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Filter homography decomp: updated PR #7153 (#11846)

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* Add functionality to filter homography decompositions

* documentation + small refactor

* fix comparing int to size_t (compiler warning)

* fix whitespace issues

* clarification of function return values in documentation

* refactor of function parameters and change in loop nesting

* cleanup useless .h, fix size_t to int compare, small refactor

* fix documentation and whitespace

* change output from return value to outputarray parameter

* update function docs to reflect changes in parameters

* whitespace

* failing test

* fixed warnings related to extended initialisers and improper types

* initialize vectors from arrays

* initialize vectors from arrays part 2

* fix whitespace

* fix trailing whitespace

* Include <inttypes.h> in test_filter_homography_decomp.cpp, should fix 'uint8_t' : undeclared identifier error

* updated the test (made it shorter and providing better diagnostic) and significantly improved implementation (get rid of heavy repeated and/or unnecessary operations)

* fixed compile warning; removed trailing whitespace
pull/11849/head
Vadim Pisarevsky 7 years ago committed by GitHub
parent 0081dc478f
commit 75ee536d6d
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3 changed files with 710 additions and 46 deletions
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  1. 25
      modules/calib3d/include/opencv2/calib3d.hpp
  2. 156
      modules/calib3d/src/homography_decomp.cpp
  3. 575
      modules/calib3d/test/test_filter_homography_decomp.cpp

25
modules/calib3d/include/opencv2/calib3d.hpp
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@ -1992,6 +1992,31 @@ CV_EXPORTS_W int decomposeHomographyMat(InputArray H,
OutputArrayOfArrays translations,
OutputArrayOfArrays normals);
/** @brief Filters homography decompositions based on additional information.
@param rotations Vector of rotation matrices.
@param normals Vector of plane normal matrices.
@param beforePoints Vector of (rectified) visible reference points before the homography is applied
@param afterPoints Vector of (rectified) visible reference points after the homography is applied
@param possibleSolutions Vector of int indices representing the viable solution set after filtering
@param pointsMask optional Mat/Vector of 8u type representing the mask for the inliers as given by the findHomography function
This function is intended to filter the output of the decomposeHomographyMat based on additional
information as described in @cite Malis . The summary of the method: the decomposeHomographyMat function
returns 2 unique solutions and their "opposites" for a total of 4 solutions. If we have access to the
sets of points visible in the camera frame before and after the homography transformation is applied,
we can determine which are the true potential solutions and which are the opposites by verifying which
homographies are consistent with all visible reference points being in front of the camera. The inputs
are left unchanged; the filtered solution set is returned as indices into the existing one.
*/
CV_EXPORTS_W void filterHomographyDecompByVisibleRefpoints(InputArrayOfArrays rotations,
InputArrayOfArrays normals,
InputArray beforePoints,
InputArray afterPoints,
OutputArray possibleSolutions,
InputArray pointsMask = noArray());
/** @brief The base class for stereo correspondence algorithms.
*/
class CV_EXPORTS_W StereoMatcher : public Algorithm

