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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
2019-09-20 21:11:49 +00:00
parent a052567db8 eabbe38001
commit a74fe2ec01
36 changed files with 4716 additions and 60 deletions
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modules/calib3d/perf/perf_stereosgbm.cpp
+32 -8
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@@ -41,20 +41,18 @@ namespace opencv_test
using namespace perf;
using namespace testing;
static void MakeArtificialExample(RNG rng, Mat& dst_left_view, Mat& dst_view);
static void MakeArtificialExample(Mat& dst_left_view, Mat& dst_view);
CV_ENUM(SGBMModes, StereoSGBM::MODE_SGBM, StereoSGBM::MODE_SGBM_3WAY, StereoSGBM::MODE_HH4);
typedef tuple<Size, int, SGBMModes> SGBMParams;
typedef TestBaseWithParam<SGBMParams> TestStereoCorresp;
typedef TestBaseWithParam<SGBMParams> TestStereoCorrespSGBM;
#ifndef _DEBUG
PERF_TEST_P( TestStereoCorresp, SGBM, Combine(Values(Size(1280,720),Size(640,480)), Values(256,128), SGBMModes::all()) )
PERF_TEST_P( TestStereoCorrespSGBM, SGBM, Combine(Values(Size(1280,720),Size(640,480)), Values(256,128), SGBMModes::all()) )
#else
PERF_TEST_P( TestStereoCorresp, DISABLED_TooLongInDebug_SGBM, Combine(Values(Size(1280,720),Size(640,480)), Values(256,128), SGBMModes::all()) )
PERF_TEST_P( TestStereoCorrespSGBM, DISABLED_TooLongInDebug_SGBM, Combine(Values(Size(1280,720),Size(640,480)), Values(256,128), SGBMModes::all()) )
#endif
{
RNG rng(0);
SGBMParams params = GetParam();
Size sz = get<0>(params);
@@ -65,7 +63,7 @@ PERF_TEST_P( TestStereoCorresp, DISABLED_TooLongInDebug_SGBM, Combine(Values(Siz
Mat src_right(sz, CV_8UC3);
Mat dst(sz, CV_16S);
MakeArtificialExample(rng,src_left,src_right);
MakeArtificialExample(src_left,src_right);
int wsize = 3;
int P1 = 8*src_left.channels()*wsize*wsize;
@@ -78,8 +76,34 @@ PERF_TEST_P( TestStereoCorresp, DISABLED_TooLongInDebug_SGBM, Combine(Values(Siz
SANITY_CHECK(dst, .01, ERROR_RELATIVE);
}
void MakeArtificialExample(RNG rng, Mat& dst_left_view, Mat& dst_right_view)
typedef tuple<Size, int> BMParams;
typedef TestBaseWithParam<BMParams> TestStereoCorrespBM;
PERF_TEST_P(TestStereoCorrespBM, BM, Combine(Values(Size(1280, 720), Size(640, 480)), Values(256, 128)))
{
BMParams params = GetParam();
Size sz = get<0>(params);
int num_disparities = get<1>(params);
Mat src_left(sz, CV_8UC1);
Mat src_right(sz, CV_8UC1);
Mat dst(sz, CV_16S);
MakeArtificialExample(src_left, src_right);
int wsize = 21;
TEST_CYCLE()
{
Ptr<StereoBM> bm = StereoBM::create(num_disparities, wsize);
bm->compute(src_left, src_right, dst);
}
SANITY_CHECK(dst, .01, ERROR_RELATIVE);
}
void MakeArtificialExample(Mat& dst_left_view, Mat& dst_right_view)
{
RNG rng(0);
int w = dst_left_view.cols;
int h = dst_left_view.rows;
modules/calib3d/src/five-point.cpp
+2 -1
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@@ -571,7 +571,8 @@ int cv::recoverPose( InputArray E, InputArray _points1, InputArray _points2,
if (!_mask.empty())
{
Mat mask = _mask.getMat();
