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Merge branch 4.x

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This commit is contained in:
Alexander Alekhin
2022-08-21 14:55:48 +00:00
parent 99d216c8d4 925ff6241f
commit c25f776151
538 changed files with 84703 additions and 5374 deletions
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samples/cpp/calibration.cpp
+1 -1
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@@ -226,7 +226,7 @@ static void saveCameraParams( const string& filename,
if( flags != 0 )
{
sprintf( buf, "flags: %s%s%s%s",
snprintf( buf, sizeof(buf), "flags: %s%s%s%s",
flags & CALIB_USE_INTRINSIC_GUESS ? "+use_intrinsic_guess" : "",
flags & CALIB_FIX_ASPECT_RATIO ? "+fix_aspectRatio" : "",
flags & CALIB_FIX_PRINCIPAL_POINT ? "+fix_principal_point" : "",
samples/cpp/imgcodecs_jpeg.cpp
+82
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@@ -0,0 +1,82 @@
#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/imgcodecs.hpp>
#include <iostream>
#include <vector>
using namespace std;
using namespace cv;
int main(int /*argc*/, const char** /* argv */ )
{
Mat framebuffer( 160 * 2, 160 * 5, CV_8UC3, cv::Scalar::all(255) );
Mat img( 160, 160, CV_8UC3, cv::Scalar::all(255) );
// Create test image.
{
const Point center( img.rows / 2 , img.cols /2 );
for( int radius = 5; radius < img.rows ; radius += 3 )
{
cv::circle( img, center, radius, Scalar(255,0,255) );
}
cv::rectangle( img, Point(0,0), Point(img.rows-1, img.cols-1), Scalar::all(0), 2 );
}
// Draw original image(s).
int top = 0; // Upper images
{
for( int left = 0 ; left < img.rows * 5 ; left += img.rows ){
Mat roi = framebuffer( Rect( left, top, img.rows, img.cols ) );
img.copyTo(roi);
cv::putText( roi, "original", Point(5,15), FONT_HERSHEY_SIMPLEX, 0.5, Scalar::all(0), 2, 4, false );
}
}
// Draw lossy images
top += img.cols; // Lower images
{
struct test_config{
string comment;
uint32_t sampling_factor;
} config [] = {
{ "411", IMWRITE_JPEG_SAMPLING_FACTOR_411 },
{ "420", IMWRITE_JPEG_SAMPLING_FACTOR_420 },
{ "422", IMWRITE_JPEG_SAMPLING_FACTOR_422 },
{ "440", IMWRITE_JPEG_SAMPLING_FACTOR_440 },
{ "444", IMWRITE_JPEG_SAMPLING_FACTOR_444 },
};
const int config_num = 5;
int left = 0;
for ( int i = 0 ; i < config_num; i++ )
{
// Compress images with sampling factor parameter.
vector<int> param;
param.push_back( IMWRITE_JPEG_SAMPLING_FACTOR );
param.push_back( config[i].sampling_factor );
vector<uint8_t> jpeg;
(void) imencode(".jpg", img, jpeg, param );
// Decompress it.
Mat jpegMat(jpeg);
Mat lossy_img = imdecode(jpegMat, -1);
// Copy into framebuffer and comment
Mat roi = framebuffer( Rect( left, top, lossy_img.rows, lossy_img.cols ) );
lossy_img.copyTo(roi);
cv::putText( roi, config[i].comment, Point(5,155), FONT_HERSHEY_SIMPLEX, 0.5, Scalar::all(0), 2, 4, false );
left += lossy_img.rows;
}
}
// Output framebuffer(as lossless).