156
modules/calib3d/src/homography_decomp.cpp
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@ -1,50 +1,51 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// This is a homography decomposition implementation contributed to OpenCV
// by Samson Yilma. It implements the homography decomposition algorithm
// described in the research report:
// Malis, E and Vargas, M, "Deeper understanding of the homography decomposition
// for vision-based control", Research Report 6303, INRIA (2007)
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2014, Samson Yilma (samson_yilma@yahoo.com), all rights reserved.
//
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
//
// This is a homography decomposition implementation contributed to OpenCV
// by Samson Yilma. It implements the homography decomposition algorithm
// described in the research report:
// Malis, E and Vargas, M, "Deeper understanding of the homography decomposition
// for vision-based control", Research Report 6303, INRIA (2007)
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2014, Samson Yilma (samson_yilma@yahoo.com), all rights reserved.
// Copyright (C) 2018, Intel Corporation, all rights reserved.
//
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"
#include <memory>
@ -489,4 +490,67 @@ int decomposeHomographyMat(InputArray _H,
return nsols;
}
void filterHomographyDecompByVisibleRefpoints(InputArrayOfArrays _rotations,
InputArrayOfArrays _normals,
InputArray _beforeRectifiedPoints,
InputArray _afterRectifiedPoints,
OutputArray _possibleSolutions,
InputArray _pointsMask)
{
CV_Assert(_beforeRectifiedPoints.type() == CV_32FC2 && _afterRectifiedPoints.type() == CV_32FC2);
CV_Assert(_pointsMask.empty() || _pointsMask.type() == CV_8U);
Mat beforeRectifiedPoints = _beforeRectifiedPoints.getMat();
Mat afterRectifiedPoints = _afterRectifiedPoints.getMat();
Mat pointsMask = _pointsMask.getMat();
int nsolutions = (int)_rotations.total();
int npoints = (int)beforeRectifiedPoints.total();
CV_Assert(pointsMask.empty() || pointsMask.checkVector(1, CV_8U) == npoints);
const uchar* pointsMaskPtr = pointsMask.data;
std::vector<uchar> solutionMask(nsolutions, (uchar)1);
std::vector<Mat> normals(nsolutions);
std::vector<Mat> rotnorm(nsolutions);
Mat R;
for( int i = 0; i < nsolutions; i++ )
{
_normals.getMat(i).convertTo(normals[i], CV_64F);
CV_Assert(normals[i].total() == 3);
_rotations.getMat(i).convertTo(R, CV_64F);
rotnorm[i] = R*normals[i];
CV_Assert(rotnorm[i].total() == 3);
}
for( int j = 0; j < npoints; j++ )
{
if( !pointsMaskPtr || pointsMaskPtr[j] )
{
Point2f prevPoint = beforeRectifiedPoints.at<Point2f>(j);
Point2f currPoint = afterRectifiedPoints.at<Point2f>(j);
for( int i = 0; i < nsolutions; i++ )
{
if( !solutionMask[i] )
continue;
const double* normal_i = normals[i].ptr<double>();
const double* rotnorm_i = rotnorm[i].ptr<double>();
double prevNormDot = normal_i[0]*prevPoint.x + normal_i[1]*prevPoint.y + normal_i[2];
double currNormDot = rotnorm_i[0]*currPoint.x + rotnorm_i[1]*currPoint.y + rotnorm_i[2];
if (prevNormDot <= 0 || currNormDot <= 0)
solutionMask[i] = (uchar)0;
}
}
}
std::vector<int> possibleSolutions;
for( int i = 0; i < nsolutions; i++ )
if( solutionMask[i] )
possibleSolutions.push_back(i);
Mat(possibleSolutions).copyTo(_possibleSolutions);
}
} //namespace cv

575
modules/calib3d/test/test_filter_homography_decomp.cpp
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@ -0,0 +1,575 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2016, OpenCV Foundation, all rights reserved.
//
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "test_precomp.hpp"
#include "opencv2/calib3d.hpp"
namespace opencv_test { namespace {
class CV_FilterHomographyDecompTest : public cvtest::BaseTest {
public:
CV_FilterHomographyDecompTest()
{
buildTestDataSet();
}
protected:
void run(int)
{
vector<int> finalSolutions;
filterHomographyDecompByVisibleRefpoints(_rotations, _normals, _prevRectifiedPoints, _currRectifiedPoints, finalSolutions, _mask);
//there should be at least 2 solution
ASSERT_EQ(finalSolutions, _validSolutions);
}
private:
void buildTestDataSet()
{
double rotationsArray[4][9] = {
{
0.98811084196540500,
-0.15276633082836735,
0.017303530150126534,
0.14161851662094097,
0.94821044891315664,
0.28432576443578628,
-0.059842791884259422,
-0.27849487021693553,
0.95857156619751127
},
{
0.98811084196540500,
-0.15276633082836735,
0.017303530150126534,
0.14161851662094097,
0.94821044891315664,
0.28432576443578628,
-0.059842791884259422,
-0.27849487021693553,
0.95857156619751127
},
{
0.95471096402077438,
-0.21080808634428211,
-0.20996886890771557,
0.20702063153797226,
0.97751379914116743,
-0.040115216641822840,
0.21370407880090386,
-0.0051694506925720751,
0.97688476468997820
},
{
0.95471096402077438,
-0.21080808634428211,
-0.20996886890771557,
0.20702063153797226,
0.97751379914116743,
-0.040115216641822840,
0.21370407880090386,
-0.0051694506925720751,
0.97688476468997820
}
};
double normalsArray[4][3] = {
{
-0.023560516110791116,
0.085818414407956692,
0.99603217911325403
},
{
0.023560516110791116,
-0.085818414407956692,
-0.99603217911325403
},
{
-0.62483547397726014,
-0.56011861446691769,
0.54391889853844289
},
{
0.62483547397726014,
0.56011861446691769,
-0.54391889853844289
}
};
uchar maskArray[514] =
{
0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0, 0, 1, 1, 1, 0, 1, 1, 1, 1, 0, 1, 1, 0,
0, 0, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 0, 1, 0, 1, 0, 0, 0,
1, 1, 1, 0, 0, 1, 0, 1, 0, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 1, 0, 0, 0, 1,
0, 0, 1, 1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 1, 0, 0, 1, 1, 0,
0, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 1, 0, 1, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 1,
1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 1, 1, 0, 1, 1, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 0, 1, 0, 0,
0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 0,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 1,
1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 0, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0,
0, 1, 0, 1, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0,
0, 1, 0, 1, 0, 1, 1, 0, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 0, 1, 0, 1, 0, 0,
1, 0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1,
1, 0, 0, 0, 1, 0, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0,
0, 1, 0, 0, 1, 0, 0, 0, 1, 1, 1, 0, 1, 1, 0, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0, 1, 0, 0, 0, 1, 1, 0, 0,
0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
};
static const float currRectifiedPointArr[] =
{
-0.565732896f, -0.321162999f, -0.416198403f, -0.299646467f, -0.408354312f, -0.290387660f,
-0.386555284f, -0.287677139f, -0.348475337f, -0.276208878f, -0.415957332f, -0.266133875f,
-0.354961902f, -0.257545590f, -0.420189440f, -0.255190015f, -0.379785866f, -0.252570540f,
-0.144345313f, -0.249134675f, -0.162417486f, -0.223227784f, -0.129876539f, -0.219722182f,
-0.470801264f, -0.211166814f, 0.0992607549f, -0.209064797f, 0.123508267f, -0.196303099f,
-0.521849990f, -0.190706849f, -0.513497114f, -0.189186409f, -0.534959674f, -0.185138911f,
0.121614374f, -0.182721153f, 0.154205695f, -0.183763996f, -0.516449869f, -0.181606859f,
-0.523427486f, -0.180088669f, 0.149494573f, -0.179563865f, -0.552187204f, -0.172630817f,
-0.322249800f, -0.172333881f, 0.127574071f, -0.165683150f, 0.159817487f, -0.162389070f,
-0.578930736f, -0.160272732f, -0.600617707f, -0.155920163f, -0.249115735f, -0.154711768f,
-0.543279886f, -0.144873798f, -0.529992998f, -0.142433196f, 0.0554505363f, -0.142878756f,
-0.613355398f, -0.132748783f, 0.190059289f, -0.128930226f, -0.255682647f, -0.127393380f,
0.0299431719f, -0.125339776f, -0.282943249f, -0.118550651f, -0.0348402821f, -0.115398556f,
-0.0362741761f, -0.110100254f, -0.319089264f, -0.104354575f, -0.0401916653f, -0.0852083191f,
-0.372183621f, -0.0812346712f, -0.00707253255f, -0.0810251758f, 0.267345309f, -0.0787685066f,
0.258760840f, -0.0768160895f, -0.377273679f, -0.0763452053f, -0.0314898677f, -0.0743160769f,
0.223423928f, -0.0724818707f, 0.00284322398f, -0.0720727518f, 0.232531011f, -0.0682833865f,
0.282355100f, -0.0655683428f, -0.233353317f, -0.0613981225f, 0.290982842f, -0.0607336313f,
-0.0994169787f, -0.0376472026f, 0.257561266f, -0.0331368558f, 0.265076399f, -0.0320781991f,
0.0454338901f, -0.0238198638f, 0.0409987904f, -0.0186991505f, -0.502306283f, -0.0172236171f,
-0.464807063f, -0.0149533665f, -0.185798749f, -0.00540314987f, 0.182073534f, -0.000651287497f,
-0.435764432f, 0.00162558386f, -0.181552932f, 0.00792864431f, -0.700565279f, 0.0110246018f,
-0.144087434f, 0.0120453080f, -0.524990261f, 0.0138590708f, -0.182723984f, 0.0165519360f,
-0.217308879f, 0.0208590515f, 0.462978750f, 0.0247372910f, 0.0956632495f, 0.0323494300f,
0.0843820646f, 0.0424364135f, 0.122466311f, 0.0441578403f, -0.162433729f, 0.0528083183f,
0.0964344442f, 0.0624147579f, -0.271349967f, 0.0727724135f, -0.266336441f, 0.0719895661f,
0.0675768778f, 0.0848240927f, -0.689944625f, 0.0889045894f, -0.680990934f, 0.0903657600f,
-0.119472280f, 0.0930491239f, -0.124393739f, 0.0933082998f, -0.323403478f, 0.0937438533f,
-0.323273063f, 0.0969979763f, -0.352427900f, 0.101048596f, -0.327554941f, 0.104539163f,
-0.330044419f, 0.114519835f, 0.0235135648f, 0.118004657f, -0.671623945f, 0.130437061f,
-0.385111898f, 0.142786101f, -0.376281500f, 0.145800456f, -0.0169987213f, 0.148056105f,
-0.326495141f, 0.152596891f, -0.337120056f, 0.154522225f, -0.336885720f, 0.154304653f,
0.322089493f, 0.155130088f, -0.0713477954f, 0.163638428f, -0.0208650175f, 0.171433330f,
-0.380652726f, 0.172022790f, -0.0599780641f, 0.182294667f, 0.244408697f, 0.194245726f,
-0.101454332f, 0.198159069f, 0.257901788f, 0.200226694f, -0.0775909275f, 0.205242962f,
0.231870517f, 0.222396746f, -0.546760798f, 0.242291704f, -0.538914979f, 0.243761152f,
0.206653103f, 0.244874880f, -0.595693469f, 0.264329463f, -0.581023335f, 0.265664101f,
0.00444878871f, 0.267031074f, -0.573156178f, 0.271591753f, -0.543381274f, 0.271759123f,
0.00450209389f, 0.271335930f, -0.223618075f, 0.278416723f, 0.161934286f, 0.289435983f,
-0.199636295f, 0.296817899f, -0.250217140f, 0.299677849f, -0.258231103f, 0.314012855f,
-0.628315628f, 0.316889286f, 0.320948511f, 0.316358119f, -0.246845752f, 0.320511192f,
0.0687271580f, 0.321383297f, 0.0784438103f, 0.322898388f, 0.0946765989f, 0.325111747f,
-0.249674007f, 0.328731328f, -0.244633347f, 0.329467386f, -0.245841011f, 0.334985316f,
0.118609101f, 0.343532443f, 0.0497615598f, 0.348162144f, -0.221477821f, 0.349263757f,
0.0759577379f, 0.351840734f, 0.0504637137f, 0.373238713f, 0.0730970055f, 0.376537383f,
-0.204333842f, 0.381100655f, -0.557245076f, -0.339432925f, -0.402010202f, -0.288829565f,
-0.350465477f, -0.281259984f, -0.352995187f, -0.264569730f, -0.466762394f, -0.217114508f,
0.152002022f, -0.217566550f, 0.146226048f, -0.183914393f, 0.0949312001f, -0.177005857f,
-0.211882949f, -0.175594494f, -0.531562269f, -0.173924312f, -0.0727246776f, -0.167270422f,
0.0546481088f, -0.140193000f, -0.296819001f, -0.137850702f, -0.261863053f, -0.139540121f,
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-0.445392698f, 0.215343162f, 0.173715711f, 0.273563296f, 0.284015119f, 0.270610362f,
0.0174398609f, 0.283809274f, -0.496335506f, -0.202981815f, 0.0389454551f, -0.166210428f,
