mirror of https://github.com/opencv/opencv.git
Merge pull request #25511 from savuor:rv/hal_projectpoints
HAL for projectPoints() added #25511 ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [ ] There is a reference to the original bug report and related work - [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [x] The feature is well documented and sample code can be built with the project CMakepull/25574/head
Rostislav Vasilikhin
6 months ago
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GitHub
parent
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commit
83e32c4d37
2 changed files with 345 additions and 50 deletions
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
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// Copyright (C) 2015, Itseez Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef OPENCV_CALIB3D_HAL_REPLACEMENT_HPP |
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#define OPENCV_CALIB3D_HAL_REPLACEMENT_HPP |
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#include "opencv2/core/hal/interface.h" |
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#if defined(__clang__) // clang or MSVC clang
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#pragma clang diagnostic push |
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#pragma clang diagnostic ignored "-Wunused-parameter" |
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#elif defined(_MSC_VER) |
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#pragma warning(push) |
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#pragma warning(disable : 4100) |
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#elif defined(__GNUC__) |
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#pragma GCC diagnostic push |
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#pragma GCC diagnostic ignored "-Wunused-parameter" |
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#endif |
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//! @addtogroup calib3d_hal_interface
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//! @note Define your functions to override default implementations:
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//! @code
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//! #undef hal_add8u
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//! #define hal_add8u my_add8u
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//! @endcode
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//! @{
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/**
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* @brief Camera intrinsics structure, see projectPoints() documentation for details |
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*/ |
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struct cv_camera_intrinsics_pinhole_32f |
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{ |
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// focal length, principal point
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float fx, fy, cx, cy; |
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// radial distortion coefficients
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float k[6]; |
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// amount of radial distortion coefficients passed
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int amt_k; |
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// tangential distortion coefficients
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float p[2]; |
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// amount of tangential distortion coefficients passed
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int amt_p; |
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// prism distortion coefficients
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float s[4]; |
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// amount of prism distortion coefficients passed
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int amt_s; |
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// tilt distortion coefficients
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float tau_x, tau_y; |
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// to use tilt distortion coefficients or not
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bool use_tau; |
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}; |
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/**
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@brief Project points from 3D world space to 2D screen space using rotation and translation matrix and camera intrinsic parameters |
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@param src_data Pointer to 3D points array with coordinates interleaved as X, Y, Z, X, Y, Z,.. |
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@param src_step Step between consecutive 3D points |
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@param src_size Amount of points |
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@param dst_data Pointer to resulting projected 2D points with coordinates interleaved as u, v, u, v,.. |
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@param dst_step Step between consecutive projected 2D points |
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@param rt_data Pointer to 3x4 array containing rotation-then-translation matrix |
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@param intr_data Pointer to camera intrinsics structure |
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*/ |
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inline int hal_ni_project_points_pinhole32f(const float* src_data, size_t src_step, size_t src_size, |
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float* dst_data, size_t dst_step, const float* rt_data, |
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const cv_camera_intrinsics_pinhole_32f* intr_data) |
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{ return CV_HAL_ERROR_NOT_IMPLEMENTED; } |
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//! @cond IGNORED
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#define cv_hal_project_points_pinhole32f hal_ni_project_points_pinhole32f |
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//! @endcond
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/**
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* @brief Camera intrinsics structure, see projectPoints() documentation for details |
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*/ |
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struct cv_camera_intrinsics_pinhole_64f |
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{ |
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// focal length, principal point
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double fx, fy, cx, cy; |
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// radial distortion coefficients
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double k[6]; |
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// amount of radial distortion coefficients passed
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int amt_k; |
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// tangential distortion coefficients
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double p[2]; |
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// amount of tangential distortion coefficients passed
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int amt_p; |
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// prism distortion coefficients
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double s[4]; |
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// amount of prism distortion coefficients passed
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int amt_s; |
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// tilt distortion coefficients
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double tau_x, tau_y; |
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// to use tilt distortion coefficients or not
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bool use_tau; |
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}; |
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/**
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@brief Project points from 3D world space to 2D screen space using rotation and translation matrix and camera intrinsic parameters |
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@param src_data Pointer to 3D points array with coordinates interleaved as X, Y, Z, X, Y, Z,.. |
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@param src_step Step between consecutive 3D points |
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@param src_size Amount of points |
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@param dst_data Pointer to resulting projected 2D points with coordinates interleaved as u, v, u, v,.. |
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@param dst_step Step between consecutive projected 2D points |
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@param rt_data Pointer to 3x4 array containing rotation-then-translation matrix |
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@param intr_data Pointer to camera intrinsics structure |
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*/ |
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inline int hal_ni_project_points_pinhole64f(const double* src_data, size_t src_step, size_t src_size, |
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double* dst_data, size_t dst_step, const double* rt_data, |
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const cv_camera_intrinsics_pinhole_64f* intr_data) |
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{ return CV_HAL_ERROR_NOT_IMPLEMENTED; } |
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//! @cond IGNORED
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#define cv_hal_project_points_pinhole64f hal_ni_project_points_pinhole64f |
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//! @endcond
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//! @}
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#if defined(__clang__) |
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#pragma clang diagnostic pop |
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#elif defined(_MSC_VER) |
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#pragma warning(pop) |
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#elif defined(__GNUC__) |
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#pragma GCC diagnostic pop |
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#endif |
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#include "custom_hal.hpp" |
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//! @cond IGNORED
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#define CALL_HAL_RET(name, fun, retval, ...) \ |
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int res = __CV_EXPAND(fun(__VA_ARGS__, &retval)); \
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if (res == CV_HAL_ERROR_OK) \
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return retval; \
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else if (res != CV_HAL_ERROR_NOT_IMPLEMENTED) \
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CV_Error_(cv::Error::StsInternal, \
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("HAL implementation " CVAUX_STR(name) " ==> " CVAUX_STR(fun) " returned %d (0x%08x)", res, res)); |
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#define CALL_HAL(name, fun, ...) \ |
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int res = __CV_EXPAND(fun(__VA_ARGS__)); \
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if (res == CV_HAL_ERROR_OK) \
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return; \
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else if (res != CV_HAL_ERROR_NOT_IMPLEMENTED) \
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CV_Error_(cv::Error::StsInternal, \
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("HAL implementation " CVAUX_STR(name) " ==> " CVAUX_STR(fun) " returned %d (0x%08x)", res, res)); |
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//! @endcond
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#endif |
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