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mostly removed obsolete C API from calib3d (at least at the interface level) (#13081)

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pull/13104/head
Vadim Pisarevsky 6 years ago committed by GitHub
parent 8cdf7bb84b
commit 8f15a609af
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28 changed files with 1222 additions and 2454 deletions
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  1. 105
      modules/calib3d/include/opencv2/calib3d.hpp
  2. 328
      modules/calib3d/include/opencv2/calib3d/calib3d_c.h
  3. 47
      modules/calib3d/src/calib3d_c_api.cpp
  4. 425
      modules/calib3d/src/calib3d_c_api.h
  5. 33
      modules/calib3d/src/calibration.cpp
  6. 2
      modules/calib3d/src/checkchessboard.cpp
  7. 4
      modules/calib3d/src/compat_ptsetreg.cpp
  8. 123
      modules/calib3d/src/compat_stereo.cpp
  9. 2
      modules/calib3d/src/fundam.cpp
  10. 5
      modules/calib3d/src/levmarq.cpp
  11. 2
      modules/calib3d/src/posit.cpp
  12. 16
      modules/calib3d/src/precomp.hpp
  13. 4
      modules/calib3d/src/ptsetreg.cpp
  14. 2
      modules/calib3d/src/solvepnp.cpp
  15. 14
      modules/calib3d/src/triangulate.cpp
  16. 2
      modules/calib3d/src/undistort.cpp
  17. 712
      modules/calib3d/test/test_cameracalibration.cpp
  18. 788
      modules/calib3d/test/test_cameracalibration_badarg.cpp
  19. 73
      modules/calib3d/test/test_chesscorners_badarg.cpp
  20. 206
      modules/calib3d/test/test_fundam.cpp
  21. 7
      modules/calib3d/test/test_posit.cpp
  22. 8
      modules/calib3d/test/test_reproject_image_to_3d.cpp
  23. 406
      modules/calib3d/test/test_undistort.cpp
  24. 301
      modules/calib3d/test/test_undistort_badarg.cpp
  25. 2
      modules/imgproc/test/test_imgwarp.cpp
  26. 1
      modules/stitching/src/motion_estimators.cpp
  27. 4
      modules/ts/include/opencv2/ts.hpp
  28. 54
      modules/ts/src/ts_func.cpp

105
modules/calib3d/include/opencv2/calib3d.hpp
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@ -255,7 +255,8 @@ enum { CALIB_CB_SYMMETRIC_GRID = 1,
CALIB_CB_CLUSTERING = 4 CALIB_CB_CLUSTERING = 4
}; };
enum { CALIB_USE_INTRINSIC_GUESS = 0x00001, enum { CALIB_NINTRINSIC = 18,
CALIB_USE_INTRINSIC_GUESS = 0x00001,
CALIB_FIX_ASPECT_RATIO = 0x00002, CALIB_FIX_ASPECT_RATIO = 0x00002,
CALIB_FIX_PRINCIPAL_POINT = 0x00004, CALIB_FIX_PRINCIPAL_POINT = 0x00004,
CALIB_ZERO_TANGENT_DIST = 0x00008, CALIB_ZERO_TANGENT_DIST = 0x00008,
@ -316,6 +317,68 @@ An example program about pose estimation from coplanar points
Check @ref tutorial_homography "the corresponding tutorial" for more details Check @ref tutorial_homography "the corresponding tutorial" for more details
*/ */
/** Levenberg-Marquardt solver. Starting with the specified vector of parameters it
optimizes the target vector criteria "err"
(finds local minima of each target vector component absolute value).
When needed, it calls user-provided callback.
*/
class CV_EXPORTS LMSolver : public Algorithm
{
public:
class CV_EXPORTS Callback
{
public:
virtual ~Callback() {}
/**
computes error and Jacobian for the specified vector of parameters
@param param the current vector of parameters
@param err output vector of errors: err_i = actual_f_i - ideal_f_i
@param J output Jacobian: J_ij = d(err_i)/d(param_j)
when J=noArray(), it means that it does not need to be computed.
Dimensionality of error vector and param vector can be different.
The callback should explicitly allocate (with "create" method) each output array
(unless it's noArray()).
*/
virtual bool compute(InputArray param, OutputArray err, OutputArray J) const = 0;
};
/**
Runs Levenberg-Marquardt algorithm using the passed vector of parameters as the start point.
The final vector of parameters (whether the algorithm converged or not) is stored at the same
vector. The method returns the number of iterations used. If it's equal to the previously specified
maxIters, there is a big chance the algorithm did not converge.
@param param initial/final vector of parameters.
Note that the dimensionality of parameter space is defined by the size of param vector,
and the dimensionality of optimized criteria is defined by the size of err vector
computed by the callback.
*/
virtual int run(InputOutputArray param) const = 0;
/**
Sets the maximum number of iterations
@param maxIters the number of iterations
*/
virtual void setMaxIters(int maxIters) = 0;
/**
Retrieves the current maximum number of iterations
*/
virtual int getMaxIters() const = 0;
/**
Creates Levenberg-Marquard solver
@param cb callback
@param maxIters maximum number of iterations that can be further
modified using setMaxIters() method.
*/
static Ptr<LMSolver> create(const Ptr<LMSolver::Callback>& cb, int maxIters);
};
/** @brief Finds a perspective transformation between two planes. /** @brief Finds a perspective transformation between two planes.
@param srcPoints Coordinates of the points in the original plane, a matrix of the type CV_32FC2 @param srcPoints Coordinates of the points in the original plane, a matrix of the type CV_32FC2
@ -2779,4 +2842,44 @@ optimization. It stays at the center or at a different location specified when C
} //end namespace cv } //end namespace cv
#if 0 //def __cplusplus
//////////////////////////////////////////////////////////////////////////////////////////
class CV_EXPORTS CvLevMarq
{
public:
CvLevMarq();
CvLevMarq( int nparams, int nerrs, CvTermCriteria criteria=
cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
bool completeSymmFlag=false );
~CvLevMarq();
void init( int nparams, int nerrs, CvTermCriteria criteria=
cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
bool completeSymmFlag=false );
bool update( const CvMat*& param, CvMat*& J, CvMat*& err );
bool updateAlt( const CvMat*& param, CvMat*& JtJ, CvMat*& JtErr, double*& errNorm );
void clear();
void step();
enum { DONE=0, STARTED=1, CALC_J=2, CHECK_ERR=3 };
cv::Ptr<CvMat> mask;
cv::Ptr<CvMat> prevParam;
cv::Ptr<CvMat> param;
cv::Ptr<CvMat> J;
cv::Ptr<CvMat> err;
cv::Ptr<CvMat> JtJ;
cv::Ptr<CvMat> JtJN;
cv::Ptr<CvMat> JtErr;
cv::Ptr<CvMat> JtJV;
cv::Ptr<CvMat> JtJW;
double prevErrNorm, errNorm;
int lambdaLg10;
CvTermCriteria criteria;
int state;
int iters;
bool completeSymmFlag;
int solveMethod;
};
#endif
#endif #endif

328
modules/calib3d/include/opencv2/calib3d/calib3d_c.h
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@ -44,41 +44,12 @@
#ifndef OPENCV_CALIB3D_C_H #ifndef OPENCV_CALIB3D_C_H
#define OPENCV_CALIB3D_C_H #define OPENCV_CALIB3D_C_H
#include "opencv2/core/core_c.h" #include "opencv2/core/types_c.h"
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/** @addtogroup calib3d_c
@{
*/
/****************************************************************************************\
* Camera Calibration, Pose Estimation and Stereo *
\****************************************************************************************/
typedef struct CvPOSITObject CvPOSITObject;
/* Allocates and initializes CvPOSITObject structure before doing cvPOSIT */
CVAPI(CvPOSITObject*) cvCreatePOSITObject( CvPoint3D32f* points, int point_count );
/* Runs POSIT (POSe from ITeration) algorithm for determining 3d position of
an object given its model and projection in a weak-perspective case */
CVAPI(void) cvPOSIT( CvPOSITObject* posit_object, CvPoint2D32f* image_points,
double focal_length, CvTermCriteria criteria,
float* rotation_matrix, float* translation_vector);
/* Releases CvPOSITObject structure */
CVAPI(void) cvReleasePOSITObject( CvPOSITObject** posit_object );
/* updates the number of RANSAC iterations */
CVAPI(int) cvRANSACUpdateNumIters( double p, double err_prob,
int model_points, int max_iters );
CVAPI(void) cvConvertPointsHomogeneous( const CvMat* src, CvMat* dst );
/* Calculates fundamental matrix given a set of corresponding points */ /* Calculates fundamental matrix given a set of corresponding points */
#define CV_FM_7POINT 1 #define CV_FM_7POINT 1
#define CV_FM_8POINT 2 #define CV_FM_8POINT 2
@ -99,136 +70,11 @@ enum
CV_DLS = 3 // Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP" CV_DLS = 3 // Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP"
}; };
CVAPI(int) cvFindFundamentalMat( const CvMat* points1, const CvMat* points2,
CvMat* fundamental_matrix,
int method CV_DEFAULT(CV_FM_RANSAC),
double param1 CV_DEFAULT(3.), double param2 CV_DEFAULT(0.99),
CvMat* status CV_DEFAULT(NULL) );
/* For each input point on one of images
computes parameters of the corresponding
epipolar line on the other image */
CVAPI(void) cvComputeCorrespondEpilines( const CvMat* points,
int which_image,
const CvMat* fundamental_matrix,
CvMat* correspondent_lines );
/* Triangulation functions */
CVAPI(void) cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2,
CvMat* projPoints1, CvMat* projPoints2,
CvMat* points4D);
CVAPI(void) cvCorrectMatches(CvMat* F, CvMat* points1, CvMat* points2,
CvMat* new_points1, CvMat* new_points2);
/* Computes the optimal new camera matrix according to the free scaling parameter alpha:
alpha=0 - only valid pixels will be retained in the undistorted image
alpha=1 - all the source image pixels will be retained in the undistorted image
*/
CVAPI(void) cvGetOptimalNewCameraMatrix( const CvMat* camera_matrix,
const CvMat* dist_coeffs,
CvSize image_size, double alpha,
CvMat* new_camera_matrix,
CvSize new_imag_size CV_DEFAULT(cvSize(0,0)),
CvRect* valid_pixel_ROI CV_DEFAULT(0),
int center_principal_point CV_DEFAULT(0));
/* Converts rotation vector to rotation matrix or vice versa */
CVAPI(int) cvRodrigues2( const CvMat* src, CvMat* dst,
CvMat* jacobian CV_DEFAULT(0) );
/* Finds perspective transformation between the object plane and image (view) plane */
CVAPI(int) cvFindHomography( const CvMat* src_points,
const CvMat* dst_points,
CvMat* homography,
int method CV_DEFAULT(0),
double ransacReprojThreshold CV_DEFAULT(3),
CvMat* mask CV_DEFAULT(0),
int maxIters CV_DEFAULT(2000),
double confidence CV_DEFAULT(0.995));
/* Computes RQ decomposition for 3x3 matrices */
CVAPI(void) cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
CvMat *matrixQx CV_DEFAULT(NULL),
CvMat *matrixQy CV_DEFAULT(NULL),
CvMat *matrixQz CV_DEFAULT(NULL),
CvPoint3D64f *eulerAngles CV_DEFAULT(NULL));
/* Computes projection matrix decomposition */
CVAPI(void) cvDecomposeProjectionMatrix( const CvMat *projMatr, CvMat *calibMatr,
CvMat *rotMatr, CvMat *posVect,
CvMat *rotMatrX CV_DEFAULT(NULL),
CvMat *rotMatrY CV_DEFAULT(NULL),
CvMat *rotMatrZ CV_DEFAULT(NULL),
CvPoint3D64f *eulerAngles CV_DEFAULT(NULL));
/* Computes d(AB)/dA and d(AB)/dB */
CVAPI(void) cvCalcMatMulDeriv( const CvMat* A, const CvMat* B, CvMat* dABdA, CvMat* dABdB );
/* Computes r3 = rodrigues(rodrigues(r2)*rodrigues(r1)),
t3 = rodrigues(r2)*t1 + t2 and the respective derivatives */
CVAPI(void) cvComposeRT( const CvMat* _rvec1, const CvMat* _tvec1,
const CvMat* _rvec2, const CvMat* _tvec2,
CvMat* _rvec3, CvMat* _tvec3,
CvMat* dr3dr1 CV_DEFAULT(0), CvMat* dr3dt1 CV_DEFAULT(0),
CvMat* dr3dr2 CV_DEFAULT(0), CvMat* dr3dt2 CV_DEFAULT(0),
CvMat* dt3dr1 CV_DEFAULT(0), CvMat* dt3dt1 CV_DEFAULT(0),
CvMat* dt3dr2 CV_DEFAULT(0), CvMat* dt3dt2 CV_DEFAULT(0) );
/* Projects object points to the view plane using
the specified extrinsic and intrinsic camera parameters */
CVAPI(void) cvProjectPoints2( const CvMat* object_points, const CvMat* rotation_vector,
const CvMat* translation_vector, const CvMat* camera_matrix,
const CvMat* distortion_coeffs, CvMat* image_points,
CvMat* dpdrot CV_DEFAULT(NULL), CvMat* dpdt CV_DEFAULT(NULL),
CvMat* dpdf CV_DEFAULT(NULL), CvMat* dpdc CV_DEFAULT(NULL),
CvMat* dpddist CV_DEFAULT(NULL),
double aspect_ratio CV_DEFAULT(0));
/* Finds extrinsic camera parameters from
a few known corresponding point pairs and intrinsic parameters */
CVAPI(void) cvFindExtrinsicCameraParams2( const CvMat* object_points,
const CvMat* image_points,
const CvMat* camera_matrix,
const CvMat* distortion_coeffs,
CvMat* rotation_vector,
CvMat* translation_vector,
int use_extrinsic_guess CV_DEFAULT(0) );
/* Computes initial estimate of the intrinsic camera parameters
in case of planar calibration target (e.g. chessboard) */
CVAPI(void) cvInitIntrinsicParams2D( const CvMat* object_points,
const CvMat* image_points,
const CvMat* npoints, CvSize image_size,
CvMat* camera_matrix,
double aspect_ratio CV_DEFAULT(1.) );
#define CV_CALIB_CB_ADAPTIVE_THRESH 1 #define CV_CALIB_CB_ADAPTIVE_THRESH 1
#define CV_CALIB_CB_NORMALIZE_IMAGE 2 #define CV_CALIB_CB_NORMALIZE_IMAGE 2
#define CV_CALIB_CB_FILTER_QUADS 4 #define CV_CALIB_CB_FILTER_QUADS 4
#define CV_CALIB_CB_FAST_CHECK 8 #define CV_CALIB_CB_FAST_CHECK 8
// Performs a fast check if a chessboard is in the input image. This is a workaround to
// a problem of cvFindChessboardCorners being slow on images with no chessboard
// - src: input image
// - size: chessboard size
// Returns 1 if a chessboard can be in this image and findChessboardCorners should be called,
// 0 if there is no chessboard, -1 in case of error
CVAPI(int) cvCheckChessboard(IplImage* src, CvSize size);
/* Detects corners on a chessboard calibration pattern */
CVAPI(int) cvFindChessboardCorners( const void* image, CvSize pattern_size,
CvPoint2D32f* corners,
int* corner_count CV_DEFAULT(NULL),
int flags CV_DEFAULT(CV_CALIB_CB_ADAPTIVE_THRESH+CV_CALIB_CB_NORMALIZE_IMAGE) );
/* Draws individual chessboard corners or the whole chessboard detected */
CVAPI(void) cvDrawChessboardCorners( CvArr* image, CvSize pattern_size,
CvPoint2D32f* corners,
int count, int pattern_was_found );
#define CV_CALIB_USE_INTRINSIC_GUESS 1 #define CV_CALIB_USE_INTRINSIC_GUESS 1
#define CV_CALIB_FIX_ASPECT_RATIO 2 #define CV_CALIB_FIX_ASPECT_RATIO 2
#define CV_CALIB_FIX_PRINCIPAL_POINT 4 #define CV_CALIB_FIX_PRINCIPAL_POINT 4
@ -249,187 +95,15 @@ CVAPI(void) cvDrawChessboardCorners( CvArr* image, CvSize pattern_size,
#define CV_CALIB_NINTRINSIC 18 #define CV_CALIB_NINTRINSIC 18
/* Finds intrinsic and extrinsic camera parameters
from a few views of known calibration pattern */
CVAPI(double) cvCalibrateCamera2( const CvMat* object_points,
const CvMat* image_points,
const CvMat* point_counts,
CvSize image_size,
CvMat* camera_matrix,
CvMat* distortion_coeffs,
CvMat* rotation_vectors CV_DEFAULT(NULL),
CvMat* translation_vectors CV_DEFAULT(NULL),
int flags CV_DEFAULT(0),
CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON)) );
/* Finds intrinsic and extrinsic camera parameters
from a few views of known calibration pattern */
CVAPI(double) cvCalibrateCamera4( const CvMat* object_points,
const CvMat* image_points,
const CvMat* point_counts,
CvSize image_size,
int iFixedPoint,
CvMat* camera_matrix,
CvMat* distortion_coeffs,
CvMat* rotation_vectors CV_DEFAULT(NULL),
CvMat* translation_vectors CV_DEFAULT(NULL),
CvMat* newObjPoints CV_DEFAULT(NULL),
int flags CV_DEFAULT(0),
CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON)) );
/* Computes various useful characteristics of the camera from the data computed by
cvCalibrateCamera2 */
CVAPI(void) cvCalibrationMatrixValues( const CvMat *camera_matrix,
CvSize image_size,
double aperture_width CV_DEFAULT(0),
double aperture_height CV_DEFAULT(0),
double *fovx CV_DEFAULT(NULL),
double *fovy CV_DEFAULT(NULL),
double *focal_length CV_DEFAULT(NULL),
CvPoint2D64f *principal_point CV_DEFAULT(NULL),
double *pixel_aspect_ratio CV_DEFAULT(NULL));
#define CV_CALIB_FIX_INTRINSIC 256 #define CV_CALIB_FIX_INTRINSIC 256
#define CV_CALIB_SAME_FOCAL_LENGTH 512 #define CV_CALIB_SAME_FOCAL_LENGTH 512
/* Computes the transformation from one camera coordinate system to another one
from a few correspondent views of the same calibration target. Optionally, calibrates
both cameras */
CVAPI(double) cvStereoCalibrate( const CvMat* object_points, const CvMat* image_points1,
const CvMat* image_points2, const CvMat* npoints,
CvMat* camera_matrix1, CvMat* dist_coeffs1,
CvMat* camera_matrix2, CvMat* dist_coeffs2,
CvSize image_size, CvMat* R, CvMat* T,
CvMat* E CV_DEFAULT(0), CvMat* F CV_DEFAULT(0),
int flags CV_DEFAULT(CV_CALIB_FIX_INTRINSIC),
CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6)) );
#define CV_CALIB_ZERO_DISPARITY 1024 #define CV_CALIB_ZERO_DISPARITY 1024
/* Computes 3D rotations (+ optional shift) for each camera coordinate system to make both
views parallel (=> to make all the epipolar lines horizontal or vertical) */
CVAPI(void) cvStereoRectify( const CvMat* camera_matrix1, const CvMat* camera_matrix2,
const CvMat* dist_coeffs1, const CvMat* dist_coeffs2,
CvSize image_size, const CvMat* R, const CvMat* T,
CvMat* R1, CvMat* R2, CvMat* P1, CvMat* P2,
CvMat* Q CV_DEFAULT(0),
int flags CV_DEFAULT(CV_CALIB_ZERO_DISPARITY),
double alpha CV_DEFAULT(-1),
CvSize new_image_size CV_DEFAULT(cvSize(0,0)),
CvRect* valid_pix_ROI1 CV_DEFAULT(0),
CvRect* valid_pix_ROI2 CV_DEFAULT(0));
/* Computes rectification transformations for uncalibrated pair of images using a set
of point correspondences */
CVAPI(int) cvStereoRectifyUncalibrated( const CvMat* points1, const CvMat* points2,
const CvMat* F, CvSize img_size,
CvMat* H1, CvMat* H2,
double threshold CV_DEFAULT(5));
/* stereo correspondence parameters and functions */ /* stereo correspondence parameters and functions */
#define CV_STEREO_BM_NORMALIZED_RESPONSE 0 #define CV_STEREO_BM_NORMALIZED_RESPONSE 0
#define CV_STEREO_BM_XSOBEL 1 #define CV_STEREO_BM_XSOBEL 1
/* Block matching algorithm structure */
typedef struct CvStereoBMState
{
// pre-filtering (normalization of input images)
int preFilterType; // =CV_STEREO_BM_NORMALIZED_RESPONSE now
int preFilterSize; // averaging window size: ~5x5..21x21
int preFilterCap; // the output of pre-filtering is clipped by [-preFilterCap,preFilterCap]
// correspondence using Sum of Absolute Difference (SAD)
int SADWindowSize; // ~5x5..21x21
int minDisparity; // minimum disparity (can be negative)
int numberOfDisparities; // maximum disparity - minimum disparity (> 0)
// post-filtering
int textureThreshold; // the disparity is only computed for pixels
// with textured enough neighborhood
int uniquenessRatio; // accept the computed disparity d* only if
// SAD(d) >= SAD(d*)*(1 + uniquenessRatio/100.)
// for any d != d*+/-1 within the search range.
int speckleWindowSize; // disparity variation window
int speckleRange; // acceptable range of variation in window
int trySmallerWindows; // if 1, the results may be more accurate,
// at the expense of slower processing
CvRect roi1, roi2;
int disp12MaxDiff;
// temporary buffers
CvMat* preFilteredImg0;
CvMat* preFilteredImg1;
CvMat* slidingSumBuf;
CvMat* cost;
CvMat* disp;
} CvStereoBMState;
#define CV_STEREO_BM_BASIC 0
#define CV_STEREO_BM_FISH_EYE 1
#define CV_STEREO_BM_NARROW 2
CVAPI(CvStereoBMState*) cvCreateStereoBMState(int preset CV_DEFAULT(CV_STEREO_BM_BASIC),
int numberOfDisparities CV_DEFAULT(0));
CVAPI(void) cvReleaseStereoBMState( CvStereoBMState** state );
CVAPI(void) cvFindStereoCorrespondenceBM( const CvArr* left, const CvArr* right,
CvArr* disparity, CvStereoBMState* state );
CVAPI(CvRect) cvGetValidDisparityROI( CvRect roi1, CvRect roi2, int minDisparity,
int numberOfDisparities, int SADWindowSize );
CVAPI(void) cvValidateDisparity( CvArr* disparity, const CvArr* cost,
int minDisparity, int numberOfDisparities,
int disp12MaxDiff CV_DEFAULT(1) );
/* Reprojects the computed disparity image to the 3D space using the specified 4x4 matrix */
CVAPI(void) cvReprojectImageTo3D( const CvArr* disparityImage,
CvArr* _3dImage, const CvMat* Q,
int handleMissingValues CV_DEFAULT(0) );
/** @brief Transforms the input image to compensate lens distortion
@see cv::undistort
*/
CVAPI(void) cvUndistort2( const CvArr* src, CvArr* dst,
const CvMat* camera_matrix,
const CvMat* distortion_coeffs,
const CvMat* new_camera_matrix CV_DEFAULT(0) );
/** @brief Computes transformation map from intrinsic camera parameters
that can used by cvRemap
*/
CVAPI(void) cvInitUndistortMap( const CvMat* camera_matrix,
const CvMat* distortion_coeffs,
CvArr* mapx, CvArr* mapy );
/** @brief Computes undistortion+rectification map for a head of stereo camera
@see cv::initUndistortRectifyMap
*/
CVAPI(void) cvInitUndistortRectifyMap( const CvMat* camera_matrix,
const CvMat* dist_coeffs,
const CvMat *R, const CvMat* new_camera_matrix,
CvArr* mapx, CvArr* mapy );
/** @brief Computes the original (undistorted) feature coordinates
from the observed (distorted) coordinates
@see cv::undistortPoints
*/
CVAPI(void) cvUndistortPoints( const CvMat* src, CvMat* dst,
const CvMat* camera_matrix,
const CvMat* dist_coeffs,
const CvMat* R CV_DEFAULT(0),
const CvMat* P CV_DEFAULT(0));
/** @} calib3d_c */
#ifdef __cplusplus #ifdef __cplusplus
} // extern "C" } // extern "C"