-0.317301393f, -0.156280205f, -0.396320462f, -0.0949599668f, -0.213638976f, -0.0776446015f,
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-0.118132629f, -0.0156126227f, 0.0242815297f, 0.00629332382f, -0.537928998f, 0.00815516617f,
0.317720622f, 0.0271231923f, -0.582170665f, 0.0478387438f, -0.536856830f, 0.0466793887f,
-0.220819592f, 0.0433096550f, -0.246473342f, 0.0572598167f, 0.481240988f, 0.0503845438f,
-0.102453016f, 0.0649363101f, -0.149955124f, 0.0744054317f, -0.248215869f, 0.0916868672f,
-0.101221249f, 0.110788561f, -0.437672526f, 0.179065496f, -0.0383506976f, 0.183546484f,
-0.279600590f, 0.208760634f, 0.182261929f, 0.275244594f, 0.0253023170f, -0.170456246f,
-0.476852804f, -0.123630777f, -0.0803126246f, -0.0782076195f, -0.133338496f, -0.0659459904f,
-0.0822777376f, -0.00390591589f, 0.149250969f, 0.104314201f, 0.0418044887f, 0.149009049f,
-0.438308835f, 0.164682120f
};
const Point2f* currRectifiedPointArr_2f = (const Point2f*)currRectifiedPointArr;
vector<Point2f> currRectifiedPoints(currRectifiedPointArr_2f,
currRectifiedPointArr_2f + sizeof(currRectifiedPointArr) / sizeof(currRectifiedPointArr[0]) / 2);
_currRectifiedPoints.swap(currRectifiedPoints);
static const float prevRectifiedPointArr[] = {
-0.599324584f, -0.381164283f, -0.387985110f, -0.385367423f, -0.371437579f, -0.371891201f,
-0.340867460f, -0.370632380f, -0.289822906f, -0.364118159f, -0.372411519f, -0.335272551f,
-0.289586753f, -0.335766882f, -0.372335523f, -0.316857219f, -0.321099430f, -0.323233813f,
0.208661616f, -0.153931335f, -0.559897065f, 0.193362445f, 0.0181128159f, -0.325224668f,
-0.427504510f, 0.105302416f, 0.487470537f, -0.187071189f, 0.343267351f, -0.339755565f,
-0.477639943f, -0.204375938f, -0.466626763f, -0.204072326f, 0.340813518f, -0.347292691f,
0.342682719f, -0.320172101f, 0.383663863f, -0.327343374f, -0.467062414f, -0.193995550f,
-0.475603998f, -0.189820126f, 0.552475691f, 0.198386014f, -0.508027375f, -0.174297482f,
-0.211989403f, -0.217261642f, 0.180832058f, -0.127527758f, -0.112721168f, -0.125876635f,
-0.112387165f, -0.167135969f, -0.562491000f, -0.140186235f, 0.395156831f, -0.298828602f,
-0.485202312f, -0.135626689f, 0.148358017f, -0.195937276f, -0.248159677f, -0.254669130f,
-0.568366945f, -0.105187029f, -0.0714842379f, -0.0832463056f, -0.497599572f, -0.205334768f,
-0.0948727652f, 0.245045587f, 0.160857186f, 0.138075173f, 0.164952606f, -0.195109487f,
0.165254518f, -0.186554477f, -0.183777973f, -0.124357253f, 0.166813776f, -0.153241888f,
-0.241765827f, -0.0820638761f, 0.208661616f, -0.153931335f, 0.540147483f, -0.203156039f,
0.529201686f, -0.199348077f, -0.248159677f, -0.254669130f, 0.180369601f, -0.139303327f,
0.570952237f, -0.185722873f, 0.221771300f, -0.143187970f, 0.498627752f, -0.183768719f,
0.561214447f, -0.188666284f, -0.241409421f, -0.253560483f, 0.569648385f, -0.184499770f,
0.276665628f, -0.0881819800f, 0.533934176f, -0.142226711f, -0.299728751f, -0.330407321f,
0.270322412f, -0.256552309f, -0.255016476f, -0.0823200271f, -0.378096581f, 0.0264666155f,
-0.331565350f, 0.0210608803f, 0.0100810500f, -0.0213523544f, -0.248159677f, -0.254669130f,
0.249623299f, 0.164078355f, 0.0190342199f, -0.00415771967f, 0.604407132f, -0.259350061f,
0.0660026148f, -0.00787150953f, 0.605921566f, 0.114344336f, 0.0208173525f, 0.00527517078f,
-0.0200567022f, 0.0183092188f, -0.184784368f, -0.193566754f, -0.0125719802f, -0.344967902f,
0.343063682f, -0.0121044181f, 0.389022052f, -0.0171062462f, 0.163190305f, 0.200014487f,
0.362440646f, 0.0120019922f, -0.427743971f, 0.100272447f, -0.0714842379f, -0.0832463056f,
0.0664352402f, 0.0467514023f, -0.559897065f, 0.193362445f, -0.549086213f, 0.193808615f,
-0.241472989f, -0.253163874f, -0.241765827f, -0.0820638761f, -0.122216024f, 0.132651567f,
-0.122216024f, 0.132651567f, 0.515065968f, 0.205271944f, 0.180832058f, -0.127527758f,
-0.123633556f, 0.154476687f, -0.248159677f, -0.254669130f, 0.0208173525f, 0.00527517078f,
-0.483276874f, 0.191274792f, -0.167928949f, 0.200682297f, 0.232745290f, -0.211950779f,
-0.288701504f, -0.334238827f, -0.119621970f, 0.204155236f, -0.119621970f, 0.204155236f,
