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

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Alexander Alekhin
2020-02-01 17:25:39 +00:00
parent 27edba495a 84c29dce77
commit bf2f7b0f8b
13 changed files with 593 additions and 82 deletions
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doc/tutorials/features2d/homography/homography.markdown
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@@ -12,7 +12,9 @@ For detailed explanations about the theory, please refer to a computer vision co
* An Invitation to 3-D Vision: From Images to Geometric Models, @cite Ma:2003:IVI
* Computer Vision: Algorithms and Applications, @cite RS10
The tutorial code can be found [here](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/features2D/Homography).
The tutorial code can be found here [C++](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/features2D/Homography),
[Python](https://github.com/opencv/opencv/tree/master/samples/python/tutorial_code/features2D/Homography),
[Java](https://github.com/opencv/opencv/tree/master/samples/java/tutorial_code/features2D/Homography).
The images used in this tutorial can be found [here](https://github.com/opencv/opencv/tree/master/samples/data) (`left*.jpg`).
Basic theory {#tutorial_homography_Basic_theory}
@@ -171,15 +173,45 @@ The following image shows the source image (left) and the chessboard view that w
The first step consists to detect the chessboard corners in the source and desired images:
@add_toggle_cpp
@snippet perspective_correction.cpp find-corners
@end_toggle
@add_toggle_python
@snippet samples/python/tutorial_code/features2D/Homography/perspective_correction.py find-corners
@end_toggle
@add_toggle_java
@snippet samples/java/tutorial_code/features2D/Homography/PerspectiveCorrection.java find-corners
@end_toggle
The homography is estimated easily with:
@add_toggle_cpp
@snippet perspective_correction.cpp estimate-homography
@end_toggle
@add_toggle_python
@snippet samples/python/tutorial_code/features2D/Homography/perspective_correction.py estimate-homography
@end_toggle
@add_toggle_java
@snippet samples/java/tutorial_code/features2D/Homography/PerspectiveCorrection.java estimate-homography
@end_toggle
To warp the source chessboard view into the desired chessboard view, we use @ref cv::warpPerspective
@add_toggle_cpp
@snippet perspective_correction.cpp warp-chessboard
@end_toggle
@add_toggle_python
@snippet samples/python/tutorial_code/features2D/Homography/perspective_correction.py warp-chessboard
@end_toggle
@add_toggle_java
@snippet samples/java/tutorial_code/features2D/Homography/PerspectiveCorrection.java warp-chessboard
@end_toggle
The result image is:
@@ -187,7 +219,17 @@ The result image is:
To compute the coordinates of the source corners transformed by the homography:
@add_toggle_cpp
@snippet perspective_correction.cpp compute-transformed-corners
@end_toggle
@add_toggle_python
@snippet samples/python/tutorial_code/features2D/Homography/perspective_correction.py compute-transformed-corners
@end_toggle
@add_toggle_java
@snippet samples/java/tutorial_code/features2D/Homography/PerspectiveCorrection.java compute-transformed-corners
@end_toggle
To check the correctness of the calculation, the matching lines are displayed:
@@ -499,17 +541,57 @@ The figure below shows the two generated views of the Suzanne model, with only a
With the known associated camera poses and the intrinsic parameters, the relative rotation between the two views can be computed:
@add_toggle_cpp
@snippet panorama_stitching_rotating_camera.cpp extract-rotation
@end_toggle
@add_toggle_python
@snippet samples/python/tutorial_code/features2D/Homography/panorama_stitching_rotating_camera.py extract-rotation
@end_toggle
@add_toggle_java
@snippet samples/java/tutorial_code/features2D/Homography/PanoramaStitchingRotatingCamera.java extract-rotation
@end_toggle
@add_toggle_cpp
@snippet panorama_stitching_rotating_camera.cpp compute-rotation-displacement
@end_toggle
@add_toggle_python
@snippet samples/python/tutorial_code/features2D/Homography/panorama_stitching_rotating_camera.py compute-rotation-displacement
@end_toggle
@add_toggle_java
@snippet samples/java/tutorial_code/features2D/Homography/PanoramaStitchingRotatingCamera.java compute-rotation-displacement
@end_toggle
Here, the second image will be stitched with respect to the first image. The homography can be calculated using the formula above:
@add_toggle_cpp
@snippet panorama_stitching_rotating_camera.cpp compute-homography
@end_toggle
@add_toggle_python
@snippet samples/python/tutorial_code/features2D/Homography/panorama_stitching_rotating_camera.py compute-homography
@end_toggle
@add_toggle_java
@snippet samples/java/tutorial_code/features2D/Homography/PanoramaStitchingRotatingCamera.java compute-homography
@end_toggle
The stitching is made simply with:
@add_toggle_cpp
@snippet panorama_stitching_rotating_camera.cpp stitch
@end_toggle
@add_toggle_python
@snippet samples/python/tutorial_code/features2D/Homography/panorama_stitching_rotating_camera.py stitch
@end_toggle
@add_toggle_java
@snippet samples/java/tutorial_code/features2D/Homography/PanoramaStitchingRotatingCamera.java stitch
@end_toggle
The resulting image is: