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Fixed build issues

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This commit is contained in:
Ilya Krylov
2014-05-13 13:34:46 +04:00
parent e4a9c0f184
commit c30fef1f9d
5 changed files with 73 additions and 97 deletions
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modules/calib3d/src/fisheye.cpp
+32 -46
View File
@@ -1,8 +1,4 @@
#include "opencv2/opencv.hpp"
#include "opencv2/core/affine.hpp"
#include "opencv2/core/affine.hpp"
#include "fisheye.hpp"
#include "iomanip"
namespace cv { namespace
{
@@ -46,6 +42,7 @@ void cv::Fisheye::projectPoints(InputArray objectPoints, OutputArray imagePoints
cv::Vec2d f, c;
if (_K.depth() == CV_32F)
{
Matx33f K = _K.getMat();
f = Vec2f(K(0, 0), K(1, 1));
c = Vec2f(K(0, 2), K(1, 2));
@@ -786,8 +783,8 @@ double cv::Fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayO
const double thresh_cond = 1e6;
const int check_cond = 1;
size_t n_points = objectPoints.getMat(0).total();
size_t n_images = objectPoints.total();
int n_points = (int)objectPoints.getMat(0).total();
int n_images = (int)objectPoints.total();
double change = 1;
@@ -856,7 +853,7 @@ double cv::Fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayO
//Init values for rotation and translation between two views
cv::Mat om_list(1, n_images, CV_64FC3), T_list(1, n_images, CV_64FC3);
cv::Mat om_ref, R_ref, T_ref, R1, R2;
for (size_t image_idx = 0; image_idx < n_images; ++image_idx)
for (int image_idx = 0; image_idx < n_images; ++image_idx)
{
cv::Rodrigues(rvecs1[image_idx], R1);
cv::Rodrigues(rvecs2[image_idx], R2);
@@ -887,7 +884,7 @@ double cv::Fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayO
cv::Mat omr, Tr, domrdomckk, domrdTckk, domrdom, domrdT, dTrdomckk, dTrdTckk, dTrdom, dTrdT;
for (size_t image_idx = 0; image_idx < n_images; ++image_idx)
for (int image_idx = 0; image_idx < n_images; ++image_idx)
{
Jkk = cv::Mat::zeros(4 * n_points, 18 + 6 * (n_images + 1), CV_64FC1);
@@ -931,22 +928,18 @@ double cv::Fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayO
//check goodness of sterepair
double abs_max = 0;
for (size_t i = 0; i < 4 * n_points; i++)
for (int i = 0; i < 4 * n_points; i++)
{
if (fabs(ekk.at<double>(i)) > abs_max)
{
abs_max = fabs(ekk.at<double>(i));
}
}
if (abs_max < threshold)
{
Jkk.copyTo(J.rowRange(image_idx * 4 * n_points, (image_idx + 1) * 4 * n_points));
ekk.copyTo(e.rowRange(image_idx * 4 * n_points, (image_idx + 1) * 4 * n_points));
}
else
{
CV_Assert(!"Bad stereo pair");
}
CV_Assert(abs_max < threshold); // bad stereo pair
Jkk.copyTo(J.rowRange(image_idx * 4 * n_points, (image_idx + 1) * 4 * n_points));
ekk.copyTo(e.rowRange(image_idx * 4 * n_points, (image_idx + 1) * 4 * n_points));
}
cv::Vec6d oldTom(Tcur[0], Tcur[1], Tcur[2], omcur[0], omcur[1], omcur[2]);
@@ -962,7 +955,7 @@ double cv::Fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayO
intrinsicRight = intrinsicRight + deltas.rowRange(a, a + b);
omcur = omcur + cv::Vec3d(deltas.rowRange(a + b, a + b + 3));
Tcur = Tcur + cv::Vec3d(deltas.rowRange(a + b + 3, a + b + 6));
for (size_t image_idx = 0; image_idx < n_images; ++image_idx)
for (int image_idx = 0; image_idx < n_images; ++image_idx)
{
rvecs1[image_idx] = cv::Mat(cv::Mat(rvecs1[image_idx]) + deltas.rowRange(a + b + 6 + image_idx * 6, a + b + 9 + image_idx * 6));
tvecs1[image_idx] = cv::Mat(cv::Mat(tvecs1[image_idx]) + deltas.rowRange(a + b + 9 + image_idx * 6, a + b + 12 + image_idx * 6));
@@ -979,7 +972,7 @@ double cv::Fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayO
rms += ptr_e[i][0] * ptr_e[i][0] + ptr_e[i][1] * ptr_e[i][1];
}
rms /= (e.total() / 2);
rms /= ((double)e.total() / 2.0);
rms = sqrt(rms);
_K1 = Matx33d(intrinsicLeft.f[0], intrinsicLeft.f[0] * intrinsicLeft.alpha, intrinsicLeft.c[0],
@@ -1011,7 +1004,7 @@ void subMatrix(const Mat& src, Mat& dst, const vector<int>& cols, const vector<i
int nonzeros_cols = cv::countNonZero(cols);
Mat tmp(src.rows, nonzeros_cols, CV_64FC1);
for (size_t i = 0, j = 0; i < cols.size(); i++)
for (int i = 0, j = 0; i < (int)cols.size(); i++)
{
if (cols[i])
{
@@ -1021,7 +1014,7 @@ void subMatrix(const Mat& src, Mat& dst, const vector<int>& cols, const vector<i
int nonzeros_rows = cv::countNonZero(rows);
Mat tmp1(nonzeros_rows, nonzeros_cols, CV_64FC1);
for (size_t i = 0, j = 0; i < rows.size(); i++)
for (int i = 0, j = 0; i < (int)rows.size(); i++)
{
if (rows[i])
{
@@ -1328,10 +1321,7 @@ void cv::internal::CalibrateExtrinsics(InputArrayOfArrays objectPoints, InputArr
if (check_cond)
{
SVD svd(JJ_kk, SVD::NO_UV);
if (svd.w.at<double>(0) / svd.w.at<double>((int)svd.w.total() - 1) > thresh_cond)
{
CV_Assert(!"cond > thresh_cond");
}
CV_Assert(svd.w.at<double>(0) / svd.w.at<double>((int)svd.w.total() - 1) < thresh_cond);
}
omckk.reshape(3,1).copyTo(omc.getMat().col(image_idx));
Tckk.reshape(3,1).copyTo(Tc.getMat().col(image_idx));
@@ -1392,11 +1382,7 @@ void cv::internal::ComputeJacobians(InputArrayOfArrays objectPoints, InputArrayO
{
Mat JJ_kk = B.t();
SVD svd(JJ_kk, SVD::NO_UV);
double cond = svd.w.at<double>(0) / svd.w.at<double>(svd.w.rows - 1);
if (cond > thresh_cond)
{
CV_Assert(!"cond > thresh_cond");
}
CV_Assert(svd.w.at<double>(0) / svd.w.at<double>(svd.w.rows - 1) < thresh_cond);
}
}
@@ -1420,7 +1406,7 @@ void cv::internal::EstimateUncertainties(InputArrayOfArrays objectPoints, InputA
Mat ex((int)(objectPoints.getMat(0).total() * objectPoints.total()), 1, CV_64FC2);
for (size_t image_idx = 0; image_idx < objectPoints.total(); ++image_idx)
for (int image_idx = 0; image_idx < (int)objectPoints.total(); ++image_idx)
{
Mat image, object;
objectPoints.getMat(image_idx).convertTo(object, CV_64FC3);
@@ -1435,11 +1421,11 @@ void cv::internal::EstimateUncertainties(InputArrayOfArrays objectPoints, InputA
}
meanStdDev(ex, noArray(), std_err);
std_err *= sqrt(ex.total()/(ex.total() - 1.0));
std_err *= sqrt((double)ex.total()/((double)ex.total() - 1.0));
Mat sigma_x;
meanStdDev(ex.reshape(1, 1), noArray(), sigma_x);
sigma_x *= sqrt(2 * ex.total()/(2 * ex.total() - 1.0));
sigma_x *= sqrt(2.0 * (double)ex.total()/(2.0 * (double)ex.total() - 1.0));
Mat _JJ2_inv, ex3;
ComputeJacobians(objectPoints, imagePoints, params, omc, Tc, check_cond, thresh_cond, _JJ2_inv, ex3);
@@ -1459,7 +1445,7 @@ void cv::internal::EstimateUncertainties(InputArrayOfArrays objectPoints, InputA
rms += ptr_ex[i][0] * ptr_ex[i][0] + ptr_ex[i][1] * ptr_ex[i][1];
}
rms /= ex.total();
rms /= (double)ex.total();
rms = sqrt(rms);
}
@@ -1468,9 +1454,9 @@ void cv::internal::dAB(InputArray A, InputArray B, OutputArray dABdA, OutputArra
CV_Assert(A.getMat().cols == B.getMat().rows);
CV_Assert(A.type() == CV_64FC1 && B.type() == CV_64FC1);
size_t p = A.getMat().rows;
size_t n = A.getMat().cols;
size_t q = B.getMat().cols;
int p = A.getMat().rows;
int n = A.getMat().cols;
int q = B.getMat().cols;
dABdA.create(p * q, p * n, CV_64FC1);
dABdB.create(p * q, q * n, CV_64FC1);
@@ -1478,20 +1464,20 @@ void cv::internal::dAB(InputArray A, InputArray B, OutputArray dABdA, OutputArra
dABdA.getMat() = Mat::zeros(p * q, p * n, CV_64FC1);
dABdB.getMat() = Mat::zeros(p * q, q * n, CV_64FC1);
for (size_t i = 0; i < q; ++i)
for (int i = 0; i < q; ++i)
{
for (size_t j = 0; j < p; ++j)
for (int j = 0; j < p; ++j)
{
size_t ij = j + i * p;
for (size_t k = 0; k < n; ++k)
int ij = j + i * p;
for (int k = 0; k < n; ++k)
{
size_t kj = j + k * p;
int kj = j + k * p;
dABdA.getMat().at<double>(ij, kj) = B.getMat().at<double>(k, i);
}
}
}
for (size_t i = 0; i < q; ++i)
for (int i = 0; i < q; ++i)
{
A.getMat().copyTo(dABdB.getMat().rowRange(i * p, i * p + p).colRange(i * n, i * n + n));
}
@@ -1571,8 +1557,8 @@ double cv::internal::median(const Mat& row)
CV_Assert(!row.empty() && row.rows == 1);
Mat tmp = row.clone();
sort(tmp, tmp, 0);
if (tmp.total() % 2) return tmp.at<double>(tmp.total() / 2);
else return 0.5 *(tmp.at<double>(tmp.total() / 2) + tmp.at<double>(tmp.total() / 2 - 1));
if ((int)tmp.total() % 2) return tmp.at<double>((int)tmp.total() / 2);
else return 0.5 *(tmp.at<double>((int)tmp.total() / 2) + tmp.at<double>((int)tmp.total() / 2 - 1));
}
cv::Vec3d cv::internal::median3d(InputArray m)
modules/calib3d/src/fisheye.hpp
+5 -4
View File
@@ -1,9 +1,10 @@
#ifndef FISHEYE_INTERNAL_H
#define FISHEYE_INTERNAL_H
#include "precomp.hpp"
namespace cv { namespace internal {
struct IntrinsicParams
struct CV_EXPORTS IntrinsicParams
{
Vec2d f;
Vec2d c;
@@ -25,9 +26,9 @@ void projectPoints(cv::InputArray objectPoints, cv::OutputArray imagePoints,
void ComputeExtrinsicRefine(const Mat& imagePoints, const Mat& objectPoints, Mat& rvec,
Mat& tvec, Mat& J, const int MaxIter,
const IntrinsicParams& param, const double thresh_cond);
Mat ComputeHomography(Mat m, Mat M);
CV_EXPORTS Mat ComputeHomography(Mat m, Mat M);
Mat NormalizePixels(const Mat& imagePoints, const IntrinsicParams& param);
CV_EXPORTS Mat NormalizePixels(const Mat& imagePoints, const IntrinsicParams& param);
void InitExtrinsics(const Mat& _imagePoints, const Mat& _objectPoints, const IntrinsicParams& param, Mat& omckk, Mat& Tckk);
@@ -39,7 +40,7 @@ void ComputeJacobians(InputArrayOfArrays objectPoints, InputArrayOfArrays imageP
const IntrinsicParams& param, InputArray omc, InputArray Tc,
const int& check_cond, const double& thresh_cond, Mat& JJ2_inv, Mat& ex3);
void EstimateUncertainties(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints,
CV_EXPORTS void EstimateUncertainties(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints,
const IntrinsicParams& params, InputArray omc, InputArray Tc,
IntrinsicParams& errors, Vec2d& std_err, double thresh_cond, int check_cond, double& rms);