imwrite( "imgcodecs_jpeg_samplingfactor_result.png", framebuffer );
return 0;
}
samples/cpp/select3dobj.cpp
+2 -2
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@@ -470,7 +470,7 @@ int main(int argc, char** argv)
outbarename = strrchr(outprefix.c_str(), '/');
const char* tmp = strrchr(outprefix.c_str(), '\\');
char cmd[1000];
sprintf(cmd, "mkdir %s", outprefix.c_str());
snprintf(cmd, sizeof(cmd), "mkdir %s", outprefix.c_str());
if( tmp && tmp > outbarename )
outbarename = tmp;
if( outbarename )
@@ -569,7 +569,7 @@ int main(int argc, char** argv)
char path[1000];
for(;frameIdx < maxFrameIdx;frameIdx++)
{
sprintf(path, "%s%04d.jpg", outprefix.c_str(), frameIdx);
snprintf(path, sizeof(path), "%s%04d.jpg", outprefix.c_str(), frameIdx);
FILE* f = fopen(path, "rb");
if( !f )
break;
samples/cpp/tutorial_code/HighGUI/AddingImagesTrackbar.cpp
+1 -1
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@@ -60,7 +60,7 @@ int main( void )
//![create_trackbar]
char TrackbarName[50];
sprintf( TrackbarName, "Alpha x %d", alpha_slider_max );
snprintf( TrackbarName, sizeof(TrackbarName), "Alpha x %d", alpha_slider_max );
createTrackbar( TrackbarName, "Linear Blend", &alpha_slider, alpha_slider_max, on_trackbar );
//![create_trackbar]
samples/cpp/tutorial_code/ImgTrans/HoughLines_Demo.cpp
+1 -1
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@@ -58,7 +58,7 @@ int main( int argc, char** argv )
/// Create Trackbars for Thresholds
char thresh_label[50];
sprintf( thresh_label, "Thres: %d + input", min_threshold );
snprintf( thresh_label, sizeof(thresh_label), "Thres: %d + input", min_threshold );
namedWindow( standard_name, WINDOW_AUTOSIZE );
createTrackbar( thresh_label, standard_name, &s_trackbar, max_trackbar, Standard_Hough);
samples/cpp/tutorial_code/features2D/Homography/pose_from_homography.cpp
+10 -1
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@@ -110,9 +110,18 @@ void poseEstimationFromCoplanarPoints(const string &imgPath, const string &intri
//! [polar-decomposition-of-the-rotation-matrix]
cout << "R (before polar decomposition):\n" << R << "\ndet(R): " << determinant(R) << endl;
Mat W, U, Vt;
Mat_<double> W, U, Vt;
SVDecomp(R, W, U, Vt);
R = U*Vt;
double det = determinant(R);
if (det < 0)
{
Vt.at<double>(2,0) *= -1;
Vt.at<double>(2,1) *= -1;
Vt.at<double>(2,2) *= -1;
R = U*Vt;
}
cout << "R (after polar decomposition):\n" << R << "\ndet(R): " << determinant(R) << endl;
//! [polar-decomposition-of-the-rotation-matrix]
samples/cpp/videocapture_obsensor.cpp
+74
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@@ -0,0 +1,74 @@
#include <opencv2/videoio.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>
#include <iostream>
using namespace cv;
int main()
{
VideoCapture obsensorCapture(0, CAP_OBSENSOR);
if(!obsensorCapture.isOpened()){
std::cerr << "Failed to open obsensor capture! Index out of range or no response from device";
return -1;
}
double fx = obsensorCapture.get(CAP_PROP_OBSENSOR_INTRINSIC_FX);
double fy = obsensorCapture.get(CAP_PROP_OBSENSOR_INTRINSIC_FY);
double cx = obsensorCapture.get(CAP_PROP_OBSENSOR_INTRINSIC_CX);
double cy = obsensorCapture.get(CAP_PROP_OBSENSOR_INTRINSIC_CY);
std::cout << "obsensor camera intrinsic params: fx=" << fx << ", fy=" << fy << ", cx=" << cx << ", cy=" << cy << std::endl;
Mat image;
Mat depthMap;
Mat adjDepthMap;
while (true)
{
// Grab depth map like this:
// obsensorCapture >> depthMap;
// Another way to grab depth map (and bgr image).
if (obsensorCapture.grab())
{
if (obsensorCapture.retrieve(image, CAP_OBSENSOR_BGR_IMAGE))
{
imshow("RGB", image);
}
if (obsensorCapture.retrieve(depthMap, CAP_OBSENSOR_DEPTH_MAP))
{
normalize(depthMap, adjDepthMap, 0, 255, NORM_MINMAX, CV_8UC1);
applyColorMap(adjDepthMap, adjDepthMap, COLORMAP_JET);
imshow("DEPTH", adjDepthMap);
}
// depth map overlay on bgr image
static const float alpha = 0.6f;
if (!image.empty() && !depthMap.empty())
{
normalize(depthMap, adjDepthMap, 0, 255, NORM_MINMAX, CV_8UC1);
cv::resize(adjDepthMap, adjDepthMap, cv::Size(image.cols, image.rows));
for (int i = 0; i < image.rows; i++)
{
for (int j = 0; j < image.cols; j++)
{
cv::Vec3b& outRgb = image.at<cv::Vec3b>(i, j);
uint8_t depthValue = 255 - adjDepthMap.at<uint8_t>(i, j);
if (depthValue != 0 && depthValue != 255)
{
outRgb[0] = (uint8_t)(outRgb[0] * (1.0f - alpha) + depthValue * alpha);
outRgb[1] = (uint8_t)(outRgb[1] * (1.0f - alpha) + depthValue * alpha);
outRgb[2] = (uint8_t)(outRgb[2] * (1.0f - alpha) + depthValue * alpha);
}
}
}
imshow("DepthToColor", image);
}
image.release();
depthMap.release();
}
if (pollKey() >= 0)
break;
}
return 0;
}
samples/cpp/videocapture_starter.cpp
+1 -1
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@@ -57,7 +57,7 @@ namespace {
case 27: //escape key
return 0;
case ' ': //Save an image
sprintf(filename,"filename%.3d.jpg",n++);
snprintf(filename,sizeof(filename),"filename%.3d.jpg",n++);
imwrite(filename,frame);
cout << "Saved " << filename << endl;
break;