47
modules/calib3d/src/calib3d_c_api.cpp
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@ -1,47 +0,0 @@
// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
// This file contains wrappers for legacy OpenCV C API
#include "precomp.hpp"
#include "opencv2/calib3d/calib3d_c.h"
using namespace cv;
CV_IMPL void
cvDrawChessboardCorners(CvArr* _image, CvSize pattern_size,
CvPoint2D32f* corners, int count, int found)
{
CV_Assert(corners != NULL); //CV_CheckNULL(corners, "NULL is not allowed for 'corners' parameter");
Mat image = cvarrToMat(_image);
CV_StaticAssert(sizeof(CvPoint2D32f) == sizeof(Point2f), "");
drawChessboardCorners(image, pattern_size, Mat(1, count, traits::Type<Point2f>::value, corners), found != 0);
}
CV_IMPL int
cvFindChessboardCorners(const void* arr, CvSize pattern_size,
CvPoint2D32f* out_corners_, int* out_corner_count,
int flags)
{
if (!out_corners_)
CV_Error( CV_StsNullPtr, "Null pointer to corners" );
Mat image = cvarrToMat(arr);
std::vector<Point2f> out_corners;
if (out_corner_count)
*out_corner_count = 0;
bool res = cv::findChessboardCorners(image, pattern_size, out_corners, flags);
int corner_count = (int)out_corners.size();
if (out_corner_count)
*out_corner_count = corner_count;
CV_CheckLE(corner_count, Size(pattern_size).area(), "Unexpected number of corners");
for (int i = 0; i < corner_count; ++i)
{
out_corners_[i] = cvPoint2D32f(out_corners[i]);
}
return res ? 1 : 0;
}

425
modules/calib3d/src/calib3d_c_api.h
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@ -0,0 +1,425 @@
/*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) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Copyright (C) 2013, 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*/
#ifndef OPENCV_CALIB3D_C_API_H
#define OPENCV_CALIB3D_C_API_H
#include "opencv2/core/core_c.h"
#include "opencv2/calib3d/calib3d_c.h"
#ifdef __cplusplus
extern "C" {
#endif
/** @addtogroup calib3d_c
@{
*/
/****************************************************************************************\
* Camera Calibration, Pose Estimation and Stereo *
\****************************************************************************************/
typedef struct CvPOSITObject CvPOSITObject;
/* Allocates and initializes CvPOSITObject structure before doing cvPOSIT */
CvPOSITObject* cvCreatePOSITObject( CvPoint3D32f* points, int point_count );
/* Runs POSIT (POSe from ITeration) algorithm for determining 3d position of
an object given its model and projection in a weak-perspective case */
void cvPOSIT( CvPOSITObject* posit_object, CvPoint2D32f* image_points,
double focal_length, CvTermCriteria criteria,
float* rotation_matrix, float* translation_vector);
/* Releases CvPOSITObject structure */
void cvReleasePOSITObject( CvPOSITObject** posit_object );
/* updates the number of RANSAC iterations */
int cvRANSACUpdateNumIters( double p, double err_prob,
int model_points, int max_iters );
void cvConvertPointsHomogeneous( const CvMat* src, CvMat* dst );
/* Calculates fundamental matrix given a set of corresponding points */
/*#define CV_FM_7POINT 1
#define CV_FM_8POINT 2
#define CV_LMEDS 4
#define CV_RANSAC 8
#define CV_FM_LMEDS_ONLY CV_LMEDS
#define CV_FM_RANSAC_ONLY CV_RANSAC
#define CV_FM_LMEDS CV_LMEDS
#define CV_FM_RANSAC CV_RANSAC*/
int cvFindFundamentalMat( const CvMat* points1, const CvMat* points2,
CvMat* fundamental_matrix,
int method CV_DEFAULT(CV_FM_RANSAC),
double param1 CV_DEFAULT(3.), double param2 CV_DEFAULT(0.99),
CvMat* status CV_DEFAULT(NULL) );
/* For each input point on one of images
computes parameters of the corresponding
epipolar line on the other image */
void cvComputeCorrespondEpilines( const CvMat* points,
int which_image,
const CvMat* fundamental_matrix,
CvMat* correspondent_lines );
/* Triangulation functions */
void cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2,
CvMat* projPoints1, CvMat* projPoints2,
CvMat* points4D);
void cvCorrectMatches(CvMat* F, CvMat* points1, CvMat* points2,
CvMat* new_points1, CvMat* new_points2);
/* Computes the optimal new camera matrix according to the free scaling parameter alpha:
alpha=0 - only valid pixels will be retained in the undistorted image
alpha=1 - all the source image pixels will be retained in the undistorted image
*/
void cvGetOptimalNewCameraMatrix( const CvMat* camera_matrix,
const CvMat* dist_coeffs,
CvSize image_size, double alpha,
CvMat* new_camera_matrix,
CvSize new_imag_size CV_DEFAULT(cvSize(0,0)),
CvRect* valid_pixel_ROI CV_DEFAULT(0),
int center_principal_point CV_DEFAULT(0));
/* Converts rotation vector to rotation matrix or vice versa */
int cvRodrigues2( const CvMat* src, CvMat* dst,
CvMat* jacobian CV_DEFAULT(0) );
/* Finds perspective transformation between the object plane and image (view) plane */
int cvFindHomography( const CvMat* src_points,
const CvMat* dst_points,
CvMat* homography,
int method CV_DEFAULT(0),
double ransacReprojThreshold CV_DEFAULT(3),
CvMat* mask CV_DEFAULT(0),
int maxIters CV_DEFAULT(2000),
double confidence CV_DEFAULT(0.995));
/* Computes RQ decomposition for 3x3 matrices */
void cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
CvMat *matrixQx CV_DEFAULT(NULL),
CvMat *matrixQy CV_DEFAULT(NULL),
CvMat *matrixQz CV_DEFAULT(NULL),
CvPoint3D64f *eulerAngles CV_DEFAULT(NULL));
/* Computes projection matrix decomposition */
void cvDecomposeProjectionMatrix( const CvMat *projMatr, CvMat *calibMatr,
CvMat *rotMatr, CvMat *posVect,
CvMat *rotMatrX CV_DEFAULT(NULL),
CvMat *rotMatrY CV_DEFAULT(NULL),
CvMat *rotMatrZ CV_DEFAULT(NULL),
CvPoint3D64f *eulerAngles CV_DEFAULT(NULL));
/* Computes d(AB)/dA and d(AB)/dB */
void cvCalcMatMulDeriv( const CvMat* A, const CvMat* B, CvMat* dABdA, CvMat* dABdB );
/* Computes r3 = rodrigues(rodrigues(r2)*rodrigues(r1)),
t3 = rodrigues(r2)*t1 + t2 and the respective derivatives */
void cvComposeRT( const CvMat* _rvec1, const CvMat* _tvec1,
const CvMat* _rvec2, const CvMat* _tvec2,
CvMat* _rvec3, CvMat* _tvec3,
CvMat* dr3dr1 CV_DEFAULT(0), CvMat* dr3dt1 CV_DEFAULT(0),
CvMat* dr3dr2 CV_DEFAULT(0), CvMat* dr3dt2 CV_DEFAULT(0),
CvMat* dt3dr1 CV_DEFAULT(0), CvMat* dt3dt1 CV_DEFAULT(0),
CvMat* dt3dr2 CV_DEFAULT(0), CvMat* dt3dt2 CV_DEFAULT(0) );
/* Projects object points to the view plane using
the specified extrinsic and intrinsic camera parameters */
void cvProjectPoints2( const CvMat* object_points, const CvMat* rotation_vector,
const CvMat* translation_vector, const CvMat* camera_matrix,
const CvMat* distortion_coeffs, CvMat* image_points,
CvMat* dpdrot CV_DEFAULT(NULL), CvMat* dpdt CV_DEFAULT(NULL),
CvMat* dpdf CV_DEFAULT(NULL), CvMat* dpdc CV_DEFAULT(NULL),
CvMat* dpddist CV_DEFAULT(NULL),
double aspect_ratio CV_DEFAULT(0));
/* Finds extrinsic camera parameters from
a few known corresponding point pairs and intrinsic parameters */
void cvFindExtrinsicCameraParams2( const CvMat* object_points,
const CvMat* image_points,
const CvMat* camera_matrix,
const CvMat* distortion_coeffs,
CvMat* rotation_vector,
CvMat* translation_vector,
int use_extrinsic_guess CV_DEFAULT(0) );
/* Computes initial estimate of the intrinsic camera parameters
in case of planar calibration target (e.g. chessboard) */
void cvInitIntrinsicParams2D( const CvMat* object_points,
const CvMat* image_points,
const CvMat* npoints, CvSize image_size,
CvMat* camera_matrix,
double aspect_ratio CV_DEFAULT(1.) );
// Performs a fast check if a chessboard is in the input image. This is a workaround to
// a problem of cvFindChessboardCorners being slow on images with no chessboard
// - src: input image
// - size: chessboard size
// Returns 1 if a chessboard can be in this image and findChessboardCorners should be called,
// 0 if there is no chessboard, -1 in case of error
int cvCheckChessboard(IplImage* src, CvSize size);
/* Detects corners on a chessboard calibration pattern */
/*int cvFindChessboardCorners( const void* image, CvSize pattern_size,
CvPoint2D32f* corners,
int* corner_count CV_DEFAULT(NULL),
int flags CV_DEFAULT(CV_CALIB_CB_ADAPTIVE_THRESH+CV_CALIB_CB_NORMALIZE_IMAGE) );*/
/* Draws individual chessboard corners or the whole chessboard detected */
/*void cvDrawChessboardCorners( CvArr* image, CvSize pattern_size,
CvPoint2D32f* corners,
int count, int pattern_was_found );*/
/*#define CV_CALIB_USE_INTRINSIC_GUESS 1
#define CV_CALIB_FIX_ASPECT_RATIO 2
#define CV_CALIB_FIX_PRINCIPAL_POINT 4
#define CV_CALIB_ZERO_TANGENT_DIST 8
#define CV_CALIB_FIX_FOCAL_LENGTH 16
#define CV_CALIB_FIX_K1 32
#define CV_CALIB_FIX_K2 64
#define CV_CALIB_FIX_K3 128
#define CV_CALIB_FIX_K4 2048
#define CV_CALIB_FIX_K5 4096
#define CV_CALIB_FIX_K6 8192
#define CV_CALIB_RATIONAL_MODEL 16384
#define CV_CALIB_THIN_PRISM_MODEL 32768
#define CV_CALIB_FIX_S1_S2_S3_S4 65536
#define CV_CALIB_TILTED_MODEL 262144
#define CV_CALIB_FIX_TAUX_TAUY 524288
#define CV_CALIB_FIX_TANGENT_DIST 2097152
#define CV_CALIB_NINTRINSIC 18*/
/* Finds intrinsic and extrinsic camera parameters
from a few views of known calibration pattern */
double cvCalibrateCamera2( const CvMat* object_points,
const CvMat* image_points,
const CvMat* point_counts,
CvSize image_size,
CvMat* camera_matrix,
CvMat* distortion_coeffs,
CvMat* rotation_vectors CV_DEFAULT(NULL),
CvMat* translation_vectors CV_DEFAULT(NULL),
int flags CV_DEFAULT(0),
CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON)) );
/* Finds intrinsic and extrinsic camera parameters
from a few views of known calibration pattern */
double cvCalibrateCamera4( const CvMat* object_points,
const CvMat* image_points,
const CvMat* point_counts,
CvSize image_size,
int iFixedPoint,
CvMat* camera_matrix,
CvMat* distortion_coeffs,
CvMat* rotation_vectors CV_DEFAULT(NULL),
CvMat* translation_vectors CV_DEFAULT(NULL),
CvMat* newObjPoints CV_DEFAULT(NULL),
int flags CV_DEFAULT(0),
CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON)) );
/* Computes various useful characteristics of the camera from the data computed by
cvCalibrateCamera2 */
void cvCalibrationMatrixValues( const CvMat *camera_matrix,
CvSize image_size,
double aperture_width CV_DEFAULT(0),
double aperture_height CV_DEFAULT(0),
double *fovx CV_DEFAULT(NULL),
double *fovy CV_DEFAULT(NULL),
double *focal_length CV_DEFAULT(NULL),
CvPoint2D64f *principal_point CV_DEFAULT(NULL),
double *pixel_aspect_ratio CV_DEFAULT(NULL));
/*#define CV_CALIB_FIX_INTRINSIC 256
#define CV_CALIB_SAME_FOCAL_LENGTH 512*/
/* Computes the transformation from one camera coordinate system to another one
from a few correspondent views of the same calibration target. Optionally, calibrates
both cameras */
double cvStereoCalibrate( const CvMat* object_points, const CvMat* image_points1,
const CvMat* image_points2, const CvMat* npoints,
CvMat* camera_matrix1, CvMat* dist_coeffs1,
CvMat* camera_matrix2, CvMat* dist_coeffs2,
CvSize image_size, CvMat* R, CvMat* T,
CvMat* E CV_DEFAULT(0), CvMat* F CV_DEFAULT(0),
int flags CV_DEFAULT(CV_CALIB_FIX_INTRINSIC),
CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6)) );
#define CV_CALIB_ZERO_DISPARITY 1024
/* Computes 3D rotations (+ optional shift) for each camera coordinate system to make both
views parallel (=> to make all the epipolar lines horizontal or vertical) */
void cvStereoRectify( const CvMat* camera_matrix1, const CvMat* camera_matrix2,
const CvMat* dist_coeffs1, const CvMat* dist_coeffs2,
CvSize image_size, const CvMat* R, const CvMat* T,
CvMat* R1, CvMat* R2, CvMat* P1, CvMat* P2,
CvMat* Q CV_DEFAULT(0),
int flags CV_DEFAULT(CV_CALIB_ZERO_DISPARITY),
double alpha CV_DEFAULT(-1),
CvSize new_image_size CV_DEFAULT(cvSize(0,0)),
CvRect* valid_pix_ROI1 CV_DEFAULT(0),
CvRect* valid_pix_ROI2 CV_DEFAULT(0));
/* Computes rectification transformations for uncalibrated pair of images using a set
of point correspondences */
int cvStereoRectifyUncalibrated( const CvMat* points1, const CvMat* points2,
const CvMat* F, CvSize img_size,
CvMat* H1, CvMat* H2,
double threshold CV_DEFAULT(5));
/* stereo correspondence parameters and functions */
#define CV_STEREO_BM_NORMALIZED_RESPONSE 0
#define CV_STEREO_BM_XSOBEL 1
/* Block matching algorithm structure */
typedef struct CvStereoBMState
{
// pre-filtering (normalization of input images)
int preFilterType; // =CV_STEREO_BM_NORMALIZED_RESPONSE now
int preFilterSize; // averaging window size: ~5x5..21x21
int preFilterCap; // the output of pre-filtering is clipped by [-preFilterCap,preFilterCap]
// correspondence using Sum of Absolute Difference (SAD)
int SADWindowSize; // ~5x5..21x21
int minDisparity; // minimum disparity (can be negative)
int numberOfDisparities; // maximum disparity - minimum disparity (> 0)
// post-filtering
int textureThreshold; // the disparity is only computed for pixels
// with textured enough neighborhood
int uniquenessRatio; // accept the computed disparity d* only if
// SAD(d) >= SAD(d*)*(1 + uniquenessRatio/100.)
// for any d != d*+/-1 within the search range.
int speckleWindowSize; // disparity variation window
int speckleRange; // acceptable range of variation in window
int trySmallerWindows; // if 1, the results may be more accurate,
// at the expense of slower processing
CvRect roi1, roi2;
int disp12MaxDiff;
// temporary buffers
CvMat* preFilteredImg0;
CvMat* preFilteredImg1;
CvMat* slidingSumBuf;
CvMat* cost;
CvMat* disp;
} CvStereoBMState;
#define CV_STEREO_BM_BASIC 0
#define CV_STEREO_BM_FISH_EYE 1
#define CV_STEREO_BM_NARROW 2
CvStereoBMState* cvCreateStereoBMState(int preset CV_DEFAULT(CV_STEREO_BM_BASIC),
int numberOfDisparities CV_DEFAULT(0));
void cvReleaseStereoBMState( CvStereoBMState** state );
void cvFindStereoCorrespondenceBM( const CvArr* left, const CvArr* right,
CvArr* disparity, CvStereoBMState* state );
CvRect cvGetValidDisparityROI( CvRect roi1, CvRect roi2, int minDisparity,
int numberOfDisparities, int SADWindowSize );
void cvValidateDisparity( CvArr* disparity, const CvArr* cost,
int minDisparity, int numberOfDisparities,
int disp12MaxDiff CV_DEFAULT(1) );
/* Reprojects the computed disparity image to the 3D space using the specified 4x4 matrix */
void cvReprojectImageTo3D( const CvArr* disparityImage,
CvArr* _3dImage, const CvMat* Q,
int handleMissingValues CV_DEFAULT(0) );
/** @brief Transforms the input image to compensate lens distortion
@see cv::undistort
*/
void cvUndistort2( const CvArr* src, CvArr* dst,
const CvMat* camera_matrix,
const CvMat* distortion_coeffs,
const CvMat* new_camera_matrix CV_DEFAULT(0) );
/** @brief Computes transformation map from intrinsic camera parameters
that can used by cvRemap
*/
void cvInitUndistortMap( const CvMat* camera_matrix,
const CvMat* distortion_coeffs,
CvArr* mapx, CvArr* mapy );
/** @brief Computes undistortion+rectification map for a head of stereo camera
@see cv::initUndistortRectifyMap
*/
void cvInitUndistortRectifyMap( const CvMat* camera_matrix,
const CvMat* dist_coeffs,
const CvMat *R, const CvMat* new_camera_matrix,
CvArr* mapx, CvArr* mapy );
/** @brief Computes the original (undistorted) feature coordinates
from the observed (distorted) coordinates
@see cv::undistortPoints
*/
void cvUndistortPoints( const CvMat* src, CvMat* dst,
const CvMat* camera_matrix,
const CvMat* dist_coeffs,
const CvMat* R CV_DEFAULT(0),
const CvMat* P CV_DEFAULT(0));
/** @} calib3d_c */
#ifdef __cplusplus
} // extern "C"
#endif
#endif /* OPENCV_CALIB3D_C_API_H */