0.632996142f, 0.0804972649f, 0.189231426f, 0.164325386f, 0.249623299f, 0.164078355f,
0.0676716864f, 0.0479496233f, 0.207636267f, 0.184271768f, -0.300510556f, 0.358790994f,
-0.107678331f, 0.188473806f, 0.565983415f, 0.144723341f, 0.191329703f, 0.213909492f,
-0.0283227600f, -0.373237878f, -0.184958130f, 0.200373843f, 0.0346363746f, -0.0259889495f,
-0.112387165f, -0.167135969f, 0.251426309f, 0.210430339f, -0.477397382f, -0.131372169f,
-0.0667442903f, 0.0997460634f, 0.251426309f, 0.210430339f, -0.317926824f, 0.375238001f,
-0.0621999837f, 0.280056626f, 0.0443522707f, 0.321513236f, 0.471269101f, 0.260774940f,
-0.107678331f, 0.188473806f, 0.0208210852f, 0.350526422f, 0.0157474391f, 0.367335707f,
0.632996142f, 0.0804972649f, 0.646697879f, 0.265504390f, 0.0295150280f, 0.371205181f,
0.376071006f, 0.313471258f, -0.379525930f, 0.364357829f, -0.00628023129f, -0.0373278372f,
0.0291138459f, 0.381194293f, 0.0358079821f, 0.381886899f, 0.0344478637f, 0.386993408f,
0.433862329f, 0.328515977f, 0.359724253f, 0.345606029f, 0.0651357397f, 0.397334814f,
0.388413996f, 0.344747871f, -0.140228778f, 0.216103494f, 0.389989913f, 0.372472703f,
0.444995403f, 0.300240308f, -0.606455386f, 0.100793049f, -0.362332910f, -0.371920794f,
-0.478956074f, 0.234040022f, -0.289441198f, -0.344822973f, -0.0714842379f, -0.0832463056f,
0.375879139f, -0.374975592f, 0.376526117f, -0.326493502f, 0.313251913f, -0.306372881f,
-0.0577337518f, 0.0893306211f, -0.483683407f, -0.179540694f, -0.0763650239f, -0.258294433f,
0.276665628f, -0.0881819800f, -0.167122558f, -0.175508693f, -0.164081737f, 0.176902041f,
0.276665628f, -0.0881819800f, 0.602967978f, -0.260941893f, 0.158573851f, -0.178748295f,
0.159815103f, -0.160761341f, 0.194283918f, -0.165657878f, 0.231515527f, -0.172808051f,
-0.247000366f, 0.277822912f, 0.538969517f, -0.204621449f, 0.531404376f, -0.198565826f,
-0.388338953f, -0.0433262810f, 0.499413073f, -0.181929186f, -0.237337112f, 0.0934364349f,
-0.368045300f, -0.0204487685f, -0.374767631f, -0.00678646797f, -0.0667242110f, -0.248651102f,
-0.248159677f, -0.254669130f, -0.345217139f, -0.00101677026f, -0.353382975f, 0.0210586078f,
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-0.339446336f, 0.0286702402f, 0.0335014127f, -0.0271516014f, 0.465966076f, 0.0830826238f,
-0.337860256f, 0.0362124667f, 0.188271523f, -0.146541893f, -0.298272073f, -0.323130161f,
0.0643569306f, -0.0264105909f, -0.353804410f, 0.0433940105f, 0.618646920f, -0.0855877250f,
0.411329508f, -0.0414552018f, -0.427743971f, 0.100272447f, -0.247000366f, 0.277822912f,
0.381912649f, -0.00914942939f, 0.0664352402f, 0.0467514023f, 0.138687640f, -0.114854909f,
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0.596041858f, 0.144990161f, 0.239398748f, 0.207432285f, 0.557545543f, 0.155783832f,
0.233033463f, 0.214694947f, 0.572789013f, 0.162068501f, 0.512761712f, 0.176260322f,
0.287076950f, 0.0868823677f, 0.515065968f, 0.205271944f, 0.552475691f, 0.198386014f,
-0.301232725f, 0.347804308f, -0.379525930f, 0.364357829f, 0.561403453f, 0.206571117f,
0.590792358f, 0.206283644f, -0.428855836f, 0.100270294f, 0.300039053f, -0.283949375f,
0.0481642894f, 0.334260821f, -0.173260480f, -0.167126089f, 0.444995403f, 0.300240308f,
0.646697879f, 0.265504390f, 0.375487208f, 0.314186513f, 0.0217850581f, 0.381838262f,
0.404422343f, 0.313856274f, 0.417644382f, 0.314869910f, 0.0358079821f, 0.381886899f,
0.378262609f, 0.358303785f, -0.336999178f, -0.367679387f, -0.295442462f, -0.365161836f,
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0.174361721f, -0.179897651f, 0.0387913659f, -0.0366905928f, -0.122265801f, -0.126270071f,
0.211038783f, -0.172842503f, 0.246728286f, 0.134398326f, -0.0577337518f, 0.0893306211f,
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-0.254337519f, 0.0937413648f, 0.336177140f, 0.305443168f, 0.526942134f, -0.164069965f,
0.524966419f, -0.165161178f, -0.379173398f, 0.332068861f, -0.340792000f, 0.00105464540f,
0.525632977f, -0.134992197f, -0.308774501f, 0.00290521770f, -0.375407755f, 0.0294080544f,
