check the parameters & allocate buffers
if( imageSize.width <= 0 || imageSize.height <= 0 )
CV_Error( CV_StsOutOfRange, "image width and height must be positive" );
CV_Error( cv::Error::StsOutOfRange, "image width and height must be positive" );
if(flags & CALIB_TILTED_MODEL)
{
//when the tilted sensor model is used the distortion coefficients matrix must have 14 parameters
if (ndistCoeffs != 14)
CV_Error( CV_StsBadArg, "The tilted sensor model must have 14 parameters in the distortion matrix" );
CV_Error( cv::Error::StsBadArg, "The tilted sensor model must have 14 parameters in the distortion matrix" );
}
else
{
//when the thin prism model is used the distortion coefficients matrix must have 12 parameters
if(flags & CALIB_THIN_PRISM_MODEL)
if (ndistCoeffs != 12)
CV_Error( CV_StsBadArg, "Thin prism model must have 12 parameters in the distortion matrix" );
CV_Error( cv::Error::StsBadArg, "Thin prism model must have 12 parameters in the distortion matrix" );
}
if( !rvecs.empty() )
@@ -225,7 +225,7 @@ static double calibrateCameraInternal( const Mat& objectPoints,
int ni = npoints.at<int>(i);
if( ni < 4 )
{
CV_Error_( CV_StsOutOfRange, ("The number of points in the view #%d is < 4", i));
CV_Error_( cv::Error::StsOutOfRange, ("The number of points in the view #%d is < 4", i));
}
maxPoints = MAX( maxPoints, ni );
total += ni;
@@ -286,15 +286,15 @@ static double calibrateCameraInternal( const Mat& objectPoints,
if( flags & CALIB_USE_INTRINSIC_GUESS )
{
if( A(0, 0) <= 0 || A(1, 1) <= 0 )
CV_Error( CV_StsOutOfRange, "Focal length (fx and fy) must be positive" );
CV_Error( cv::Error::StsOutOfRange, "Focal length (fx and fy) must be positive" );
if( A(0, 2) < 0 || A(0, 2) >= imageSize.width ||
A(1, 2) < 0 || A(1, 2) >= imageSize.height )
CV_Error( CV_StsOutOfRange, "Principal point must be within the image" );
CV_Error( cv::Error::StsOutOfRange, "Principal point must be within the image" );
if( fabs(A(0, 1)) > 1e-5 )
CV_Error( CV_StsOutOfRange, "Non-zero skew is not supported by the function" );
CV_Error( cv::Error::StsOutOfRange, "Non-zero skew is not supported by the function" );
if( fabs(A(1, 0)) > 1e-5 || fabs(A(2, 0)) > 1e-5 ||
fabs(A(2, 1)) > 1e-5 || fabs(A(2,2)-1) > 1e-5 )
CV_Error( CV_StsOutOfRange,
CV_Error( cv::Error::StsOutOfRange,
"The intrinsic matrix must have [fx 0 cx; 0 fy cy; 0 0 1] shape" );
A(0, 1) = A(1, 0) = A(2, 0) = A(2, 1) = 0.;
A(2, 2) = 1.;
@@ -304,7 +304,7 @@ static double calibrateCameraInternal( const Mat& objectPoints,
aspectRatio = A(0, 0)/A(1, 1);
if( aspectRatio < minValidAspectRatio || aspectRatio > maxValidAspectRatio )
CV_Error( CV_StsOutOfRange,
CV_Error( cv::Error::StsOutOfRange,
"The specified aspect ratio (= cameraMatrix[0][0] / cameraMatrix[1][1]) is incorrect" );
}
distCoeffs.convertTo(_k, CV_64F);
@@ -314,7 +314,7 @@ static double calibrateCameraInternal( const Mat& objectPoints,
Scalar mean, sdv;
meanStdDev(matM, mean, sdv);
if( fabs(mean[2]) > 1e-5 || fabs(sdv[2]) > 1e-5 )
CV_Error( CV_StsBadArg,
CV_Error( cv::Error::StsBadArg,
"For non-planar calibration rigs the initial intrinsic matrix must be specified" );
for(int i = 0; i < total; i++ )
matM.at<Point3d>(i).z = 0.;
@@ -324,7 +324,7 @@ static double calibrateCameraInternal( const Mat& objectPoints,
aspectRatio = A(0, 0);
aspectRatio /= A(1, 1);
if( aspectRatio < minValidAspectRatio || aspectRatio > maxValidAspectRatio )
CV_Error( CV_StsOutOfRange,
CV_Error( cv::Error::StsOutOfRange,
"The specified aspect ratio (= cameraMatrix[0][0] / cameraMatrix[1][1]) is incorrect" );
}
initIntrinsicParams2D( matM, _m, npoints, imageSize, A, aspectRatio );
@@ -689,7 +689,7 @@ static double stereoCalibrateImpl(
if( (depth != CV_32F && depth != CV_64F) ||
((rvecs.rows != nimages || (rvecs.cols*cn != 3 && rvecs.cols*cn != 9)) &&
(rvecs.rows != 1 || rvecs.cols != nimages || cn != 3)) )
CV_Error( CV_StsBadArg, "the output array of rotation vectors must be 3-channel "
CV_Error( cv::Error::StsBadArg, "the output array of rotation vectors must be 3-channel "
"1xn or nx1 array or 1-channel nx3 or nx9 array, where n is the number of views" );
}
if( !tvecs.empty() )
@@ -699,7 +699,7 @@ static double stereoCalibrateImpl(
if( (depth != CV_32F && depth != CV_64F) ||