CV_Assert(mask.size() == mask1.size());
CV_Assert(npoints == mask.checkVector(1));
mask = mask.reshape(1, npoints);
bitwise_and(mask, mask1, mask1);
bitwise_and(mask, mask2, mask2);
bitwise_and(mask, mask3, mask3);
modules/calib3d/src/undistort.simd.hpp
+13 -8
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@@ -153,19 +153,24 @@ public:
m_2 = vx_setall_f64(k5);
m_0 /= v_muladd(v_muladd(v_muladd(m_3, r2_0, m_2), r2_0, vx_setall_f64(k4)), r2_0, v_one);
m_1 /= v_muladd(v_muladd(v_muladd(m_3, r2_1, m_2), r2_1, vx_setall_f64(k4)), r2_1, v_one);
m_3 = vx_setall_f64(2.0);
xd_0 = v_muladd(m_3, xd_0, r2_0);
yd_0 = v_muladd(m_3, yd_0, r2_0);
xd_1 = v_muladd(m_3, xd_1, r2_1);
yd_1 = v_muladd(m_3, yd_1, r2_1);
m_2 = x_0 * y_0 * m_3;
m_3 = x_1 * y_1 * m_3;
x_0 *= m_0; y_0 *= m_0; x_1 *= m_1; y_1 *= m_1;
m_0 = vx_setall_f64(p1);
m_1 = vx_setall_f64(p2);
m_2 = vx_setall_f64(2.0);
xd_0 = v_muladd(v_muladd(m_2, xd_0, r2_0), m_1, x_0);
yd_0 = v_muladd(v_muladd(m_2, yd_0, r2_0), m_0, y_0);
xd_1 = v_muladd(v_muladd(m_2, xd_1, r2_1), m_1, x_1);
yd_1 = v_muladd(v_muladd(m_2, yd_1, r2_1), m_0, y_1);
xd_0 = v_muladd(xd_0, m_1, x_0);
yd_0 = v_muladd(yd_0, m_0, y_0);
xd_1 = v_muladd(xd_1, m_1, x_1);
yd_1 = v_muladd(yd_1, m_0, y_1);
m_0 *= m_2; m_1 *= m_2;
m_2 = x_0 * y_0;
m_3 = x_1 * y_1;
xd_0 = v_muladd(m_0, m_2, xd_0);
yd_0 = v_muladd(m_1, m_2, yd_0);
xd_1 = v_muladd(m_0, m_3, xd_1);
modules/calib3d/test/test_cameracalibration.cpp
+98
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@@ -2196,4 +2196,102 @@ TEST(Calib3d_Triangulate, accuracy)
}
}
///////////////////////////////////////////////////////////////////////////////////////////////////
TEST(CV_RecoverPoseTest, regression_15341)
{
// initialize test data
const int invalid_point_count = 2;
const float _points1_[] = {
1537.7f, 166.8f,
1599.1f, 179.6f,
1288.0f, 207.5f,
1507.1f, 193.2f,
1742.7f, 210.0f,
1041.6f, 271.7f,
1591.8f, 247.2f,
1524.0f, 261.3f,
1330.3f, 285.0f,
1403.1f, 284.0f,
1506.6f, 342.9f,
1502.8f, 347.3f,
1344.9f, 364.9f,
0.0f, 0.0f // last point is initial invalid
};
const float _points2_[] = {
1533.4f, 532.9f,
1596.6f, 552.4f,
1277.0f, 556.4f,
1502.1f, 557.6f,
1744.4f, 601.3f,
1023.0f, 612.6f,
1589.2f, 621.6f,
1519.4f, 629.0f,
1320.3f, 637.3f,
1395.2f, 642.2f,
1501.5f, 710.3f,
1497.6f, 714.2f,
1335.1f, 719.61f,
1000.0f, 1000.0f // last point is initial invalid
};
vector<Point2f> _points1; Mat(14, 1, CV_32FC2, (void*)_points1_).copyTo(_points1);
vector<Point2f> _points2; Mat(14, 1, CV_32FC2, (void*)_points2_).copyTo(_points2);
const int point_count = (int) _points1.size();
CV_Assert(point_count == (int) _points2.size());
// camera matrix with both focal lengths = 1, and principal point = (0, 0)
const Mat cameraMatrix = Mat::eye(3, 3, CV_64F);
int Inliers = 0;
const int ntests = 3;
for (int testcase = 1; testcase <= ntests; ++testcase)
{
if (testcase == 1) // testcase with vector input data
{
// init temporary test data
vector<unsigned char> mask(point_count);
vector<Point2f> points1(_points1);