33
modules/calib3d/src/calibration.cpp
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@ -43,7 +43,7 @@
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/imgproc/imgproc_c.h" #include "opencv2/imgproc/imgproc_c.h"
#include "distortion_model.hpp" #include "distortion_model.hpp"
#include "opencv2/calib3d/calib3d_c.h" #include "calib3d_c_api.h"
#include <stdio.h> #include <stdio.h>
#include <iterator> #include <iterator>
@ -3003,15 +3003,22 @@ void cv::reprojectImageTo3D( InputArray _disparity,
stype == CV_32SC1 || stype == CV_32FC1 ); stype == CV_32SC1 || stype == CV_32FC1 );
CV_Assert( Q.size() == Size(4,4) ); CV_Assert( Q.size() == Size(4,4) );
if( dtype >= 0 )
dtype = CV_MAKETYPE(CV_MAT_DEPTH(dtype), 3);
if( __3dImage.fixedType() )
{
int dtype_ = __3dImage.type();
CV_Assert( dtype == -1 || dtype == dtype_ );
dtype = dtype_;
}
if( dtype < 0 ) if( dtype < 0 )
dtype = CV_32FC3; dtype = CV_32FC3;
else else
{
dtype = CV_MAKETYPE(CV_MAT_DEPTH(dtype), 3);
CV_Assert( dtype == CV_16SC3 || dtype == CV_32SC3 || dtype == CV_32FC3 ); CV_Assert( dtype == CV_16SC3 || dtype == CV_32SC3 || dtype == CV_32FC3 );
}
__3dImage.create(disparity.size(), CV_MAKETYPE(dtype, 3)); __3dImage.create(disparity.size(), dtype);
Mat _3dImage = __3dImage.getMat(); Mat _3dImage = __3dImage.getMat();
const float bigZ = 10000.f; const float bigZ = 10000.f;
@ -3423,11 +3430,13 @@ static void collectCalibrationData( InputArrayOfArrays objectPoints,
imgPtMat2, npoints ); imgPtMat2, npoints );
} }
static Mat prepareCameraMatrix(Mat& cameraMatrix0, int rtype) static Mat prepareCameraMatrix(Mat& cameraMatrix0, int rtype, int flags)
{ {
Mat cameraMatrix = Mat::eye(3, 3, rtype); Mat cameraMatrix = Mat::eye(3, 3, rtype);
if( cameraMatrix0.size() == cameraMatrix.size() ) if( cameraMatrix0.size() == cameraMatrix.size() )
cameraMatrix0.convertTo(cameraMatrix, rtype); cameraMatrix0.convertTo(cameraMatrix, rtype);
else if( flags & CALIB_USE_INTRINSIC_GUESS )
CV_Error(Error::StsBadArg, "CALIB_USE_INTRINSIC_GUESS flag is set, but the camera matrix is not 3x3");
return cameraMatrix; return cameraMatrix;
} }
@ -3544,6 +3553,8 @@ void cv::projectPoints( InputArray _opoints,
CvMat dpdrot, dpdt, dpdf, dpdc, dpddist; CvMat dpdrot, dpdt, dpdf, dpdc, dpddist;
CvMat *pdpdrot=0, *pdpdt=0, *pdpdf=0, *pdpdc=0, *pdpddist=0; CvMat *pdpdrot=0, *pdpdt=0, *pdpdf=0, *pdpdc=0, *pdpddist=0;
CV_Assert( _ipoints.needed() );
_ipoints.create(npoints, 1, CV_MAKETYPE(depth, 2), -1, true); _ipoints.create(npoints, 1, CV_MAKETYPE(depth, 2), -1, true);
Mat imagePoints = _ipoints.getMat(); Mat imagePoints = _ipoints.getMat();
CvMat c_imagePoints = cvMat(imagePoints); CvMat c_imagePoints = cvMat(imagePoints);
@ -3650,8 +3661,12 @@ double cv::calibrateCameraRO(InputArrayOfArrays _objectPoints,
CV_INSTRUMENT_REGION(); CV_INSTRUMENT_REGION();
int rtype = CV_64F; int rtype = CV_64F;
CV_Assert( _cameraMatrix.needed() );
CV_Assert( _distCoeffs.needed() );
Mat cameraMatrix = _cameraMatrix.getMat(); Mat cameraMatrix = _cameraMatrix.getMat();
cameraMatrix = prepareCameraMatrix(cameraMatrix, rtype); cameraMatrix = prepareCameraMatrix(cameraMatrix, rtype, flags);
Mat distCoeffs = _distCoeffs.getMat(); Mat distCoeffs = _distCoeffs.getMat();
distCoeffs = (flags & CALIB_THIN_PRISM_MODEL) && !(flags & CALIB_TILTED_MODEL) ? prepareDistCoeffs(distCoeffs, rtype, 12) : distCoeffs = (flags & CALIB_THIN_PRISM_MODEL) && !(flags & CALIB_TILTED_MODEL) ? prepareDistCoeffs(distCoeffs, rtype, 12) :
prepareDistCoeffs(distCoeffs, rtype); prepareDistCoeffs(distCoeffs, rtype);
@ -3864,8 +3879,8 @@ double cv::stereoCalibrate( InputArrayOfArrays _objectPoints,
Mat cameraMatrix2 = _cameraMatrix2.getMat(); Mat cameraMatrix2 = _cameraMatrix2.getMat();
Mat distCoeffs1 = _distCoeffs1.getMat(); Mat distCoeffs1 = _distCoeffs1.getMat();
Mat distCoeffs2 = _distCoeffs2.getMat(); Mat distCoeffs2 = _distCoeffs2.getMat();
cameraMatrix1 = prepareCameraMatrix(cameraMatrix1, rtype); cameraMatrix1 = prepareCameraMatrix(cameraMatrix1, rtype, flags);
cameraMatrix2 = prepareCameraMatrix(cameraMatrix2, rtype); cameraMatrix2 = prepareCameraMatrix(cameraMatrix2, rtype, flags);
distCoeffs1 = prepareDistCoeffs(distCoeffs1, rtype); distCoeffs1 = prepareDistCoeffs(distCoeffs1, rtype);
distCoeffs2 = prepareDistCoeffs(distCoeffs2, rtype); distCoeffs2 = prepareDistCoeffs(distCoeffs2, rtype);

2
modules/calib3d/src/checkchessboard.cpp
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@ -41,7 +41,7 @@
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/imgproc/imgproc_c.h" #include "opencv2/imgproc/imgproc_c.h"
#include "opencv2/calib3d/calib3d_c.h" #include "calib3d_c_api.h"
#include <vector> #include <vector>
#include <algorithm> #include <algorithm>

4
modules/calib3d/src/compat_ptsetreg.cpp
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@ -41,7 +41,8 @@
//M*/ //M*/
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/calib3d/calib3d_c.h" #include "opencv2/core/core_c.h"
#include "calib3d_c_api.h"
/************************************************************************************\ /************************************************************************************\
Some backward compatibility stuff, to be moved to legacy or compat module Some backward compatibility stuff, to be moved to legacy or compat module
@ -321,7 +322,6 @@ void CvLevMarq::step()
param->data.db[i] = prevParam->data.db[i] - (mask->data.ptr[i] ? nonzero_param(j++) : 0); param->data.db[i] = prevParam->data.db[i] - (mask->data.ptr[i] ? nonzero_param(j++) : 0);
} }
CV_IMPL int cvRANSACUpdateNumIters( double p, double ep, int modelPoints, int maxIters ) CV_IMPL int cvRANSACUpdateNumIters( double p, double ep, int modelPoints, int maxIters )
{ {
return cv::RANSACUpdateNumIters(p, ep, modelPoints, maxIters); return cv::RANSACUpdateNumIters(p, ep, modelPoints, maxIters);

123
modules/calib3d/src/compat_stereo.cpp
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@ -1,123 +0,0 @@
//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) 2000, Intel Corporation, all rights reserved.
// Copyright (C) 2013, 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 "precomp.hpp"
#include "opencv2/calib3d/calib3d_c.h"
CvStereoBMState* cvCreateStereoBMState( int /*preset*/, int numberOfDisparities )
{
CvStereoBMState* state = (CvStereoBMState*)cvAlloc( sizeof(*state) );
if( !state )
return 0;
state->preFilterType = CV_STEREO_BM_XSOBEL; //CV_STEREO_BM_NORMALIZED_RESPONSE;
state->preFilterSize = 9;
state->preFilterCap = 31;
state->SADWindowSize = 15;
state->minDisparity = 0;
state->numberOfDisparities = numberOfDisparities > 0 ? numberOfDisparities : 64;
state->textureThreshold = 10;
state->uniquenessRatio = 15;
state->speckleRange = state->speckleWindowSize = 0;
state->trySmallerWindows = 0;
state->roi1 = state->roi2 = cvRect(0,0,0,0);
state->disp12MaxDiff = -1;
state->preFilteredImg0 = state->preFilteredImg1 = state->slidingSumBuf =
state->disp = state->cost = 0;
return state;
}
void cvReleaseStereoBMState( CvStereoBMState** state )
{
if( !state )
CV_Error( CV_StsNullPtr, "" );
if( !*state )
return;
cvReleaseMat( &(*state)->preFilteredImg0 );
cvReleaseMat( &(*state)->preFilteredImg1 );
cvReleaseMat( &(*state)->slidingSumBuf );
cvReleaseMat( &(*state)->disp );
cvReleaseMat( &(*state)->cost );
cvFree( state );
}
void cvFindStereoCorrespondenceBM( const CvArr* leftarr, const CvArr* rightarr,
CvArr* disparr, CvStereoBMState* state )
{
cv::Mat left = cv::cvarrToMat(leftarr), right = cv::cvarrToMat(rightarr);
const cv::Mat disp = cv::cvarrToMat(disparr);
CV_Assert( state != 0 );
cv::Ptr<cv::StereoBM> sm = cv::StereoBM::create(state->numberOfDisparities,
state->SADWindowSize);
sm->setPreFilterType(state->preFilterType);
sm->setPreFilterSize(state->preFilterSize);
sm->setPreFilterCap(state->preFilterCap);
sm->setBlockSize(state->SADWindowSize);
sm->setNumDisparities(state->numberOfDisparities > 0 ? state->numberOfDisparities : 64);
sm->setTextureThreshold(state->textureThreshold);
sm->setUniquenessRatio(state->uniquenessRatio);
sm->setSpeckleRange(state->speckleRange);
sm->setSpeckleWindowSize(state->speckleWindowSize);
sm->setDisp12MaxDiff(state->disp12MaxDiff);
sm->compute(left, right, disp);
}
CvRect cvGetValidDisparityROI( CvRect roi1, CvRect roi2, int minDisparity,
int numberOfDisparities, int SADWindowSize )
{
return cvRect(cv::getValidDisparityROI( roi1, roi2, minDisparity,
numberOfDisparities, SADWindowSize));
}
void cvValidateDisparity( CvArr* _disp, const CvArr* _cost, int minDisparity,
int numberOfDisparities, int disp12MaxDiff )
{
cv::Mat disp = cv::cvarrToMat(_disp), cost = cv::cvarrToMat(_cost);
cv::validateDisparity( disp, cost, minDisparity, numberOfDisparities, disp12MaxDiff );
}

2
modules/calib3d/src/fundam.cpp
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@ -411,7 +411,7 @@ cv::Mat cv::findHomography( InputArray _points1, InputArray _points2,
if( method == RANSAC || method == LMEDS ) if( method == RANSAC || method == LMEDS )
cb->runKernel( src, dst, H ); cb->runKernel( src, dst, H );
Mat H8(8, 1, CV_64F, H.ptr<double>()); Mat H8(8, 1, CV_64F, H.ptr<double>());
createLMSolver(makePtr<HomographyRefineCallback>(src, dst), 10)->run(H8); LMSolver::create(makePtr<HomographyRefineCallback>(src, dst), 10)->run(H8);
} }
} }

5
modules/calib3d/src/levmarq.cpp
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@ -198,7 +198,8 @@ public:
return iter; return iter;
} }
void setCallback(const Ptr<LMSolver::Callback>& _cb) CV_OVERRIDE { cb = _cb; } void setMaxIters(int iters) CV_OVERRIDE { CV_Assert(iters > 0); maxIters = iters; }
int getMaxIters() const CV_OVERRIDE { return maxIters; }
Ptr<LMSolver::Callback> cb; Ptr<LMSolver::Callback> cb;
@ -209,7 +210,7 @@ public:
}; };
Ptr<LMSolver> createLMSolver(const Ptr<LMSolver::Callback>& cb, int maxIters) Ptr<LMSolver> LMSolver::create(const Ptr<LMSolver::Callback>& cb, int maxIters)
{ {
return makePtr<LMSolverImpl>(cb, maxIters); return makePtr<LMSolverImpl>(cb, maxIters);
} }