0.0178439785f, -0.0365749858f, -0.255016476f, -0.0823200271f, -0.359951973f, 0.0446678996f,
0.0564084686f, -0.0197724514f, -0.315141559f, 0.0424463004f, 0.292196661f, 0.279810339f,
-0.345294952f, 0.0533128195f, 0.0458479226f, -0.00109126628f, 0.0179449394f, 0.00371767790f,
0.365872562f, -0.0412087664f, 0.403013051f, -0.0416624695f, -0.0714842379f, -0.0832463056f,
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0.363291621f, -0.00829032529f, 0.381912649f, -0.00914942939f, -0.521542430f, 0.151489466f,
0.345966965f, 0.0110620018f, 0.354562849f, 0.0254590791f, 0.334322065f, 0.0310698878f,
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0.398122877f, 0.0403857268f, -0.160881191f, 0.145009249f, -0.155668780f, 0.144164801f,
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0.0716935173f, 0.340265751f, 0.561738014f, 0.148283109f, 0.242452115f, 0.205116034f,
0.561738014f, 0.148283109f, -0.427743971f, 0.100272447f, 0.578137994f, 0.163653031f,
0.251277626f, 0.223055005f, -0.376505047f, 0.343530416f, -0.0714842379f, -0.0832463056f,
0.567448437f, 0.207419440f, 0.590792358f, 0.206283644f, 0.578685045f, -0.223878756f,
0.0635343120f, -0.00499309227f, -0.370767444f, 0.384881169f, -0.485191971f, -0.120962359f,
0.512761712f, 0.176260322f, -0.375972956f, 0.0288736783f, -0.147176415f, -0.185790271f,
0.0752977654f, 0.339190871f, 0.646697879f, 0.265504390f, 0.0282997675f, 0.373214334f,
0.410353780f, 0.316089481f, 0.417644382f, 0.314869910f, 0.0147482762f, 0.389459789f,
-0.182916895f, -0.140514761f, 0.433515042f, 0.330774426f, 0.388069838f, 0.347381502f,
0.378925055f, 0.357438952f, 0.247128293f, -0.116897359f, -0.0230906308f, 0.314556211f,
0.388534039f, 0.370789021f, -0.368050814f, -0.339653373f, -0.292694926f, -0.341653705f,
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0.239178345f, -0.219647482f, 0.108424753f, -0.267108470f, -0.280393064f, -0.283867925f,
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0.142445788f, -0.118948005f, 0.0947291106f, 0.0767719224f, -0.597055852f, -0.0692315027f,
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0.556049764f, -0.137727231f, -0.0317604132f, -0.0458168685f, -0.524152219f, 0.239541322f,
0.108424753f, -0.267108470f, 0.0143662402f, -0.0164190196f, 0.150936082f, 0.128616557f,
0.618646920f, -0.0855877250f, 0.0122421598f, 0.0230175443f, 0.0122421598f, 0.0230175443f,
-0.188812047f, 0.228197843f, 0.00441747159f, -0.297387213f, -0.520719767f, 0.152393058f,
0.392849416f, 0.00738697406f, 0.400074363f, 0.0185570847f, -0.161484867f, -0.192373112f,
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0.399885803f, 0.0410231315f, -0.159816831f, 0.145826310f, -0.193316415f, 0.161277503f,
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0.245664895f, 0.162005231f, 0.173092276f, 0.191535592f, 0.601281762f, 0.120500855f,
0.208548918f, 0.185476139f, 0.246893004f, 0.220670119f, 0.516039073f, 0.178782418f,
-0.254337519f, 0.0937413648f, -0.254337519f, 0.0937413648f, -0.0230990555f, 0.314180285f,
0.610029638f, 0.227215171f, -0.254337519f, 0.0937413648f, 0.0697976872f, 0.343245506f,
0.538969517f, -0.204621449f, 0.00916308723f, 0.359826297f, 0.410353780f, 0.316089481f,
0.423950195f, 0.324112266f, 0.166566655f, 0.145402640f, 0.354594171f, 0.350193948f,
0.433712035f, 0.356235564f, 0.425307065f, 0.364637494f, 0.166924104f, -0.152513608f,
0.594130874f, -0.268246830f, -0.0843627378f, -0.0962528363f, 0.108424753f, -0.267108470f,
0.00760878995f, -0.304247797f, -0.471018314f, -0.178305879f, -0.0817007348f, -0.0933016762f,
0.232274890f, 0.154553935f, 0.108424753f, -0.267108470f, -0.525787771f, -0.161353886f,
-0.206048280f, 0.241006181f, -0.178062543f, -0.184703678f, 0.105906568f, 0.268231422f,
-0.0817007348f, -0.0933016762f, 0.490914792f, 0.276718110f, -0.176861435f, -0.153617889f,
0.0387795344f, 0.0457828715f, 0.456206828f, -0.250739783f, 0.0982551053f, 0.104225174f,
0.142445788f, -0.118948005f, 0.108424753f, -0.267108470f, -0.0817007348f, -0.0933016762f,
-0.340707630f, 0.00498990202f, 0.0947291106f, 0.0767719224f, 0.169802040f, 0.203134149f,