vector<Point2f> points2(_points2);
// Estimation of fundamental matrix using the RANSAC algorithm
Mat E, R, t;
E = findEssentialMat(points1, points2, cameraMatrix, RANSAC, 0.999, 1.0, mask);
EXPECT_EQ(0, (int)mask[13]) << "Detecting outliers in function findEssentialMat failed, testcase " << testcase;
points2[12] = Point2f(0.0f, 0.0f); // provoke another outlier detection for recover Pose
Inliers = recoverPose(E, points1, points2, cameraMatrix, R, t, mask);
EXPECT_EQ(0, (int)mask[12]) << "Detecting outliers in function failed, testcase " << testcase;
}
else // testcase with mat input data
{
Mat points1(_points1, true);
Mat points2(_points2, true);
Mat mask;
if (testcase == 2)
{
// init temporary testdata
mask = Mat::zeros(point_count, 1, CV_8UC1);
}
else // testcase == 3 - with transposed mask
{
mask = Mat::zeros(1, point_count, CV_8UC1);
}
// Estimation of fundamental matrix using the RANSAC algorithm
Mat E, R, t;
E = findEssentialMat(points1, points2, cameraMatrix, RANSAC, 0.999, 1.0, mask);
EXPECT_EQ(0, (int)mask.at<unsigned char>(13)) << "Detecting outliers in function findEssentialMat failed, testcase " << testcase;
points2.at<Point2f>(12) = Point2f(0.0f, 0.0f); // provoke an outlier detection
Inliers = recoverPose(E, points1, points2, cameraMatrix, R, t, mask);
EXPECT_EQ(0, (int)mask.at<unsigned char>(12)) << "Detecting outliers in function failed, testcase " << testcase;
}
EXPECT_EQ(Inliers, point_count - invalid_point_count) <<
"Number of inliers differs from expected number of inliers, testcase " << testcase;
}
}
}} // namespace
modules/calib3d/test/test_undistort.cpp
+38
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@@ -1469,6 +1469,44 @@ TEST(Calib3d_UndistortPoints, outputShape)
}
}
TEST(Imgproc_undistort, regression_15286)
{
double kmat_data[9] = { 3217, 0, 1592, 0, 3217, 1201, 0, 0, 1 };
Mat kmat(3, 3, CV_64F, kmat_data);
double dist_coeff_data[5] = { 0.04, -0.4, -0.01, 0.04, 0.7 };
Mat dist_coeffs(5, 1, CV_64F, dist_coeff_data);
Mat img = Mat::zeros(512, 512, CV_8UC1);
img.at<uchar>(128, 128) = 255;
img.at<uchar>(128, 384) = 255;
img.at<uchar>(384, 384) = 255;
img.at<uchar>(384, 128) = 255;
Mat ref = Mat::zeros(512, 512, CV_8UC1);
ref.at<uchar>(Point(24, 98)) = 78;
ref.at<uchar>(Point(24, 99)) = 114;
ref.at<uchar>(Point(25, 98)) = 36;
ref.at<uchar>(Point(25, 99)) = 60;
ref.at<uchar>(Point(27, 361)) = 6;
ref.at<uchar>(Point(28, 361)) = 188;
ref.at<uchar>(Point(28, 362)) = 49;
ref.at<uchar>(Point(29, 361)) = 44;
ref.at<uchar>(Point(29, 362)) = 16;
ref.at<uchar>(Point(317, 366)) = 134;
ref.at<uchar>(Point(317, 367)) = 78;
ref.at<uchar>(Point(318, 366)) = 40;
ref.at<uchar>(Point(318, 367)) = 29;
ref.at<uchar>(Point(310, 104)) = 106;
ref.at<uchar>(Point(310, 105)) = 30;
ref.at<uchar>(Point(311, 104)) = 112;
ref.at<uchar>(Point(311, 105)) = 38;
Mat img_undist;
undistort(img, img_undist, kmat, dist_coeffs);
ASSERT_EQ(0.0, cvtest::norm(img_undist, ref, cv::NORM_INF));
}
TEST(Calib3d_initUndistortRectifyMap, regression_14467)
{
Size size_w_h(512 + 3, 512);