2
modules/calib3d/src/posit.cpp
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@ -39,7 +39,7 @@
// //
//M*/ //M*/
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/calib3d/calib3d_c.h" #include "calib3d_c_api.h"
/* POSIT structure */ /* POSIT structure */
struct CvPOSITObject struct CvPOSITObject

16
modules/calib3d/src/precomp.hpp
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@ -76,22 +76,6 @@ namespace cv
*/ */
int RANSACUpdateNumIters( double p, double ep, int modelPoints, int maxIters ); int RANSACUpdateNumIters( double p, double ep, int modelPoints, int maxIters );
class CV_EXPORTS LMSolver : public Algorithm
{
public:
class CV_EXPORTS Callback
{
public:
virtual ~Callback() {}
virtual bool compute(InputArray param, OutputArray err, OutputArray J) const = 0;
};
virtual void setCallback(const Ptr<LMSolver::Callback>& cb) = 0;
virtual int run(InputOutputArray _param0) const = 0;
};
CV_EXPORTS Ptr<LMSolver> createLMSolver(const Ptr<LMSolver::Callback>& cb, int maxIters);
class CV_EXPORTS PointSetRegistrator : public Algorithm class CV_EXPORTS PointSetRegistrator : public Algorithm
{ {
public: public:

4
modules/calib3d/src/ptsetreg.cpp
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@ -863,7 +863,7 @@ Mat estimateAffine2D(InputArray _from, InputArray _to, OutputArray _inliers,
Mat src = from.rowRange(0, inliers_count); Mat src = from.rowRange(0, inliers_count);
Mat dst = to.rowRange(0, inliers_count); Mat dst = to.rowRange(0, inliers_count);
Mat Hvec = H.reshape(1, 6); Mat Hvec = H.reshape(1, 6);
createLMSolver(makePtr<Affine2DRefineCallback>(src, dst), static_cast<int>(refineIters))->run(Hvec); LMSolver::create(makePtr<Affine2DRefineCallback>(src, dst), static_cast<int>(refineIters))->run(Hvec);
} }
} }
@ -937,7 +937,7 @@ Mat estimateAffinePartial2D(InputArray _from, InputArray _to, OutputArray _inlie
double *Hptr = H.ptr<double>(); double *Hptr = H.ptr<double>();
double Hvec_buf[4] = {Hptr[0], Hptr[3], Hptr[2], Hptr[5]}; double Hvec_buf[4] = {Hptr[0], Hptr[3], Hptr[2], Hptr[5]};
Mat Hvec (4, 1, CV_64F, Hvec_buf); Mat Hvec (4, 1, CV_64F, Hvec_buf);
createLMSolver(makePtr<AffinePartial2DRefineCallback>(src, dst), static_cast<int>(refineIters))->run(Hvec); LMSolver::create(makePtr<AffinePartial2DRefineCallback>(src, dst), static_cast<int>(refineIters))->run(Hvec);
// update H with refined parameters // update H with refined parameters
Hptr[0] = Hptr[4] = Hvec_buf[0]; Hptr[0] = Hptr[4] = Hvec_buf[0];
Hptr[1] = -Hvec_buf[1]; Hptr[1] = -Hvec_buf[1];

2
modules/calib3d/src/solvepnp.cpp
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@ -46,7 +46,7 @@
#include "epnp.h" #include "epnp.h"
#include "p3p.h" #include "p3p.h"
#include "ap3p.h" #include "ap3p.h"
#include "opencv2/calib3d/calib3d_c.h" #include "calib3d_c_api.h"
#include <iostream> #include <iostream>

14
modules/calib3d/src/triangulate.cpp
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@ -40,7 +40,7 @@
//M*/ //M*/
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/calib3d/calib3d_c.h" #include "opencv2/core/core_c.h"
// cvCorrectMatches function is Copyright (C) 2009, Jostein Austvik Jacobsen. // cvCorrectMatches function is Copyright (C) 2009, Jostein Austvik Jacobsen.
// cvTriangulatePoints function is derived from icvReconstructPointsFor3View, originally by Valery Mosyagin. // cvTriangulatePoints function is derived from icvReconstructPointsFor3View, originally by Valery Mosyagin.
@ -50,8 +50,8 @@
// This method is the same as icvReconstructPointsFor3View, with only a few numbers adjusted for two-view geometry // This method is the same as icvReconstructPointsFor3View, with only a few numbers adjusted for two-view geometry
CV_IMPL void static void
cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2, CvMat* projPoints1, CvMat* projPoints2, CvMat* points4D) icvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2, CvMat* projPoints1, CvMat* projPoints2, CvMat* points4D)
{ {
if( projMatr1 == 0 || projMatr2 == 0 || if( projMatr1 == 0 || projMatr2 == 0 ||
projPoints1 == 0 || projPoints2 == 0 || projPoints1 == 0 || projPoints2 == 0 ||
@ -131,8 +131,8 @@ cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2, CvMat* projPoints1, CvMa
* new_points1 : the optimized points1_. if this is NULL, the corrected points are placed back in points1_ * new_points1 : the optimized points1_. if this is NULL, the corrected points are placed back in points1_
* new_points2 : the optimized points2_. if this is NULL, the corrected points are placed back in points2_ * new_points2 : the optimized points2_. if this is NULL, the corrected points are placed back in points2_
*/ */
CV_IMPL void static void
cvCorrectMatches(CvMat *F_, CvMat *points1_, CvMat *points2_, CvMat *new_points1, CvMat *new_points2) icvCorrectMatches(CvMat *F_, CvMat *points1_, CvMat *points2_, CvMat *new_points1, CvMat *new_points2)
{ {
cv::Ptr<CvMat> tmp33; cv::Ptr<CvMat> tmp33;
cv::Ptr<CvMat> tmp31, tmp31_2; cv::Ptr<CvMat> tmp31, tmp31_2;
@ -365,7 +365,7 @@ void cv::triangulatePoints( InputArray _projMatr1, InputArray _projMatr2,
Mat cvPoints4D_ = _points4D.getMat(); Mat cvPoints4D_ = _points4D.getMat();
CvMat cvPoints4D = cvMat(cvPoints4D_); CvMat cvPoints4D = cvMat(cvPoints4D_);
cvTriangulatePoints(&cvMatr1, &cvMatr2, &cvPoints1, &cvPoints2, &cvPoints4D); icvTriangulatePoints(&cvMatr1, &cvMatr2, &cvPoints1, &cvPoints2, &cvPoints4D);
} }
void cv::correctMatches( InputArray _F, InputArray _points1, InputArray _points2, void cv::correctMatches( InputArray _F, InputArray _points1, InputArray _points2,
@ -384,5 +384,5 @@ void cv::correctMatches( InputArray _F, InputArray _points1, InputArray _points2
Mat cvNewPoints1_ = _newPoints1.getMat(), cvNewPoints2_ = _newPoints2.getMat(); Mat cvNewPoints1_ = _newPoints1.getMat(), cvNewPoints2_ = _newPoints2.getMat();
CvMat cvNewPoints1 = cvMat(cvNewPoints1_), cvNewPoints2 = cvMat(cvNewPoints2_); CvMat cvNewPoints1 = cvMat(cvNewPoints1_), cvNewPoints2 = cvMat(cvNewPoints2_);
cvCorrectMatches(&cvF, &cvPoints1, &cvPoints2, &cvNewPoints1, &cvNewPoints2); icvCorrectMatches(&cvF, &cvPoints1, &cvPoints2, &cvNewPoints1, &cvNewPoints2);
} }

2
modules/calib3d/src/undistort.cpp
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@ -44,7 +44,7 @@
#include "distortion_model.hpp" #include "distortion_model.hpp"
#include "undistort.hpp" #include "undistort.hpp"
#include "opencv2/calib3d/calib3d_c.h" #include "calib3d_c_api.h"
cv::Mat cv::getDefaultNewCameraMatrix( InputArray _cameraMatrix, Size imgsize, cv::Mat cv::getDefaultNewCameraMatrix( InputArray _cameraMatrix, Size imgsize,
bool centerPrincipalPoint ) bool centerPrincipalPoint )