((tvecs.rows != nimages || tvecs.cols*cn != 3) &&
(tvecs.rows != 1 || tvecs.cols != nimages || cn != 3)) )
CV_Error( CV_StsBadArg, "the output array of translation vectors must be 3-channel "
CV_Error( cv::Error::StsBadArg, "the output array of translation vectors must be 3-channel "
"1xn or nx1 array or 1-channel nx3 array, where n is the number of views" );
}
@@ -1237,7 +1237,7 @@ static double registerCamerasImpl(
CV_Assert(depth == CV_32F || depth == CV_64F);
if(((rvecs.rows != nimages || (rvecs.cols*cn != 3 && rvecs.cols*cn != 9)) &&
(rvecs.rows != 1 || rvecs.cols != nimages || cn != 3)) )
CV_Error( CV_StsBadArg, "the output array of rotation vectors must be 3-channel "
CV_Error( cv::Error::StsBadArg, "the output array of rotation vectors must be 3-channel "
"1xn or nx1 array or 1-channel nx3 or nx9 array, where n is the number of views" );
}
if( !tvecs.empty() )
@@ -1247,7 +1247,7 @@ static double registerCamerasImpl(
CV_Assert(depth == CV_32F || depth == CV_64F);
if(((tvecs.rows != nimages || tvecs.cols*cn != 3) &&
(tvecs.rows != 1 || tvecs.cols != nimages || cn != 3)) )
CV_Error( CV_StsBadArg, "the output array of translation vectors must be 3-channel "
CV_Error( cv::Error::StsBadArg, "the output array of translation vectors must be 3-channel "
"1xn or nx1 array or 1-channel nx3 array, where n is the number of views" );
}
@@ -1308,7 +1308,7 @@ static double registerCamerasImpl(
else if (cameraModels[k] == CALIB_MODEL_FISHEYE)
fisheye::solvePnP(objpt_i, imgpt_ik, A[k], tdists[k], rv, T[k], false, SOLVEPNP_ITERATIVE );
else
CV_Error(CV_StsBadArg, cv::format("Camera type %d is not supported", cameraModels[k]));
CV_Error(cv::Error::StsBadArg, cv::format("Camera type %d is not supported", cameraModels[k]));
Rodrigues(rv, R[k]);
@@ -1596,17 +1596,17 @@ static void collectCalibrationData( InputArrayOfArrays objectPoints,
{
Mat objectPoint = objectPoints.getMat(i);
if (objectPoint.empty())
CV_Error(CV_StsBadSize, "objectPoints should not contain empty vector of vectors of points");
CV_Error(cv::Error::StsBadSize, "objectPoints should not contain empty vector of vectors of points");
int numberOfObjectPoints = objectPoint.checkVector(3, CV_32F);
if (numberOfObjectPoints <= 0)
CV_Error(CV_StsUnsupportedFormat, "objectPoints should contain vector of vectors of points of type Point3f");
CV_Error(cv::Error::StsUnsupportedFormat, "objectPoints should contain vector of vectors of points of type Point3f");
Mat imagePoint1 = imagePoints1.getMat(i);
if (imagePoint1.empty())
CV_Error(CV_StsBadSize, "imagePoints1 should not contain empty vector of vectors of points");
CV_Error(cv::Error::StsBadSize, "imagePoints1 should not contain empty vector of vectors of points");
int numberOfImagePoints = imagePoint1.checkVector(2, CV_32F);
if (numberOfImagePoints <= 0)
CV_Error(CV_StsUnsupportedFormat, "imagePoints1 should contain vector of vectors of points of type Point2f");
CV_Error(cv::Error::StsUnsupportedFormat, "imagePoints1 should contain vector of vectors of points of type Point2f");
CV_CheckEQ(numberOfObjectPoints, numberOfImagePoints, "Number of object and image points must be equal");
total += numberOfObjectPoints;
@@ -1664,14 +1664,14 @@ static void collectCalibrationData( InputArrayOfArrays objectPoints,
{
if( nPointsMat.at<int>(i) != ni )
{
CV_Error( CV_StsBadArg, "All objectPoints[i].size() should be equal when "
CV_Error( cv::Error::StsBadArg, "All objectPoints[i].size() should be equal when "
"object-releasing method is requested." );
}
Mat ocmp = objPtMat.colRange(ni * i, ni * i + ni) != objPtMat.colRange(0, ni);
ocmp = ocmp.reshape(1);
if( countNonZero(ocmp) )
{
CV_Error( CV_StsBadArg, "All objectPoints[i] should be identical when object-releasing"
CV_Error( cv::Error::StsBadArg, "All objectPoints[i] should be identical when object-releasing"
" method is requested." );
}
}
@@ -1914,7 +1914,7 @@ void calibrationMatrixValues( InputArray _cameraMatrix, Size imageSize,
CV_INSTRUMENT_REGION();
if(_cameraMatrix.size() != Size(3, 3))
CV_Error(CV_StsUnmatchedSizes, "Size of cameraMatrix must be 3x3!");
CV_Error(cv::Error::StsUnmatchedSizes, "Size of cameraMatrix must be 3x3!");
Matx33d A;
_cameraMatrix.getMat().convertTo(A, CV_64F);