0.577375948f, -0.125099033f, 0.318376005f, -0.0486588739f, 0.388697982f, -0.0351444185f,
0.406605273f, -0.0364143848f, 0.274859309f, 0.0776181892f, 0.349759877f, -7.70174083e-05f,
0.402967423f, 0.00697830878f, 0.105906568f, 0.268231422f, 0.338973522f, 0.0359939188f,
0.394951165f, 0.0322254188f, -0.503028810f, 0.203627899f, -0.0840740278f, -0.234684706f,
0.108424753f, -0.267108470f, 0.286642373f, 0.103878126f, -0.0817007348f, -0.0933016762f,
0.332983583f, -0.0356097035f, 0.628004134f, 0.0766527727f, -0.112659439f, -0.196833044f,
0.568797410f, 0.136423931f, 0.456206828f, -0.250739783f, -0.254337519f, 0.0937413648f,
-0.206692874f, -0.210832119f, 0.550912619f, 0.171586066f, 0.581267595f, 0.213235661f,
0.334484309f, 0.303876013f, -0.469516128f, 0.0883551016f, 0.133899942f, 0.106862970f,
-0.560961962f, -0.114681393f, -0.0840740278f, -0.234684706f, 0.459386230f, -0.236088052f,
0.594130874f, -0.268246830f, -0.124856450f, 0.193096936f, -0.469516128f, 0.0883551016f,
0.514290810f, -0.193822652f, 0.158255994f, 0.233290926f, 0.317973822f, -0.0477817170f,
-0.0817007348f, -0.0933016762f, -0.0702776462f, -0.0671426803f, 0.440836668f, -0.100193374f,
0.326240778f, 0.0523138903f, -0.279556662f, -0.283929169f, -0.485202312f, -0.135626689f,
-0.467358112f, 0.246376559f, 0.232274890f, 0.154553935f, 0.258349210f, -0.269529581f,
0.600620329f, 0.126268178f, -0.0985416993f, 0.245674044f, -0.279264033f, -0.0990248993f,
0.108424753f, -0.267108470f, 0.259638488f, -0.100053802f, 0.605106652f, 0.223564968f,
0.129683495f, -0.100376993f, -0.0953388065f, 0.112722203f, -0.440420747f, -0.0396305211f,
-0.0181254297f, 0.0439292751f, -0.0878356919f, 0.0847257674f, -0.271582603f, 0.126064256f,
-0.183777973f, -0.124357253f, 0.431088895f, 0.0680654719f, -0.469516128f, 0.0883551016f,
-0.445174575f, 0.133306518f, -0.0878356919f, 0.0847257674f, -0.279039949f, 0.0810008645f,
0.612402737f, -0.0826834291f, -0.454494953f, 0.122878648f, 0.244000912f, -0.264438629f,
0.142445788f, -0.118948005f, 0.129683495f, -0.100376993f, -0.210078895f, 0.131698489f,
-0.277847171f, 0.0665081516f, 0.431088895f, 0.0680654719f, 0.252345473f, 0.0688349009f,
0.133899942f, 0.106862970f, 0.133899942f, 0.106862970f, -0.486509413f, -0.204596937f,
-0.0940247625f, 0.0698821172f, 0.133899942f, 0.106862970f, -0.440420747f, -0.0396305211f,
-0.0878356919f, 0.0847257674f, -0.0954068601f, -0.0968973264f, -0.277847171f, 0.0665081516f,
-0.277847171f, 0.0665081516f, 0.266677618f, 0.111257851f, 0.292424291f, -0.230888903f,
-0.0954068601f, -0.0968973264f
};
const Point2f* prevRectifiedPointArr_2f = (const Point2f*)prevRectifiedPointArr;
vector<Point2f> prevRectifiedPoints(prevRectifiedPointArr_2f, prevRectifiedPointArr_2f +
sizeof(prevRectifiedPointArr) / sizeof(prevRectifiedPointArr[0]) / 2);
_prevRectifiedPoints.swap(prevRectifiedPoints);
int validSolutionArr[2] = { 0, 2 };
vector<int> validSolutions(validSolutionArr, validSolutionArr +
sizeof(validSolutionArr) / sizeof(validSolutionArr[0]));
_validSolutions.swap(validSolutions);
vector<Mat> rotations;
vector<Mat> normals;
for (size_t i = 0; i < (sizeof(rotationsArray) / sizeof(*rotationsArray)); i++) {
Mat tempRotMat = Mat(Matx33d(
rotationsArray[i][0],
rotationsArray[i][1],
rotationsArray[i][2],
rotationsArray[i][3],
rotationsArray[i][4],
rotationsArray[i][5],
rotationsArray[i][6],
rotationsArray[i][7],
rotationsArray[i][8]
));
Mat tempNormMat = Mat(Matx31d(
normalsArray[i][0],
normalsArray[i][1],
normalsArray[i][2]
));
rotations.push_back(tempRotMat);
normals.push_back(tempNormMat);
}
_rotations.swap(rotations);
_normals.swap(normals);
_mask = Mat(514, 1, CV_8U, maskArray).clone();
}
bool isValidResult(const vector<int>& solutions)
{
return (solutions == _validSolutions);
}
vector<int> _validSolutions;
vector<Point2f> _prevRectifiedPoints, _currRectifiedPoints;
Mat _mask;
vector<Mat> _rotations, _normals;
};
TEST(Calib3d_FilterDecomposeHomography, regression) { CV_FilterHomographyDecompTest test; test.safe_run(); }
}}
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