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modules/calib3d/test/test_cameracalibration.cpp
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modules/calib3d/test/test_cameracalibration_badarg.cpp
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@ -41,44 +41,60 @@
#include "test_precomp.hpp" #include "test_precomp.hpp"
#include "test_chessboardgenerator.hpp" #include "test_chessboardgenerator.hpp"
#include "opencv2/calib3d/calib3d_c.h" #include "opencv2/core/types_c.h"
namespace opencv_test { namespace { namespace opencv_test { namespace {
class CV_CameraCalibrationBadArgTest : public cvtest::BadArgTest class CV_CameraCalibrationBadArgTest : public cvtest::BadArgTest
{ {
public: public:
CV_CameraCalibrationBadArgTest() : imgSize(800, 600) {} CV_CameraCalibrationBadArgTest() {}
~CV_CameraCalibrationBadArgTest() {} ~CV_CameraCalibrationBadArgTest() {}
protected: protected:
void run(int); void run(int);
void run_func(void) {} void run_func(void) {}
const static int M = 2;
Size imgSize;
Size corSize;
Mat chessBoard;
Mat corners;
struct C_Caller struct C_Caller
{ {
CvMat* objPts; _InputArray imgPts_arg;
CvMat* imgPts; _InputArray objPts_arg;
CvMat* npoints; _OutputArray rvecs_arg;
Size imageSize; _OutputArray tvecs_arg;
int iFixedPoint; _OutputArray newObjPts_arg;
CvMat *cameraMatrix; _InputOutputArray cameraMatrix_arg;
CvMat *distCoeffs; _InputOutputArray distCoeffs_arg;
CvMat *rvecs;
CvMat *tvecs; std::vector<std::vector<Point2f> > imgPts;
CvMat *newObjPts; std::vector<std::vector<Point3f> > objPts;
int flags;
Size imageSize0, imageSize;
int iFixedPoint0, iFixedPoint;
Mat cameraMatrix;
Mat distCoeffs;
std::vector<Mat> rvecs;
std::vector<Mat> tvecs;
std::vector<Point3f> newObjPts;
int flags0, flags;
void initArgs()
{
imgPts_arg = imgPts;
objPts_arg = objPts;
rvecs_arg = rvecs;
tvecs_arg = tvecs;
newObjPts_arg = newObjPts;
cameraMatrix_arg = cameraMatrix;
distCoeffs_arg = distCoeffs;
imageSize = imageSize0;
flags = flags0;
iFixedPoint = iFixedPoint0;
}
void operator()() const void operator()() const
{ {
cvCalibrateCamera4(objPts, imgPts, npoints, cvSize(imageSize), iFixedPoint, calibrateCameraRO(objPts_arg, imgPts_arg, imageSize, iFixedPoint,
cameraMatrix, distCoeffs, rvecs, tvecs, newObjPts, flags ); cameraMatrix_arg, distCoeffs_arg, rvecs_arg, tvecs_arg,
newObjPts_arg, flags);
} }
}; };
}; };
@ -86,6 +102,8 @@ protected:
void CV_CameraCalibrationBadArgTest::run( int /* start_from */ ) void CV_CameraCalibrationBadArgTest::run( int /* start_from */ )
{ {
const int M = 2;
Size imgSize(800, 600);
Mat_<float> camMat(3, 3); Mat_<float> camMat(3, 3);
Mat_<float> distCoeffs0(1, 5); Mat_<float> distCoeffs0(1, 5);
@ -93,283 +111,92 @@ void CV_CameraCalibrationBadArgTest::run( int /* start_from */ )
distCoeffs0 << 1.2f, 0.2f, 0.f, 0.f, 0.f; distCoeffs0 << 1.2f, 0.2f, 0.f, 0.f, 0.f;
ChessBoardGenerator cbg(Size(8,6)); ChessBoardGenerator cbg(Size(8,6));
corSize = cbg.cornersSize(); Size corSize = cbg.cornersSize();
vector<Point2f> exp_corn; vector<Point2f> corners;
chessBoard = cbg(Mat(imgSize, CV_8U, Scalar(0)), camMat, distCoeffs0, exp_corn); cbg(Mat(imgSize, CV_8U, Scalar(0)), camMat, distCoeffs0, corners);
Mat_<Point2f>(corSize.height, corSize.width, (Point2f*)&exp_corn[0]).copyTo(corners);
C_Caller caller;
CvMat objPts, imgPts, npoints, cameraMatrix, distCoeffs, rvecs, tvecs; caller.imageSize0 = imgSize;
CvMat newObjPts; caller.iFixedPoint0 = -1;
Mat zeros(1, sizeof(CvMat), CV_8U, Scalar(0)); caller.flags0 = 0;
C_Caller caller, bad_caller;
caller.imageSize = imgSize;
caller.objPts = &objPts;
caller.imgPts = &imgPts;
caller.npoints = &npoints;
caller.cameraMatrix = &cameraMatrix;
caller.distCoeffs = &distCoeffs;
caller.rvecs = &rvecs;
caller.tvecs = &tvecs;
caller.newObjPts = &newObjPts;
///////////////////////////// /////////////////////////////
Mat objPts_cpp;
Mat imgPts_cpp;
Mat npoints_cpp;
Mat cameraMatrix_cpp; Mat cameraMatrix_cpp;
Mat distCoeffs_cpp; Mat distCoeffs_cpp;
Mat rvecs_cpp; Mat rvecs_cpp;
Mat tvecs_cpp; Mat tvecs_cpp;
Mat newObjPts_cpp; Mat newObjPts_cpp;
objPts_cpp.create(corSize, CV_32FC3); std::vector<Point3f> objPts_cpp;
for(int j = 0; j < corSize.height; ++j) for(int y = 0; y < corSize.height; ++y)
for(int i = 0; i < corSize.width; ++i) for(int x = 0; x < corSize.width; ++x)
objPts_cpp.at<Point3f>(j, i) = Point3i(i, j, 0); objPts_cpp.push_back(Point3f((float)x, (float)y, 0.f));
objPts_cpp = objPts_cpp.reshape(3, 1); caller.objPts.resize(M);
Mat objPts_cpp_all(1, objPts_cpp.cols * M, CV_32FC3); caller.imgPts.resize(M);
for(int i = 0; i < M; i++) for(int i = 0; i < M; i++)
objPts_cpp.copyTo(objPts_cpp_all.colRange(objPts_cpp.cols * i, objPts_cpp.cols * (i + 1))); {
objPts_cpp = objPts_cpp_all; caller.objPts[i] = objPts_cpp;
caller.imgPts[i] = corners;
caller.iFixedPoint = -1; }
caller.cameraMatrix.create(3, 3, CV_32F);
imgPts_cpp = corners.clone().reshape(2, 1); caller.distCoeffs.create(5, 1, CV_32F);
Mat imgPts_cpp_all(1, imgPts_cpp.cols * M, CV_32FC2); caller.rvecs.clear();
for(int i = 0; i < M; i++) caller.tvecs.clear();
imgPts_cpp.copyTo(imgPts_cpp_all.colRange(imgPts_cpp.cols * i, imgPts_cpp.cols * (i + 1))); caller.newObjPts.clear();
imgPts_cpp = imgPts_cpp_all;
npoints_cpp = Mat_<int>(M, 1, corSize.width * corSize.height);
cameraMatrix_cpp.create(3, 3, CV_32F);
distCoeffs_cpp.create(5, 1, CV_32F);
rvecs_cpp.create(M, 1, CV_32FC3);
tvecs_cpp.create(M, 1, CV_32FC3);
newObjPts_cpp.create(corSize.width * corSize.height, 1, CV_32FC3);
caller.flags = 0;
//CV_CALIB_USE_INTRINSIC_GUESS; //CV_CALIB_FIX_ASPECT_RATIO
//CV_CALIB_USE_INTRINSIC_GUESS //CV_CALIB_FIX_ASPECT_RATIO
//CV_CALIB_FIX_PRINCIPAL_POINT //CV_CALIB_ZERO_TANGENT_DIST
//CV_CALIB_FIX_FOCAL_LENGTH //CV_CALIB_FIX_K1 //CV_CALIB_FIX_K2 //CV_CALIB_FIX_K3
objPts = cvMat(objPts_cpp);
imgPts = cvMat(imgPts_cpp);
npoints = cvMat(npoints_cpp);
cameraMatrix = cvMat(cameraMatrix_cpp);
distCoeffs = cvMat(distCoeffs_cpp);
rvecs = cvMat(rvecs_cpp);
tvecs = cvMat(tvecs_cpp);
newObjPts = cvMat(newObjPts_cpp);
/* /*//*/ */ /* /*//*/ */
int errors = 0; int errors = 0;
bad_caller = caller; caller.initArgs();
bad_caller.objPts = 0; caller.objPts_arg = noArray();
errors += run_test_case( CV_StsBadArg, "Zero passed in objPts", bad_caller); errors += run_test_case( CV_StsBadArg, "None passed in objPts", caller);
bad_caller = caller;
bad_caller.imgPts = 0;
errors += run_test_case( CV_StsBadArg, "Zero passed in imgPts", bad_caller );
bad_caller = caller;
bad_caller.npoints = 0;
errors += run_test_case( CV_StsBadArg, "Zero passed in npoints", bad_caller );
bad_caller = caller;
bad_caller.cameraMatrix = 0;
errors += run_test_case( CV_StsBadArg, "Zero passed in cameraMatrix", bad_caller );
bad_caller = caller;
bad_caller.distCoeffs = 0;
errors += run_test_case( CV_StsBadArg, "Zero passed in distCoeffs", bad_caller );
bad_caller = caller;
bad_caller.imageSize.width = -1;
errors += run_test_case( CV_StsOutOfRange, "Bad image width", bad_caller );
bad_caller = caller;
bad_caller.imageSize.height = -1;
errors += run_test_case( CV_StsOutOfRange, "Bad image height", bad_caller );
Mat bad_nts_cpp1 = Mat_<float>(M, 1, 1.f);
Mat bad_nts_cpp2 = Mat_<int>(3, 3, corSize.width * corSize.height);
CvMat bad_npts_c1 = cvMat(bad_nts_cpp1);
CvMat bad_npts_c2 = cvMat(bad_nts_cpp2);
bad_caller = caller;
bad_caller.npoints = &bad_npts_c1;
errors += run_test_case( CV_StsUnsupportedFormat, "Bad npoints format", bad_caller );
bad_caller = caller;
bad_caller.npoints = &bad_npts_c2;
errors += run_test_case( CV_StsUnsupportedFormat, "Bad npoints size", bad_caller );
bad_caller = caller;
bad_caller.rvecs = (CvMat*)zeros.ptr();
errors += run_test_case( CV_StsBadArg, "Bad rvecs header", bad_caller );
bad_caller = caller;
bad_caller.tvecs = (CvMat*)zeros.ptr();
errors += run_test_case( CV_StsBadArg, "Bad tvecs header", bad_caller );
bad_caller = caller;
bad_caller.newObjPts = (CvMat*)zeros.ptr();
errors += run_test_case( CV_StsBadArg, "Bad newObjPts header", bad_caller );
Mat bad_rvecs_cpp1(M+1, 1, CV_32FC3); CvMat bad_rvecs_c1 = cvMat(bad_rvecs_cpp1);
Mat bad_tvecs_cpp1(M+1, 1, CV_32FC3); CvMat bad_tvecs_c1 = cvMat(bad_tvecs_cpp1);
Mat bad_rvecs_cpp2(M, 2, CV_32FC3); CvMat bad_rvecs_c2 = cvMat(bad_rvecs_cpp2);
Mat bad_tvecs_cpp2(M, 2, CV_32FC3); CvMat bad_tvecs_c2 = cvMat(bad_tvecs_cpp2);
bad_caller = caller;
bad_caller.rvecs = &bad_rvecs_c1;
errors += run_test_case( CV_StsBadArg, "Bad rvecs header", bad_caller );
bad_caller = caller;
bad_caller.rvecs = &bad_rvecs_c2;
errors += run_test_case( CV_StsBadArg, "Bad rvecs header", bad_caller );
bad_caller = caller;
bad_caller.tvecs = &bad_tvecs_c1;
errors += run_test_case( CV_StsBadArg, "Bad tvecs header", bad_caller );
bad_caller = caller;
bad_caller.tvecs = &bad_tvecs_c2;
errors += run_test_case( CV_StsBadArg, "Bad tvecs header", bad_caller );
bad_caller = caller;
bad_caller.newObjPts = &bad_tvecs_c1;
errors += run_test_case( CV_StsBadArg, "Bad newObjPts header", bad_caller );
bad_caller = caller;
bad_caller.newObjPts = &bad_tvecs_c2;
errors += run_test_case( CV_StsBadArg, "Bad newObjPts header", bad_caller );
Mat bad_cameraMatrix_cpp1(3, 3, CV_32S); CvMat bad_cameraMatrix_c1 = cvMat(bad_cameraMatrix_cpp1);
Mat bad_cameraMatrix_cpp2(2, 3, CV_32F); CvMat bad_cameraMatrix_c2 = cvMat(bad_cameraMatrix_cpp2);
Mat bad_cameraMatrix_cpp3(3, 2, CV_64F); CvMat bad_cameraMatrix_c3 = cvMat(bad_cameraMatrix_cpp3);
caller.initArgs();
caller.imgPts_arg = noArray();
errors += run_test_case( CV_StsBadArg, "None passed in imgPts", caller );
bad_caller = caller; caller.initArgs();
bad_caller.cameraMatrix = &bad_cameraMatrix_c1; caller.cameraMatrix_arg = noArray();
errors += run_test_case( CV_StsBadArg, "Bad camearaMatrix header", bad_caller ); errors += run_test_case( CV_StsBadArg, "Zero passed in cameraMatrix", caller );
bad_caller = caller; caller.initArgs();
bad_caller.cameraMatrix = &bad_cameraMatrix_c2; caller.distCoeffs_arg = noArray();
errors += run_test_case( CV_StsBadArg, "Bad camearaMatrix header", bad_caller ); errors += run_test_case( CV_StsBadArg, "Zero passed in distCoeffs", caller );
bad_caller = caller; caller.initArgs();
bad_caller.cameraMatrix = &bad_cameraMatrix_c3; caller.imageSize.width = -1;
errors += run_test_case( CV_StsBadArg, "Bad camearaMatrix header", bad_caller ); errors += run_test_case( CV_StsOutOfRange, "Bad image width", caller );
Mat bad_distCoeffs_cpp1(1, 5, CV_32S); CvMat bad_distCoeffs_c1 = cvMat(bad_distCoeffs_cpp1); caller.initArgs();
Mat bad_distCoeffs_cpp2(2, 2, CV_64F); CvMat bad_distCoeffs_c2 = cvMat(bad_distCoeffs_cpp2); caller.imageSize.height = -1;
Mat bad_distCoeffs_cpp3(1, 6, CV_64F); CvMat bad_distCoeffs_c3 = cvMat(bad_distCoeffs_cpp3); errors += run_test_case( CV_StsOutOfRange, "Bad image height", caller );
caller.initArgs();
caller.imgPts[0].clear();
errors += run_test_case( CV_StsUnsupportedFormat, "Bad imgpts[0]", caller );
caller.imgPts[0] = caller.imgPts[1];
caller.initArgs();
caller.objPts[1].clear();
errors += run_test_case( CV_StsUnsupportedFormat, "Bad objpts[1]", caller );
caller.objPts[1] = caller.objPts[0];
bad_caller = caller; caller.initArgs();
bad_caller.distCoeffs = &bad_distCoeffs_c1; Mat badCM = Mat::zeros(4, 4, CV_64F);
errors += run_test_case( CV_StsBadArg, "Bad distCoeffs header", bad_caller ); caller.cameraMatrix_arg = badCM;
caller.flags = CALIB_USE_INTRINSIC_GUESS;
errors += run_test_case( CV_StsBadArg, "Bad camearaMatrix header", caller );
bad_caller = caller; caller.initArgs();
bad_caller.distCoeffs = &bad_distCoeffs_c2; Mat badDC = Mat::zeros(10, 10, CV_64F);
errors += run_test_case( CV_StsBadArg, "Bad distCoeffs header", bad_caller ); caller.distCoeffs_arg = badDC;
caller.flags = CALIB_USE_INTRINSIC_GUESS;
errors += run_test_case( CV_StsBadArg, "Bad camearaMatrix header", caller );
bad_caller = caller;
bad_caller.distCoeffs = &bad_distCoeffs_c3;
errors += run_test_case( CV_StsBadArg, "Bad distCoeffs header", bad_caller );
double CM[] = {0, 0, 0, /**/0, 0, 0, /**/0, 0, 0};
Mat bad_cameraMatrix_cpp4(3, 3, CV_64F, CM); CvMat bad_cameraMatrix_c4 = cvMat(bad_cameraMatrix_cpp4);
bad_caller = caller;
bad_caller.flags |= CV_CALIB_USE_INTRINSIC_GUESS;
bad_caller.cameraMatrix = &bad_cameraMatrix_c4;
CM[0] = 0; //bad fx
errors += run_test_case( CV_StsOutOfRange, "Bad camearaMatrix data", bad_caller );
CM[0] = 500; CM[4] = 0; //bad fy
errors += run_test_case( CV_StsOutOfRange, "Bad camearaMatrix data", bad_caller );
CM[0] = 500; CM[4] = 500; CM[2] = -1; //bad cx
errors += run_test_case( CV_StsOutOfRange, "Bad camearaMatrix data", bad_caller );
CM[0] = 500; CM[4] = 500; CM[2] = imgSize.width*2; //bad cx
errors += run_test_case( CV_StsOutOfRange, "Bad camearaMatrix data", bad_caller );
CM[0] = 500; CM[4] = 500; CM[2] = imgSize.width/2; CM[5] = -1; //bad cy
errors += run_test_case( CV_StsOutOfRange, "Bad camearaMatrix data", bad_caller );
CM[0] = 500; CM[4] = 500; CM[2] = imgSize.width/2; CM[5] = imgSize.height*2; //bad cy
errors += run_test_case( CV_StsOutOfRange, "Bad camearaMatrix data", bad_caller );
CM[0] = 500; CM[4] = 500; CM[2] = imgSize.width/2; CM[5] = imgSize.height/2;
CM[1] = 0.1; //Non-zero skew
errors += run_test_case( CV_StsOutOfRange, "Bad camearaMatrix data", bad_caller );
CM[1] = 0;
CM[3] = 0.1; /* mad matrix shape */
errors += run_test_case( CV_StsOutOfRange, "Bad camearaMatrix data", bad_caller );
CM[3] = 0; CM[6] = 0.1; /* mad matrix shape */
errors += run_test_case( CV_StsOutOfRange, "Bad camearaMatrix data", bad_caller );
CM[3] = 0; CM[6] = 0; CM[7] = 0.1; /* mad matrix shape */
errors += run_test_case( CV_StsOutOfRange, "Bad camearaMatrix data", bad_caller );
CM[3] = 0; CM[6] = 0; CM[7] = 0; CM[8] = 1.1; /* mad matrix shape */
errors += run_test_case( CV_StsOutOfRange, "Bad camearaMatrix data", bad_caller );
CM[8] = 1.0;
/////////////////////////////////////////////////////////////////////////////////////
bad_caller = caller;
Mat bad_objPts_cpp5 = objPts_cpp.clone(); CvMat bad_objPts_c5 = cvMat(bad_objPts_cpp5);
bad_caller.objPts = &bad_objPts_c5;
cv::RNG& rng = theRNG();
for(int i = 0; i < bad_objPts_cpp5.cols; ++i)
bad_objPts_cpp5.at<Point3f>(0, i).z += ((float)rng - 0.5f);
errors += run_test_case( CV_StsBadArg, "Bad objPts data", bad_caller );
bad_objPts_cpp5 = objPts_cpp.clone(); bad_objPts_c5 = cvMat(bad_objPts_cpp5);
bad_caller.objPts = &bad_objPts_c5;
bad_caller.iFixedPoint = corSize.width - 1;
for(int i = 0; i < bad_objPts_cpp5.cols; ++i)
{
bad_objPts_cpp5.at<Point3f>(0, i).x += (float)rng;
bad_objPts_cpp5.at<Point3f>(0, i).y += (float)rng;
}
errors += run_test_case( CV_StsBadArg, "Bad objPts data", bad_caller );
bad_caller = caller;
Mat bad_npts_cpp3 = npoints_cpp.clone();
CvMat bad_npts_c3 = cvMat(bad_npts_cpp3);
bad_caller.npoints = &bad_npts_c3;
bad_caller.iFixedPoint = corSize.width - 1;
for(int i = 0; i < M; i++)
bad_npts_cpp3.at<int>(i) += i;
errors += run_test_case( CV_StsBadArg, "Bad npoints data", bad_caller );
if (errors) if (errors)
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH); ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
else else
ts->set_failed_test_info(cvtest::TS::OK); ts->set_failed_test_info(cvtest::TS::OK);
//try { caller(); }
//catch (...)
//{
// ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
// printf("+!");
//}
} }
@ -383,108 +210,49 @@ protected:
struct C_Caller struct C_Caller
{ {
CvMat* src; _InputArray src_arg;
CvMat* dst; _OutputArray dst_arg, j_arg;
CvMat* jacobian;
Mat src;
Mat dst;
Mat jacobian;
void initArgs()
{
src_arg = src;
dst_arg = dst;
j_arg = jacobian;
}
void operator()() { cvRodrigues2(src, dst, jacobian); } void operator()()
{
cv::Rodrigues(src_arg, dst_arg, j_arg);
}
}; };
void run(int /* start_from */ ) void run(int /* start_from */ )
{ {
Mat zeros(1, sizeof(CvMat), CV_8U, Scalar(0)); Mat zeros(1, sizeof(CvMat), CV_8U, Scalar(0));
CvMat src_c, dst_c, jacobian_c;
Mat src_cpp(3, 1, CV_32F); src_c = cvMat(src_cpp);
Mat dst_cpp(3, 3, CV_32F); dst_c = cvMat(dst_cpp);
Mat jacobian_cpp(3, 9, CV_32F); jacobian_c = cvMat(jacobian_cpp);
C_Caller caller, bad_caller; Mat src_cpp(3, 1, CV_32F);
caller.src = &src_c; Mat dst_cpp(3, 3, CV_32F);
caller.dst = &dst_c;
caller.jacobian = &jacobian_c;
/* try { caller(); } C_Caller caller;
catch (...)
{
printf("badasfas");
}*/
/*/*//*/*/ /*/*//*/*/
int errors = 0; int errors = 0;
bad_caller = caller; caller.initArgs();
bad_caller.src = 0; caller.src_arg = noArray();
errors += run_test_case( CV_StsNullPtr, "Src is zero pointer", bad_caller ); errors += run_test_case( CV_StsBadArg, "Src is empty matrix", caller );
bad_caller = caller;
bad_caller.dst = 0;
errors += run_test_case( CV_StsNullPtr, "Dst is zero pointer", bad_caller );
Mat bad_src_cpp1(3, 1, CV_8U); CvMat bad_src_c1 = cvMat(bad_src_cpp1); caller.initArgs();
Mat bad_dst_cpp1(3, 1, CV_8U); CvMat bad_dst_c1 = cvMat(bad_dst_cpp1); caller.src = Mat::zeros(3, 1, CV_8U);
Mat bad_jac_cpp1(3, 1, CV_8U); CvMat bad_jac_c1 = cvMat(bad_jac_cpp1); errors += run_test_case( CV_StsUnsupportedFormat, "Bad src formart", caller );
Mat bad_jac_cpp2(3, 1, CV_32FC2); CvMat bad_jac_c2 = cvMat(bad_jac_cpp2);
Mat bad_jac_cpp3(3, 1, CV_32F); CvMat bad_jac_c3 = cvMat(bad_jac_cpp3);
bad_caller = caller;
bad_caller.src = &bad_src_c1;
errors += run_test_case( CV_StsUnsupportedFormat, "Bad src formart", bad_caller );
bad_caller = caller;
bad_caller.dst = &bad_dst_c1;
errors += run_test_case( CV_StsUnmatchedFormats, "Bad dst formart", bad_caller );
bad_caller = caller;
bad_caller.jacobian = (CvMat*)zeros.ptr();
errors += run_test_case( CV_StsBadArg, "Bad jacobian ", bad_caller );
bad_caller = caller;
bad_caller.jacobian = &bad_jac_c1;
errors += run_test_case( CV_StsUnmatchedFormats, "Bad jacobian format", bad_caller );
bad_caller = caller;
bad_caller.jacobian = &bad_jac_c2;
errors += run_test_case( CV_StsUnmatchedFormats, "Bad jacobian format", bad_caller );
bad_caller = caller;
bad_caller.jacobian = &bad_jac_c3;
errors += run_test_case( CV_StsBadSize, "Bad jacobian format", bad_caller );
Mat bad_src_cpp2(1, 1, CV_32F); CvMat bad_src_c2 = cvMat(bad_src_cpp2);
bad_caller = caller;
bad_caller.src = &bad_src_c2;
errors += run_test_case( CV_StsBadSize, "Bad src format", bad_caller );
Mat bad_dst_cpp2(2, 1, CV_32F); CvMat bad_dst_c2 = cvMat(bad_dst_cpp2);
Mat bad_dst_cpp3(3, 2, CV_32F); CvMat bad_dst_c3 = cvMat(bad_dst_cpp3);
Mat bad_dst_cpp4(3, 3, CV_32FC2); CvMat bad_dst_c4 = cvMat(bad_dst_cpp4);
bad_caller = caller;
bad_caller.dst = &bad_dst_c2;
errors += run_test_case( CV_StsBadSize, "Bad dst format", bad_caller );
bad_caller = caller;
bad_caller.dst = &bad_dst_c3;
errors += run_test_case( CV_StsBadSize, "Bad dst format", bad_caller );
bad_caller = caller;
bad_caller.dst = &bad_dst_c4;
errors += run_test_case( CV_StsBadSize, "Bad dst format", bad_caller );
/********/
src_cpp.create(3, 3, CV_32F); src_c = cvMat(src_cpp);
dst_cpp.create(3, 1, CV_32F); dst_c = cvMat(dst_cpp);
Mat bad_dst_cpp5(5, 5, CV_32F); CvMat bad_dst_c5 = cvMat(bad_dst_cpp5);
bad_caller = caller;
bad_caller.dst = &bad_dst_c5;
errors += run_test_case( CV_StsBadSize, "Bad dst format", bad_caller );
caller.initArgs();
caller.src = Mat::zeros(1, 1, CV_32F);
errors += run_test_case( CV_StsBadSize, "Bad src size", caller );
if (errors) if (errors)
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH); ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
@ -514,259 +282,107 @@ protected:
struct C_Caller struct C_Caller
{ {
CvMat* objectPoints; _InputArray objectPoints_arg, rvec_arg, tvec_arg, A_arg, DC_arg;
CvMat* r_vec; _OutputArray imagePoints_arg;
CvMat* t_vec; Mat objectPoints;
CvMat* A; Mat r_vec;
CvMat* distCoeffs; Mat t_vec;
CvMat* imagePoints; Mat A;
CvMat* dpdr; Mat distCoeffs;
CvMat* dpdt; Mat imagePoints;
CvMat* dpdf; Mat J;
CvMat* dpdc; double aspectRatio0, aspectRatio;
CvMat* dpdk;
double aspectRatio; void initArgs()
{
objectPoints_arg = objectPoints;
imagePoints_arg = imagePoints;
rvec_arg = r_vec;
tvec_arg = t_vec;
A_arg = A;
DC_arg = distCoeffs;
aspectRatio = aspectRatio0;
}
void operator()() void operator()()
{ {
cvProjectPoints2( objectPoints, r_vec, t_vec, A, distCoeffs, imagePoints, projectPoints(objectPoints_arg, rvec_arg, tvec_arg, A_arg, DC_arg,
dpdr, dpdt, dpdf, dpdc, dpdk, aspectRatio ); imagePoints_arg, J, aspectRatio );
} }
}; };
void run(int /* start_from */ ) void run(int /* start_from */ )
{ {
CvMat zeros = CvMat(); C_Caller caller;
C_Caller caller, bad_caller;
CvMat objectPoints_c, r_vec_c, t_vec_c, A_c, distCoeffs_c, imagePoints_c,
dpdr_c, dpdt_c, dpdf_c, dpdc_c, dpdk_c;
const int n = 10; const int n = 10;
Mat imagePoints_cpp(1, n, CV_32FC2); imagePoints_c = cvMat(imagePoints_cpp);
Mat objectPoints_cpp(1, n, CV_32FC3); Mat objectPoints_cpp(1, n, CV_32FC3);
randu(objectPoints_cpp, Scalar::all(1), Scalar::all(10)); randu(objectPoints_cpp, Scalar::all(1), Scalar::all(10));
objectPoints_c = cvMat(objectPoints_cpp); caller.objectPoints = objectPoints_cpp;
caller.t_vec = Mat::zeros(1, 3, CV_32F);
Mat t_vec_cpp(Mat::zeros(1, 3, CV_32F)); t_vec_c = cvMat(t_vec_cpp); cvtest::Rodrigues(Mat::eye(3, 3, CV_32F), caller.r_vec);
Mat r_vec_cpp(3, 1, CV_32F); caller.A = Mat::eye(3, 3, CV_32F);
cvtest::Rodrigues(Mat::eye(3, 3, CV_32F), r_vec_cpp); r_vec_c = cvMat(r_vec_cpp); caller.distCoeffs = Mat::zeros(1, 5, CV_32F);
caller.aspectRatio0 = 1.0;
Mat A_cpp = camMat.clone(); A_c = cvMat(A_cpp);
Mat distCoeffs_cpp = distCoeffs.clone(); distCoeffs_c = cvMat(distCoeffs_cpp);
Mat dpdr_cpp(2*n, 3, CV_32F); dpdr_c = cvMat(dpdr_cpp);
Mat dpdt_cpp(2*n, 3, CV_32F); dpdt_c = cvMat(dpdt_cpp);
Mat dpdf_cpp(2*n, 2, CV_32F); dpdf_c = cvMat(dpdf_cpp);
Mat dpdc_cpp(2*n, 2, CV_32F); dpdc_c = cvMat(dpdc_cpp);
Mat dpdk_cpp(2*n, 4, CV_32F); dpdk_c = cvMat(dpdk_cpp);
caller.aspectRatio = 1.0;
caller.objectPoints = &objectPoints_c;
caller.r_vec = &r_vec_c;
caller.t_vec = &t_vec_c;
caller.A = &A_c;
caller.distCoeffs = &distCoeffs_c;
caller.imagePoints = &imagePoints_c;
caller.dpdr = &dpdr_c;
caller.dpdt = &dpdt_c;
caller.dpdf = &dpdf_c;
caller.dpdc = &dpdc_c;
caller.dpdk = &dpdk_c;
/********************/ /********************/
int errors = 0; int errors = 0;
caller.initArgs();
caller.objectPoints_arg = noArray();
errors += run_test_case( CV_StsBadArg, "Zero objectPoints", caller );
bad_caller = caller; caller.initArgs();
bad_caller.objectPoints = 0; caller.rvec_arg = noArray();
errors += run_test_case( CV_StsBadArg, "Zero objectPoints", bad_caller ); errors += run_test_case( CV_StsBadArg, "Zero r_vec", caller );
bad_caller = caller; caller.initArgs();
bad_caller.r_vec = 0; caller.tvec_arg = noArray();
errors += run_test_case( CV_StsBadArg, "Zero r_vec", bad_caller ); errors += run_test_case( CV_StsBadArg, "Zero t_vec", caller );
bad_caller = caller; caller.initArgs();
bad_caller.t_vec = 0; caller.A_arg = noArray();
errors += run_test_case( CV_StsBadArg, "Zero t_vec", bad_caller ); errors += run_test_case( CV_StsBadArg, "Zero camMat", caller );
bad_caller = caller; caller.initArgs();
bad_caller.A = 0; caller.imagePoints_arg = noArray();
errors += run_test_case( CV_StsBadArg, "Zero camMat", bad_caller ); errors += run_test_case( CV_StsBadArg, "Zero imagePoints", caller );
bad_caller = caller; Mat save_rvec = caller.r_vec;
bad_caller.imagePoints = 0; caller.initArgs();
errors += run_test_case( CV_StsBadArg, "Zero imagePoints", bad_caller ); caller.r_vec.create(2, 2, CV_32F);
errors += run_test_case( CV_StsBadArg, "Bad rvec format", caller );
/****************************/ caller.initArgs();
Mat bad_r_vec_cpp1(r_vec_cpp.size(), CV_32S); CvMat bad_r_vec_c1 = cvMat(bad_r_vec_cpp1); caller.r_vec.create(1, 3, CV_8U);
Mat bad_r_vec_cpp2(2, 2, CV_32F); CvMat bad_r_vec_c2 = cvMat(bad_r_vec_cpp2); errors += run_test_case( CV_StsBadArg, "Bad rvec format", caller );
Mat bad_r_vec_cpp3(r_vec_cpp.size(), CV_32FC2); CvMat bad_r_vec_c3 = cvMat(bad_r_vec_cpp3); caller.r_vec = save_rvec;
bad_caller = caller;
bad_caller.r_vec = &bad_r_vec_c1;
errors += run_test_case( CV_StsBadArg, "Bad rvec format", bad_caller );
bad_caller = caller;
bad_caller.r_vec = &bad_r_vec_c2;
errors += run_test_case( CV_StsBadArg, "Bad rvec format", bad_caller );
bad_caller = caller;
bad_caller.r_vec = &bad_r_vec_c3;
errors += run_test_case( CV_StsBadArg, "Bad rvec format", bad_caller );
/****************************/ /****************************/
Mat bad_t_vec_cpp1(t_vec_cpp.size(), CV_32S); CvMat bad_t_vec_c1 = cvMat(bad_t_vec_cpp1); Mat save_tvec = caller.t_vec;
Mat bad_t_vec_cpp2(2, 2, CV_32F); CvMat bad_t_vec_c2 = cvMat(bad_t_vec_cpp2); caller.initArgs();
Mat bad_t_vec_cpp3(1, 1, CV_32FC2); CvMat bad_t_vec_c3 = cvMat(bad_t_vec_cpp3); caller.t_vec.create(3, 3, CV_32F);
errors += run_test_case( CV_StsBadArg, "Bad tvec format", caller );
bad_caller = caller;
bad_caller.t_vec = &bad_t_vec_c1;
errors += run_test_case( CV_StsBadArg, "Bad tvec format", bad_caller );
bad_caller = caller; caller.initArgs();
bad_caller.t_vec = &bad_t_vec_c2; caller.t_vec.create(1, 3, CV_8U);
errors += run_test_case( CV_StsBadArg, "Bad tvec format", bad_caller ); errors += run_test_case( CV_StsBadArg, "Bad tvec format", caller );
caller.t_vec = save_tvec;
bad_caller = caller;
bad_caller.t_vec = &bad_t_vec_c3;
errors += run_test_case( CV_StsBadArg, "Bad tvec format", bad_caller );
/****************************/ /****************************/
Mat bad_A_cpp1(A_cpp.size(), CV_32S); CvMat bad_A_c1 = cvMat(bad_A_cpp1); Mat save_A = caller.A;
Mat bad_A_cpp2(2, 2, CV_32F); CvMat bad_A_c2 = cvMat(bad_A_cpp2); caller.initArgs();
caller.A.create(2, 2, CV_32F);
bad_caller = caller; errors += run_test_case( CV_StsBadArg, "Bad A format", caller );
bad_caller.A = &bad_A_c1; caller.A = save_A;
errors += run_test_case( CV_StsBadArg, "Bad A format", bad_caller );
bad_caller = caller;
bad_caller.A = &bad_A_c2;
errors += run_test_case( CV_StsBadArg, "Bad A format", bad_caller );
/****************************/ /****************************/
Mat bad_distCoeffs_cpp1(distCoeffs_cpp.size(), CV_32S); CvMat bad_distCoeffs_c1 = cvMat(bad_distCoeffs_cpp1); Mat save_DC = caller.distCoeffs;
Mat bad_distCoeffs_cpp2(2, 2, CV_32F); CvMat bad_distCoeffs_c2 = cvMat(bad_distCoeffs_cpp2); caller.initArgs();
Mat bad_distCoeffs_cpp3(1, 7, CV_32F); CvMat bad_distCoeffs_c3 = cvMat(bad_distCoeffs_cpp3); caller.distCoeffs.create(3, 3, CV_32F);
errors += run_test_case( CV_StsBadArg, "Bad distCoeffs format", caller );
bad_caller = caller; caller.distCoeffs = save_DC;
bad_caller.distCoeffs = &zeros;
errors += run_test_case( CV_StsBadArg, "Bad distCoeffs format", bad_caller );
bad_caller = caller;
bad_caller.distCoeffs = &bad_distCoeffs_c1;
errors += run_test_case( CV_StsBadArg, "Bad distCoeffs format", bad_caller );
bad_caller = caller;
bad_caller.distCoeffs = &bad_distCoeffs_c2;
errors += run_test_case( CV_StsBadArg, "Bad distCoeffs format", bad_caller );
bad_caller = caller;
bad_caller.distCoeffs = &bad_distCoeffs_c3;
errors += run_test_case( CV_StsBadArg, "Bad distCoeffs format", bad_caller );
/****************************/
Mat bad_dpdr_cpp1(dpdr_cpp.size(), CV_32S); CvMat bad_dpdr_c1 = cvMat(bad_dpdr_cpp1);
Mat bad_dpdr_cpp2(dpdr_cpp.cols+1, 3, CV_32F); CvMat bad_dpdr_c2 = cvMat(bad_dpdr_cpp2);
Mat bad_dpdr_cpp3(dpdr_cpp.cols, 7, CV_32F); CvMat bad_dpdr_c3 = cvMat(bad_dpdr_cpp3);
bad_caller = caller;
bad_caller.dpdr = &zeros;
errors += run_test_case( CV_StsBadArg, "Bad dpdr format", bad_caller );
bad_caller = caller;
bad_caller.dpdr = &bad_dpdr_c1;
errors += run_test_case( CV_StsBadArg, "Bad dpdr format", bad_caller );
bad_caller = caller;
bad_caller.dpdr = &bad_dpdr_c2;
errors += run_test_case( CV_StsBadArg, "Bad dpdr format", bad_caller );
bad_caller = caller;
bad_caller.dpdr = &bad_dpdr_c3;
errors += run_test_case( CV_StsBadArg, "Bad dpdr format", bad_caller );
/****************************/
bad_caller = caller;
bad_caller.dpdt = &zeros;
errors += run_test_case( CV_StsBadArg, "Bad dpdt format", bad_caller );
bad_caller = caller;
bad_caller.dpdt = &bad_dpdr_c1;
errors += run_test_case( CV_StsBadArg, "Bad dpdt format", bad_caller );
bad_caller = caller;
bad_caller.dpdt = &bad_dpdr_c2;
errors += run_test_case( CV_StsBadArg, "Bad dpdt format", bad_caller );
bad_caller = caller;
bad_caller.dpdt = &bad_dpdr_c3;
errors += run_test_case( CV_StsBadArg, "Bad dpdt format", bad_caller );
/****************************/
Mat bad_dpdf_cpp2(dpdr_cpp.cols+1, 2, CV_32F); CvMat bad_dpdf_c2 = cvMat(bad_dpdf_cpp2);
bad_caller = caller;
bad_caller.dpdf = &zeros;
errors += run_test_case( CV_StsBadArg, "Bad dpdf format", bad_caller );
bad_caller = caller;
bad_caller.dpdf = &bad_dpdr_c1;
errors += run_test_case( CV_StsBadArg, "Bad dpdf format", bad_caller );
bad_caller = caller;
bad_caller.dpdf = &bad_dpdf_c2;
errors += run_test_case( CV_StsBadArg, "Bad dpdf format", bad_caller );
bad_caller = caller;
bad_caller.dpdf = &bad_dpdr_c3;
errors += run_test_case( CV_StsBadArg, "Bad dpdf format", bad_caller );
/****************************/
bad_caller = caller;
bad_caller.dpdc = &zeros;
errors += run_test_case( CV_StsBadArg, "Bad dpdc format", bad_caller );
bad_caller = caller;
bad_caller.dpdc = &bad_dpdr_c1;
errors += run_test_case( CV_StsBadArg, "Bad dpdc format", bad_caller );
bad_caller = caller;
bad_caller.dpdc = &bad_dpdf_c2;
errors += run_test_case( CV_StsBadArg, "Bad dpdc format", bad_caller );
bad_caller = caller;
bad_caller.dpdc = &bad_dpdr_c3;
errors += run_test_case( CV_StsBadArg, "Bad dpdc format", bad_caller );
/****************************/
bad_caller = caller;
bad_caller.dpdk = &zeros;
errors += run_test_case( CV_StsBadArg, "Bad dpdk format", bad_caller );
bad_caller = caller;
bad_caller.dpdk = &bad_dpdr_c1;
errors += run_test_case( CV_StsBadArg, "Bad dpdk format", bad_caller );
bad_caller = caller;
bad_caller.dpdk = &bad_dpdf_c2;
errors += run_test_case( CV_StsBadArg, "Bad dpdk format", bad_caller );
bad_caller = caller;
bad_caller.dpdk = &bad_dpdr_c3;
errors += run_test_case( CV_StsBadArg, "Bad dpdk format", bad_caller );
bad_caller = caller;
bad_caller.distCoeffs = 0;
errors += run_test_case( CV_StsNullPtr, "distCoeffs is NULL while dpdk is not", bad_caller );
if (errors) if (errors)
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH); ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
@ -776,8 +392,8 @@ protected:
}; };
TEST(Calib3d_CalibrateCamera_C, badarg) { CV_CameraCalibrationBadArgTest test; test.safe_run(); } TEST(Calib3d_CalibrateCamera_CPP, badarg) { CV_CameraCalibrationBadArgTest test; test.safe_run(); }
TEST(Calib3d_Rodrigues_C, badarg) { CV_Rodrigues2BadArgTest test; test.safe_run(); } TEST(Calib3d_Rodrigues_CPP, badarg) { CV_Rodrigues2BadArgTest test; test.safe_run(); }
TEST(Calib3d_ProjectPoints_C, badarg) { CV_ProjectPoints2BadArgTest test; test.safe_run(); } TEST(Calib3d_ProjectPoints_CPP, badarg) { CV_ProjectPoints2BadArgTest test; test.safe_run(); }
}} // namespace }} // namespace

73
modules/calib3d/test/test_chesscorners_badarg.cpp
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@ -48,53 +48,32 @@ namespace opencv_test { namespace {
class CV_ChessboardDetectorBadArgTest : public cvtest::BadArgTest class CV_ChessboardDetectorBadArgTest : public cvtest::BadArgTest
{ {
public: public:
CV_ChessboardDetectorBadArgTest(); CV_ChessboardDetectorBadArgTest() { flags0 = 0; }
protected: protected:
void run(int); void run(int);
bool checkByGenerator(); bool checkByGenerator();
bool cpp;
/* cpp interface */
Mat img; Mat img;
Size pattern_size; Size pattern_size, pattern_size0;
int flags; int flags, flags0;
vector<Point2f> corners; vector<Point2f> corners;
_InputArray img_arg;
_OutputArray corners_arg;
/* c interface */ void initArgs()
CvMat arr; {
CvPoint2D32f* out_corners; img_arg = img;
int* out_corner_count; corners_arg = corners;
pattern_size = pattern_size0;
flags = flags0;
/* c interface draw corners */ }
bool drawCorners;
CvMat drawCorImg;
bool was_found;
void run_func() void run_func()
{ {
if (cpp) findChessboardCorners(img_arg, pattern_size, corners_arg, flags);
findChessboardCorners(img, pattern_size, corners, flags);
else
if (!drawCorners)
cvFindChessboardCorners( &arr, cvSize(pattern_size), out_corners, out_corner_count, flags );
else
cvDrawChessboardCorners( &drawCorImg, cvSize(pattern_size),
(CvPoint2D32f*)(corners.empty() ? 0 : &corners[0]),
(int)corners.size(), was_found);
} }
}; };
CV_ChessboardDetectorBadArgTest::CV_ChessboardDetectorBadArgTest()
{
cpp = false;
flags = 0;
out_corners = NULL;
out_corner_count = NULL;
drawCorners = was_found = false;
}
/* ///////////////////// chess_corner_test ///////////////////////// */ /* ///////////////////// chess_corner_test ///////////////////////// */
void CV_ChessboardDetectorBadArgTest::run( int /*start_from */) void CV_ChessboardDetectorBadArgTest::run( int /*start_from */)
{ {
@ -111,34 +90,18 @@ void CV_ChessboardDetectorBadArgTest::run( int /*start_from */)
/* /*//*/ */ /* /*//*/ */
int errors = 0; int errors = 0;
flags = CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_NORMALIZE_IMAGE; flags = CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_NORMALIZE_IMAGE;
cpp = true;
img = cb.clone(); img = cb.clone();
initArgs();
pattern_size = Size(2,2); pattern_size = Size(2,2);
errors += run_test_case( CV_StsOutOfRange, "Invlid pattern size" ); errors += run_test_case( Error::StsOutOfRange, "Invlid pattern size" );
pattern_size = cbg.cornersSize(); pattern_size = cbg.cornersSize();
cb.convertTo(img, CV_32F); cb.convertTo(img, CV_32F);
errors += run_test_case( CV_StsUnsupportedFormat, "Not 8-bit image" ); errors += run_test_case( Error::StsUnsupportedFormat, "Not 8-bit image" );
cv::merge(vector<Mat>(2, cb), img); cv::merge(vector<Mat>(2, cb), img);
errors += run_test_case( CV_StsUnsupportedFormat, "2 channel image" ); errors += run_test_case( Error::StsUnsupportedFormat, "2 channel image" );
cpp = false;
drawCorners = false;
img = cb.clone();
arr = cvMat(img);
out_corner_count = 0;
out_corners = 0;
errors += run_test_case( CV_StsNullPtr, "Null pointer to corners" );
drawCorners = true;
Mat cvdrawCornImg(img.size(), CV_8UC2);
drawCorImg = cvMat(cvdrawCornImg);
was_found = true;
errors += run_test_case( CV_StsUnsupportedFormat, "2 channel image" );
if (errors) if (errors)
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH); ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);

206
modules/calib3d/test/test_fundam.cpp
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@ -40,6 +40,7 @@
//M*/ //M*/
#include "test_precomp.hpp" #include "test_precomp.hpp"
#include "opencv2/core/core_c.h"
#include "opencv2/calib3d/calib3d_c.h" #include "opencv2/calib3d/calib3d_c.h"
namespace cvtest { namespace cvtest {
@ -349,8 +350,10 @@ static int cvTsRodrigues( const CvMat* src, CvMat* dst, CvMat* jacobian )
/*extern*/ void Rodrigues(const Mat& src, Mat& dst, Mat* jac) /*extern*/ void Rodrigues(const Mat& src, Mat& dst, Mat* jac)
{ {
CV_Assert(src.data != dst.data && "Inplace is not supported"); if(src.rows == 1 || src.cols == 1)
CV_Assert(!dst.empty() && "'dst' must be allocated"); dst.create(3, 3, src.depth());
else
dst.create(3, 1, src.depth());
CvMat _src = cvMat(src), _dst = cvMat(dst), _jac; CvMat _src = cvMat(src), _dst = cvMat(dst), _jac;
if( jac ) if( jac )
_jac = cvMat(*jac); _jac = cvMat(*jac);
@ -663,53 +666,36 @@ int CV_RodriguesTest::prepare_test_case( int test_case_idx )
void CV_RodriguesTest::run_func() void CV_RodriguesTest::run_func()
{ {
CvMat v2m_jac, m2v_jac; cv::Mat v = test_mat[INPUT][0], M = test_mat[OUTPUT][0], v2 = test_mat[OUTPUT][2];
cv::Mat M0 = M, v2_0 = v2;
if( calc_jacobians ) if( !calc_jacobians )
{
v2m_jac = cvMat(test_mat[OUTPUT][1]);
m2v_jac = cvMat(test_mat[OUTPUT][3]);
}
if( !test_cpp )
{ {
CvMat _input = cvMat(test_mat[INPUT][0]), _output = cvMat(test_mat[OUTPUT][0]), _output2 = cvMat(test_mat[OUTPUT][2]); cv::Rodrigues(v, M);
cvRodrigues2( &_input, &_output, calc_jacobians ? &v2m_jac : 0 ); cv::Rodrigues(M, v2);
cvRodrigues2( &_output, &_output2, calc_jacobians ? &m2v_jac : 0 );
} }
else else
{ {
cv::Mat v = test_mat[INPUT][0], M = test_mat[OUTPUT][0], v2 = test_mat[OUTPUT][2]; cv::Mat J1 = test_mat[OUTPUT][1], J2 = test_mat[OUTPUT][3];
cv::Mat M0 = M, v2_0 = v2; cv::Mat J1_0 = J1, J2_0 = J2;
if( !calc_jacobians ) cv::Rodrigues(v, M, J1);
cv::Rodrigues(M, v2, J2);
if( J1.data != J1_0.data )
{ {
cv::Rodrigues(v, M); if( J1.size() != J1_0.size() )
cv::Rodrigues(M, v2); J1 = J1.t();
J1.convertTo(J1_0, J1_0.type());
} }
else if( J2.data != J2_0.data )
{ {
cv::Mat J1 = test_mat[OUTPUT][1], J2 = test_mat[OUTPUT][3]; if( J2.size() != J2_0.size() )
cv::Mat J1_0 = J1, J2_0 = J2; J2 = J2.t();
cv::Rodrigues(v, M, J1); J2.convertTo(J2_0, J2_0.type());
cv::Rodrigues(M, v2, J2);
if( J1.data != J1_0.data )
{
if( J1.size() != J1_0.size() )
J1 = J1.t();
J1.convertTo(J1_0, J1_0.type());
}
if( J2.data != J2_0.data )
{
if( J2.size() != J2_0.size() )
J2 = J2.t();
J2.convertTo(J2_0, J2_0.type());
}
} }
if( M.data != M0.data )
M.reshape(M0.channels(), M0.rows).convertTo(M0, M0.type());
if( v2.data != v2_0.data )
v2.reshape(v2_0.channels(), v2_0.rows).convertTo(v2_0, v2_0.type());
} }
if( M.data != M0.data )
M.reshape(M0.channels(), M0.rows).convertTo(M0, M0.type());
if( v2.data != v2_0.data )
v2.reshape(v2_0.channels(), v2_0.rows).convertTo(v2_0, v2_0.type());
} }
@ -851,19 +837,14 @@ void CV_FundamentalMatTest::get_test_array_types_and_sizes( int /*test_case_idx*
types[INPUT][0] = CV_MAKETYPE(pt_depth, 1); types[INPUT][0] = CV_MAKETYPE(pt_depth, 1);
sizes[INPUT][0] = cvSize(dims, pt_count);
if( cvtest::randInt(rng) % 2 ) if( cvtest::randInt(rng) % 2 )
sizes[INPUT][0] = cvSize(pt_count, dims);
else
{ {
sizes[INPUT][0] = cvSize(dims, pt_count); types[INPUT][0] = CV_MAKETYPE(pt_depth, dims);
if( cvtest::randInt(rng) % 2 ) if( cvtest::randInt(rng) % 2 )
{ sizes[INPUT][0] = cvSize(pt_count, 1);
types[INPUT][0] = CV_MAKETYPE(pt_depth, dims); else
if( cvtest::randInt(rng) % 2 ) sizes[INPUT][0] = cvSize(1, pt_count);
sizes[INPUT][0] = cvSize(pt_count, 1);
else
sizes[INPUT][0] = cvSize(1, pt_count);
}
} }
sizes[INPUT][1] = sizes[INPUT][0]; sizes[INPUT][1] = sizes[INPUT][0];
@ -980,12 +961,12 @@ int CV_FundamentalMatTest::prepare_test_case( int test_case_idx )
void CV_FundamentalMatTest::run_func() void CV_FundamentalMatTest::run_func()
{ {
// cvFindFundamentalMat calls cv::findFundamentalMat // cvFindFundamentalMat calls cv::findFundamentalMat
CvMat _input0 = cvMat(test_mat[INPUT][0]), _input1 = cvMat(test_mat[INPUT][1]); cv::Mat _input0 = test_mat[INPUT][0], _input1 = test_mat[INPUT][1];
CvMat F = cvMat(test_mat[TEMP][0]), mask = cvMat(test_mat[TEMP][1]); cv::Mat& F = test_mat[TEMP][0], &mask = test_mat[TEMP][1];
f_result = cvFindFundamentalMat( &_input0, &_input1, &F, method, MAX(sigma*3, 0.01), 0, &mask ); F = cv::findFundamentalMat( _input0, _input1, method, MAX(sigma*3, 0.01), 0, mask );
f_result = !F.empty();
} }
void CV_FundamentalMatTest::prepare_to_validation( int test_case_idx ) void CV_FundamentalMatTest::prepare_to_validation( int test_case_idx )
{ {
const Mat& Rt = test_mat[INPUT][3]; const Mat& Rt = test_mat[INPUT][3];
@ -1025,7 +1006,11 @@ void CV_FundamentalMatTest::prepare_to_validation( int test_case_idx )
test_convertHomogeneous( test_mat[INPUT][0], p1 ); test_convertHomogeneous( test_mat[INPUT][0], p1 );
test_convertHomogeneous( test_mat[INPUT][1], p2 ); test_convertHomogeneous( test_mat[INPUT][1], p2 );
cvtest::convert(test_mat[TEMP][0], F, F.type()); Mat Fsrc = test_mat[TEMP][0];
if( Fsrc.rows > 3 )
Fsrc = Fsrc.rowRange(0, 3);
cvtest::convert(Fsrc, F, F.type());
if( method <= CV_FM_8POINT ) if( method <= CV_FM_8POINT )
memset( status, 1, pt_count ); memset( status, 1, pt_count );
@ -1144,19 +1129,14 @@ void CV_EssentialMatTest::get_test_array_types_and_sizes( int /*test_case_idx*/,
types[INPUT][0] = CV_MAKETYPE(pt_depth, 1); types[INPUT][0] = CV_MAKETYPE(pt_depth, 1);
if( 0 && cvtest::randInt(rng) % 2 ) sizes[INPUT][0] = cvSize(dims, pt_count);
sizes[INPUT][0] = cvSize(pt_count, dims); if( cvtest::randInt(rng) % 2 )
else
{ {
sizes[INPUT][0] = cvSize(dims, pt_count); types[INPUT][0] = CV_MAKETYPE(pt_depth, dims);
if( cvtest::randInt(rng) % 2 ) if( cvtest::randInt(rng) % 2 )
{ sizes[INPUT][0] = cvSize(pt_count, 1);
types[INPUT][0] = CV_MAKETYPE(pt_depth, dims); else
if( cvtest::randInt(rng) % 2 ) sizes[INPUT][0] = cvSize(1, pt_count);
sizes[INPUT][0] = cvSize(pt_count, 1);
else
sizes[INPUT][0] = cvSize(1, pt_count);
}
} }
sizes[INPUT][1] = sizes[INPUT][0]; sizes[INPUT][1] = sizes[INPUT][0];
@ -1464,57 +1444,33 @@ void CV_ConvertHomogeneousTest::get_test_array_types_and_sizes( int /*test_case_
{ {
RNG& rng = ts->get_rng(); RNG& rng = ts->get_rng();
int pt_depth1 = cvtest::randInt(rng) % 2 == 0 ? CV_32F : CV_64F; int pt_depth1 = cvtest::randInt(rng) % 2 == 0 ? CV_32F : CV_64F;
int pt_depth2 = cvtest::randInt(rng) % 2 == 0 ? CV_32F : CV_64F; int pt_depth2 = pt_depth1;//cvtest::randInt(rng) % 2 == 0 ? CV_32F : CV_64F;
double pt_count_exp = cvtest::randReal(rng)*6 + 1; double pt_count_exp = cvtest::randReal(rng)*6 + 1;
int t; int t;
pt_count = cvRound(exp(pt_count_exp)); pt_count = cvRound(exp(pt_count_exp));
pt_count = MAX( pt_count, 5 ); pt_count = MAX( pt_count, 5 );
dims1 = 2 + (cvtest::randInt(rng) % 3); dims1 = 2 + (cvtest::randInt(rng) % 2);
dims2 = 2 + (cvtest::randInt(rng) % 3); dims2 = dims1 + 1;
if( dims1 == dims2 + 2 )
dims1--;
else if( dims1 == dims2 - 2 )
dims1++;
if( cvtest::randInt(rng) % 2 ) if( cvtest::randInt(rng) % 2 )
CV_SWAP( dims1, dims2, t ); CV_SWAP( dims1, dims2, t );
types[INPUT][0] = CV_MAKETYPE(pt_depth1, 1); types[INPUT][0] = CV_MAKETYPE(pt_depth1, 1);
sizes[INPUT][0] = cvSize(dims1, pt_count);
if( cvtest::randInt(rng) % 2 ) if( cvtest::randInt(rng) % 2 )
sizes[INPUT][0] = cvSize(pt_count, dims1);
else
{ {
sizes[INPUT][0] = cvSize(dims1, pt_count); types[INPUT][0] = CV_MAKETYPE(pt_depth1, dims1);
if( cvtest::randInt(rng) % 2 ) if( cvtest::randInt(rng) % 2 )
{ sizes[INPUT][0] = cvSize(pt_count, 1);
types[INPUT][0] = CV_MAKETYPE(pt_depth1, dims1); else
if( cvtest::randInt(rng) % 2 ) sizes[INPUT][0] = cvSize(1, pt_count);
sizes[INPUT][0] = cvSize(pt_count, 1);
else
sizes[INPUT][0] = cvSize(1, pt_count);
}
} }
types[OUTPUT][0] = CV_MAKETYPE(pt_depth2, 1); types[OUTPUT][0] = CV_MAKETYPE(pt_depth2, dims2);
sizes[OUTPUT][0] = cvSize(1, pt_count);
if( cvtest::randInt(rng) % 2 )
sizes[OUTPUT][0] = cvSize(pt_count, dims2);
else
{
sizes[OUTPUT][0] = cvSize(dims2, pt_count);
if( cvtest::randInt(rng) % 2 )
{
types[OUTPUT][0] = CV_MAKETYPE(pt_depth2, dims2);
if( cvtest::randInt(rng) % 2 )
sizes[OUTPUT][0] = cvSize(pt_count, 1);
else
sizes[OUTPUT][0] = cvSize(1, pt_count);
}
}
types[REF_OUTPUT][0] = types[OUTPUT][0]; types[REF_OUTPUT][0] = types[OUTPUT][0];
sizes[REF_OUTPUT][0] = sizes[OUTPUT][0]; sizes[REF_OUTPUT][0] = sizes[OUTPUT][0];
@ -1543,8 +1499,11 @@ void CV_ConvertHomogeneousTest::fill_array( int /*test_case_idx*/, int /*i*/, in
void CV_ConvertHomogeneousTest::run_func() void CV_ConvertHomogeneousTest::run_func()
{ {
CvMat _input = cvMat(test_mat[INPUT][0]), _output = cvMat(test_mat[OUTPUT][0]); cv::Mat _input = test_mat[INPUT][0], &_output = test_mat[OUTPUT][0];
cvConvertPointsHomogeneous( &_input, &_output ); if( dims1 > dims2 )
cv::convertPointsFromHomogeneous(_input, _output);
else
cv::convertPointsToHomogeneous(_input, _output);
} }
@ -1600,7 +1559,7 @@ void CV_ComputeEpilinesTest::get_test_array_types_and_sizes( int /*test_case_idx
RNG& rng = ts->get_rng(); RNG& rng = ts->get_rng();
int fm_depth = cvtest::randInt(rng) % 2 == 0 ? CV_32F : CV_64F; int fm_depth = cvtest::randInt(rng) % 2 == 0 ? CV_32F : CV_64F;
int pt_depth = cvtest::randInt(rng) % 2 == 0 ? CV_32F : CV_64F; int pt_depth = cvtest::randInt(rng) % 2 == 0 ? CV_32F : CV_64F;
int ln_depth = cvtest::randInt(rng) % 2 == 0 ? CV_32F : CV_64F; int ln_depth = pt_depth;
double pt_count_exp = cvtest::randReal(rng)*6; double pt_count_exp = cvtest::randReal(rng)*6;
which_image = 1 + (cvtest::randInt(rng) % 2); which_image = 1 + (cvtest::randInt(rng) % 2);
@ -1613,40 +1572,21 @@ void CV_ComputeEpilinesTest::get_test_array_types_and_sizes( int /*test_case_idx
types[INPUT][0] = CV_MAKETYPE(pt_depth, 1); types[INPUT][0] = CV_MAKETYPE(pt_depth, 1);
if( cvtest::randInt(rng) % 2 && !few_points ) sizes[INPUT][0] = cvSize(dims, pt_count);
sizes[INPUT][0] = cvSize(pt_count, dims); if( cvtest::randInt(rng) % 2 || few_points )
else
{ {
sizes[INPUT][0] = cvSize(dims, pt_count); types[INPUT][0] = CV_MAKETYPE(pt_depth, dims);
if( cvtest::randInt(rng) % 2 || few_points ) if( cvtest::randInt(rng) % 2 )
{ sizes[INPUT][0] = cvSize(pt_count, 1);
types[INPUT][0] = CV_MAKETYPE(pt_depth, dims); else
if( cvtest::randInt(rng) % 2 ) sizes[INPUT][0] = cvSize(1, pt_count);
sizes[INPUT][0] = cvSize(pt_count, 1);
else
sizes[INPUT][0] = cvSize(1, pt_count);
}
} }
types[INPUT][1] = CV_MAKETYPE(fm_depth, 1); types[INPUT][1] = CV_MAKETYPE(fm_depth, 1);
sizes[INPUT][1] = cvSize(3, 3); sizes[INPUT][1] = cvSize(3, 3);
types[OUTPUT][0] = CV_MAKETYPE(ln_depth, 1); types[OUTPUT][0] = CV_MAKETYPE(ln_depth, 3);
sizes[OUTPUT][0] = cvSize(1, pt_count);
if( cvtest::randInt(rng) % 2 && !few_points )
sizes[OUTPUT][0] = cvSize(pt_count, 3);
else
{
sizes[OUTPUT][0] = cvSize(3, pt_count);
if( cvtest::randInt(rng) % 2 || few_points )
{
types[OUTPUT][0] = CV_MAKETYPE(ln_depth, 3);
if( cvtest::randInt(rng) % 2 )
sizes[OUTPUT][0] = cvSize(pt_count, 1);
else
sizes[OUTPUT][0] = cvSize(1, pt_count);
}
}
types[REF_OUTPUT][0] = types[OUTPUT][0]; types[REF_OUTPUT][0] = types[OUTPUT][0];
sizes[REF_OUTPUT][0] = sizes[OUTPUT][0]; sizes[REF_OUTPUT][0] = sizes[OUTPUT][0];
@ -1678,8 +1618,8 @@ void CV_ComputeEpilinesTest::fill_array( int test_case_idx, int i, int j, Mat& a
void CV_ComputeEpilinesTest::run_func() void CV_ComputeEpilinesTest::run_func()
{ {
CvMat _points = cvMat(test_mat[INPUT][0]), _F = cvMat(test_mat[INPUT][1]), _lines = cvMat(test_mat[OUTPUT][0]); cv::Mat _points = test_mat[INPUT][0], _F = test_mat[INPUT][1], &_lines = test_mat[OUTPUT][0];
cvComputeCorrespondEpilines( &_points, which_image, &_F, &_lines ); cv::computeCorrespondEpilines( _points, which_image, _F, _lines );
} }

7
modules/calib3d/test/test_posit.cpp
Unescape View File

@ -40,7 +40,9 @@
//M*/ //M*/
#include "test_precomp.hpp" #include "test_precomp.hpp"
#include "opencv2/calib3d/calib3d_c.h"
// POSIT is not exposed to C++ API yet, so the test is disabled
#if 0
namespace opencv_test { namespace { namespace opencv_test { namespace {
@ -219,4 +221,7 @@ void CV_POSITTest::run( int start_from )
TEST(Calib3d_POSIT, accuracy) { CV_POSITTest test; test.safe_run(); } TEST(Calib3d_POSIT, accuracy) { CV_POSITTest test; test.safe_run(); }
}} // namespace }} // namespace
#endif
/* End of file. */ /* End of file. */

8
modules/calib3d/test/test_reproject_image_to_3d.cpp
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@ -41,7 +41,6 @@
//M*/ //M*/
#include "test_precomp.hpp" #include "test_precomp.hpp"
#include "opencv2/calib3d/calib3d_c.h"
namespace opencv_test { namespace { namespace opencv_test { namespace {
@ -121,14 +120,9 @@ protected:
Mat_<double> Q(4, 4); Mat_<double> Q(4, 4);
randu(Q, Scalar(-5), Scalar(5)); randu(Q, Scalar(-5), Scalar(5));
Mat_<out3d_t> _3dImg(disp.size()); Mat_<out3d_t> _3dImg(disp.size());
CvMat cvdisp = cvMat(disp); CvMat cv_3dImg = cvMat(_3dImg); CvMat cvQ = cvMat(Q); reprojectImageTo3D(disp, _3dImg, Q, handleMissingValues);
cvReprojectImageTo3D( &cvdisp, &cv_3dImg, &cvQ, handleMissingValues );
if (std::numeric_limits<OutT>::max() == std::numeric_limits<float>::max())
reprojectImageTo3D(disp, _3dImg, Q, handleMissingValues);
for(int y = 0; y < disp.rows; ++y) for(int y = 0; y < disp.rows; ++y)
for(int x = 0; x < disp.cols; ++x) for(int x = 0; x < disp.cols; ++x)

406
modules/calib3d/test/test_undistort.cpp
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@ -42,7 +42,6 @@
#include "test_precomp.hpp" #include "test_precomp.hpp"
#include "opencv2/imgproc/imgproc_c.h" #include "opencv2/imgproc/imgproc_c.h"
#include "opencv2/calib3d/calib3d_c.h"
namespace opencv_test { namespace { namespace opencv_test { namespace {
@ -172,7 +171,6 @@ protected:
const CvMat* _distCoeffs, const CvMat* matR, const CvMat* matP); const CvMat* _distCoeffs, const CvMat* matR, const CvMat* matP);
private: private:
bool useCPlus;
bool useDstMat; bool useDstMat;
static const int N_POINTS = 10; static const int N_POINTS = 10;
static const int MAX_X = 2048; static const int MAX_X = 2048;
@ -204,7 +202,7 @@ CV_UndistortPointsTest::CV_UndistortPointsTest()
test_array[TEMP].push_back(NULL); // dst points test_array[TEMP].push_back(NULL); // dst points
test_array[REF_OUTPUT].push_back(NULL); test_array[REF_OUTPUT].push_back(NULL);
useCPlus = useDstMat = false; useDstMat = false;
zero_new_cam = zero_distortion = zero_R = false; zero_new_cam = zero_distortion = zero_R = false;
} }
@ -212,16 +210,8 @@ void CV_UndistortPointsTest::get_test_array_types_and_sizes( int test_case_idx,
{ {
cvtest::ArrayTest::get_test_array_types_and_sizes(test_case_idx,sizes,types); cvtest::ArrayTest::get_test_array_types_and_sizes(test_case_idx,sizes,types);
RNG& rng = ts->get_rng(); RNG& rng = ts->get_rng();
useCPlus = ((cvtest::randInt(rng) % 2)!=0); //rng.next();
//useCPlus = 0; types[INPUT][0] = types[OUTPUT][0] = types[REF_OUTPUT][0] = types[TEMP][0]= CV_32FC2;
if (useCPlus)
{
types[INPUT][0] = types[OUTPUT][0] = types[REF_OUTPUT][0] = types[TEMP][0]= CV_32FC2;
}
else
{
types[INPUT][0] = types[OUTPUT][0] = types[REF_OUTPUT][0] = types[TEMP][0]= cvtest::randInt(rng)%2 ? CV_64FC2 : CV_32FC2;
}
types[INPUT][1] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F; types[INPUT][1] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
types[INPUT][2] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F; types[INPUT][2] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
types[INPUT][3] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F; types[INPUT][3] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
@ -364,15 +354,12 @@ int CV_UndistortPointsTest::prepare_test_case(int test_case_idx)
zero_new_cam = (cvtest::randInt(rng)%2) == 0 ? false : true; zero_new_cam = (cvtest::randInt(rng)%2) == 0 ? false : true;
zero_R = (cvtest::randInt(rng)%2) == 0 ? false : true; zero_R = (cvtest::randInt(rng)%2) == 0 ? false : true;
if (useCPlus) _points.convertTo(src_points, CV_32F);
{
_points.convertTo(src_points, CV_32F);
camera_mat = test_mat[INPUT][1]; camera_mat = test_mat[INPUT][1];
distortion_coeffs = test_mat[INPUT][2]; distortion_coeffs = test_mat[INPUT][2];
R = test_mat[INPUT][3]; R = test_mat[INPUT][3];
P = test_mat[INPUT][4]; P = test_mat[INPUT][4];
}
return code; return code;
} }
@ -407,28 +394,21 @@ void CV_UndistortPointsTest::prepare_to_validation(int /*test_case_idx*/)
cvtest::convert(test_mat[INPUT][3], __rot, __rot.type()); cvtest::convert(test_mat[INPUT][3], __rot, __rot.type());
cvtest::convert(test_mat[INPUT][4], __proj, __proj.type()); cvtest::convert(test_mat[INPUT][4], __proj, __proj.type());
if (useCPlus) if (useDstMat)
{ {
if (useDstMat) CvMat temp = cvMat(dst_points_mat);
{ for (int i=0;i<N_POINTS*2;i++)
CvMat temp = cvMat(dst_points_mat);
for (int i=0;i<N_POINTS*2;i++)
{
points[i] = temp.data.fl[i];
}
}
else
{ {
for (int i=0;i<N_POINTS;i++) points[i] = temp.data.fl[i];
{
points[2*i] = dst_points[i].x;
points[2*i+1] = dst_points[i].y;
}
} }
} }
else else
{ {
cvtest::convert(test_mat[TEMP][0],__points, __points.type()); for (int i=0;i<N_POINTS;i++)
{
points[2*i] = dst_points[i].x;
points[2*i+1] = dst_points[i].y;
}
} }
CvMat* input2 = zero_distortion ? 0 : &_distort; CvMat* input2 = zero_distortion ? 0 : &_distort;
@ -449,39 +429,20 @@ void CV_UndistortPointsTest::prepare_to_validation(int /*test_case_idx*/)
void CV_UndistortPointsTest::run_func() void CV_UndistortPointsTest::run_func()
{ {
cv::Mat input2,input3,input4;
input2 = zero_distortion ? cv::Mat() : cv::Mat(test_mat[INPUT][2]);
input3 = zero_R ? cv::Mat() : cv::Mat(test_mat[INPUT][3]);
input4 = zero_new_cam ? cv::Mat() : cv::Mat(test_mat[INPUT][4]);
if (useCPlus) if (useDstMat)
{ {
cv::Mat input2,input3,input4; //cv::undistortPoints(src_points,dst_points_mat,camera_mat,distortion_coeffs,R,P);
input2 = zero_distortion ? cv::Mat() : cv::Mat(test_mat[INPUT][2]); cv::undistortPoints(src_points,dst_points_mat,camera_mat,input2,input3,input4);
input3 = zero_R ? cv::Mat() : cv::Mat(test_mat[INPUT][3]);
input4 = zero_new_cam ? cv::Mat() : cv::Mat(test_mat[INPUT][4]);
if (useDstMat)
{
//cv::undistortPoints(src_points,dst_points_mat,camera_mat,distortion_coeffs,R,P);
cv::undistortPoints(src_points,dst_points_mat,camera_mat,input2,input3,input4);
}
else
{
//cv::undistortPoints(src_points,dst_points,camera_mat,distortion_coeffs,R,P);
cv::undistortPoints(src_points,dst_points,camera_mat,input2,input3,input4);
}
} }
else else
{ {
CvMat _input0 = cvMat(test_mat[INPUT][0]), _input1 = cvMat(test_mat[INPUT][1]), _input2, _input3, _input4; //cv::undistortPoints(src_points,dst_points,camera_mat,distortion_coeffs,R,P);
CvMat _output = cvMat(test_mat[TEMP][0]); cv::undistortPoints(src_points,dst_points,camera_mat,input2,input3,input4);
if(!zero_distortion)
_input2 = cvMat(test_mat[INPUT][2]);
if(!zero_R)
_input3 = cvMat(test_mat[INPUT][3]);
if(!zero_new_cam)
_input4 = cvMat(test_mat[INPUT][4]);
cvUndistortPoints(&_input0, &_output, &_input1,
zero_distortion ? 0 : &_input2,
zero_R ? 0 : &_input3,
zero_new_cam ? 0 : &_input4);
} }
} }
@ -580,83 +541,76 @@ protected:
void run_func(); void run_func();
private: private:
bool useCPlus; static const int MAX_X = 1024;
static const int N_POINTS = 100; static const int MAX_Y = 1024;
static const int MAX_X = 2048;
static const int MAX_Y = 2048;
bool zero_new_cam; bool zero_new_cam;
bool zero_distortion; bool zero_distortion;
bool zero_R; bool zero_R;
cv::Size img_size; cv::Size img_size;
int map_type;
cv::Mat camera_mat;
cv::Mat R;
cv::Mat new_camera_mat;
cv::Mat distortion_coeffs;
cv::Mat mapx;
cv::Mat mapy;
CvMat* _mapx;
CvMat* _mapy;
int mat_type;
}; };
CV_InitUndistortRectifyMapTest::CV_InitUndistortRectifyMapTest() CV_InitUndistortRectifyMapTest::CV_InitUndistortRectifyMapTest()
{ {
test_array[INPUT].push_back(NULL); // test points matrix
test_array[INPUT].push_back(NULL); // camera matrix test_array[INPUT].push_back(NULL); // camera matrix
test_array[INPUT].push_back(NULL); // distortion coeffs test_array[INPUT].push_back(NULL); // distortion coeffs
test_array[INPUT].push_back(NULL); // R matrix test_array[INPUT].push_back(NULL); // R matrix
test_array[INPUT].push_back(NULL); // new camera matrix test_array[INPUT].push_back(NULL); // new camera matrix
test_array[OUTPUT].push_back(NULL); // distorted dst points test_array[OUTPUT].push_back(NULL); // distorted mapx
test_array[OUTPUT].push_back(NULL); // distorted mapy
test_array[REF_OUTPUT].push_back(NULL);
test_array[REF_OUTPUT].push_back(NULL); test_array[REF_OUTPUT].push_back(NULL);
useCPlus = false;
zero_distortion = zero_new_cam = zero_R = false; zero_distortion = zero_new_cam = zero_R = false;
_mapx = _mapy = NULL; map_type = 0;
mat_type = 0;
} }
void CV_InitUndistortRectifyMapTest::get_test_array_types_and_sizes( int test_case_idx, vector<vector<Size> >& sizes, vector<vector<int> >& types ) void CV_InitUndistortRectifyMapTest::get_test_array_types_and_sizes( int test_case_idx, vector<vector<Size> >& sizes, vector<vector<int> >& types )
{ {
cvtest::ArrayTest::get_test_array_types_and_sizes(test_case_idx,sizes,types); cvtest::ArrayTest::get_test_array_types_and_sizes(test_case_idx,sizes,types);
RNG& rng = ts->get_rng(); RNG& rng = ts->get_rng();
useCPlus = ((cvtest::randInt(rng) % 2)!=0); //rng.next();
//useCPlus = 0;
types[INPUT][0] = types[OUTPUT][0] = types[REF_OUTPUT][0] = CV_64FC2; map_type = CV_32F;
types[OUTPUT][0] = types[OUTPUT][1] = types[REF_OUTPUT][0] = types[REF_OUTPUT][1] = map_type;
img_size.width = cvtest::randInt(rng) % MAX_X + 1;
img_size.height = cvtest::randInt(rng) % MAX_Y + 1;
types[INPUT][0] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
types[INPUT][1] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F; types[INPUT][1] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
types[INPUT][2] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F; types[INPUT][2] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
types[INPUT][3] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F; types[INPUT][3] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
types[INPUT][4] = cvtest::randInt(rng)%2 ? CV_64F : CV_32F;
sizes[INPUT][0] = sizes[OUTPUT][0] = sizes[REF_OUTPUT][0] = cvSize(N_POINTS,1); sizes[OUTPUT][0] = sizes[OUTPUT][1] = sizes[REF_OUTPUT][0] = sizes[REF_OUTPUT][1] = img_size;
sizes[INPUT][1] = sizes[INPUT][3] = cvSize(3,3); sizes[INPUT][0] = sizes[INPUT][2] = sizes[INPUT][3] = cvSize(3,3);
sizes[INPUT][4] = cvSize(3,3);
Size dsize;
if (cvtest::randInt(rng)%2) if (cvtest::randInt(rng)%2)
{ {
if (cvtest::randInt(rng)%2) if (cvtest::randInt(rng)%2)
{ {
sizes[INPUT][2] = cvSize(1,4); dsize = Size(1,4);
} }
else else
{ {
sizes[INPUT][2] = cvSize(1,5); dsize = Size(1,5);
} }
} }
else else
{ {
if (cvtest::randInt(rng)%2) if (cvtest::randInt(rng)%2)
{ {
sizes[INPUT][2] = cvSize(4,1); dsize = Size(4,1);
} }
else else
{ {
sizes[INPUT][2] = cvSize(5,1); dsize = Size(5,1);
} }
} }
sizes[INPUT][1] = dsize;
} }
@ -668,48 +622,14 @@ int CV_InitUndistortRectifyMapTest::prepare_test_case(int test_case_idx)
if (code <= 0) if (code <= 0)
return code; return code;
img_size.width = cvtest::randInt(rng) % MAX_X + 1; int dist_size = test_mat[INPUT][1].cols > test_mat[INPUT][1].rows ? test_mat[INPUT][1].cols : test_mat[INPUT][1].rows;
img_size.height = cvtest::randInt(rng) % MAX_Y + 1;
if (useCPlus)
{
mat_type = (cvtest::randInt(rng) % 2) == 0 ? CV_32FC1 : CV_16SC2;
if ((cvtest::randInt(rng) % 4) == 0)
mat_type = -1;
if ((cvtest::randInt(rng) % 4) == 0)
mat_type = CV_32FC2;
_mapx = 0;
_mapy = 0;
}
else
{
int typex = (cvtest::randInt(rng) % 2) == 0 ? CV_32FC1 : CV_16SC2;
//typex = CV_32FC1; ///!!!!!!!!!!!!!!!!
int typey = (typex == CV_32FC1) ? CV_32FC1 : CV_16UC1;
_mapx = cvCreateMat(img_size.height,img_size.width,typex);
_mapy = cvCreateMat(img_size.height,img_size.width,typey);
}
int dist_size = test_mat[INPUT][2].cols > test_mat[INPUT][2].rows ? test_mat[INPUT][2].cols : test_mat[INPUT][2].rows;
double cam[9] = {0,0,0,0,0,0,0,0,1}; double cam[9] = {0,0,0,0,0,0,0,0,1};
vector<double> dist(dist_size); vector<double> dist(dist_size);
vector<double> new_cam(test_mat[INPUT][4].cols * test_mat[INPUT][4].rows); vector<double> new_cam(test_mat[INPUT][3].cols * test_mat[INPUT][3].rows);
vector<Point2d> points(N_POINTS);
Mat _camera(3,3,CV_64F,cam); Mat _camera(3,3,CV_64F,cam);
Mat _distort(test_mat[INPUT][2].size(),CV_64F,&dist[0]); Mat _distort(test_mat[INPUT][1].size(),CV_64F,&dist[0]);
Mat _new_cam(test_mat[INPUT][4].size(),CV_64F,&new_cam[0]); Mat _new_cam(test_mat[INPUT][3].size(),CV_64F,&new_cam[0]);
Mat _points(test_mat[INPUT][0].size(),CV_64FC2, &points[0]);
//Generating points
for (int i=0;i<N_POINTS;i++)
{
points[i].x = cvtest::randReal(rng)*img_size.width;
points[i].y = cvtest::randReal(rng)*img_size.height;
}
//Generating camera matrix //Generating camera matrix
double sz = MAX(img_size.width,img_size.height); double sz = MAX(img_size.width,img_size.height);
@ -752,7 +672,6 @@ int CV_InitUndistortRectifyMapTest::prepare_test_case(int test_case_idx)
new_cam[2] = cam[2] + (cvtest::randReal(rng) - (double)0.5)*0.3*img_size.width; //15% new_cam[2] = cam[2] + (cvtest::randReal(rng) - (double)0.5)*0.3*img_size.width; //15%
new_cam[5] = cam[5] + (cvtest::randReal(rng) - (double)0.5)*0.3*img_size.height; //15% new_cam[5] = cam[5] + (cvtest::randReal(rng) - (double)0.5)*0.3*img_size.height; //15%
//Generating R matrix //Generating R matrix
Mat _rot(3,3,CV_64F); Mat _rot(3,3,CV_64F);
Mat rotation(1,3,CV_64F); Mat rotation(1,3,CV_64F);
@ -763,169 +682,36 @@ int CV_InitUndistortRectifyMapTest::prepare_test_case(int test_case_idx)
//cvSetIdentity(_rot); //cvSetIdentity(_rot);
//copying data //copying data
cvtest::convert( _points, test_mat[INPUT][0], test_mat[INPUT][0].type()); cvtest::convert( _camera, test_mat[INPUT][0], test_mat[INPUT][0].type());
cvtest::convert( _camera, test_mat[INPUT][1], test_mat[INPUT][1].type()); cvtest::convert( _distort, test_mat[INPUT][1], test_mat[INPUT][1].type());
cvtest::convert( _distort, test_mat[INPUT][2], test_mat[INPUT][2].type()); cvtest::convert( _rot, test_mat[INPUT][2], test_mat[INPUT][2].type());
cvtest::convert( _rot, test_mat[INPUT][3], test_mat[INPUT][3].type()); cvtest::convert( _new_cam, test_mat[INPUT][3], test_mat[INPUT][3].type());
cvtest::convert( _new_cam, test_mat[INPUT][4], test_mat[INPUT][4].type());
zero_distortion = (cvtest::randInt(rng)%2) == 0 ? false : true; zero_distortion = (cvtest::randInt(rng)%2) == 0 ? false : true;
zero_new_cam = (cvtest::randInt(rng)%2) == 0 ? false : true; zero_new_cam = (cvtest::randInt(rng)%2) == 0 ? false : true;
zero_R = (cvtest::randInt(rng)%2) == 0 ? false : true; zero_R = (cvtest::randInt(rng)%2) == 0 ? false : true;
if (useCPlus)
{
camera_mat = test_mat[INPUT][1];
distortion_coeffs = test_mat[INPUT][2];
R = test_mat[INPUT][3];
new_camera_mat = test_mat[INPUT][4];
}
return code; return code;
} }
void CV_InitUndistortRectifyMapTest::prepare_to_validation(int/* test_case_idx*/) void CV_InitUndistortRectifyMapTest::prepare_to_validation(int/* test_case_idx*/)
{ {
#if 0 cvtest::initUndistortMap(test_mat[INPUT][0],
int dist_size = test_mat[INPUT][2].cols > test_mat[INPUT][2].rows ? test_mat[INPUT][2].cols : test_mat[INPUT][2].rows; zero_distortion ? cv::Mat() : test_mat[INPUT][1],
double cam[9] = {0,0,0,0,0,0,0,0,1}; zero_R ? cv::Mat() : test_mat[INPUT][2],
double rot[9] = {1,0,0,0,1,0,0,0,1}; zero_new_cam ? test_mat[INPUT][0] : test_mat[INPUT][3],
vector<double> dist(dist_size); img_size, test_mat[REF_OUTPUT][0], test_mat[REF_OUTPUT][1],
vector<double> new_cam(test_mat[INPUT][4].cols * test_mat[INPUT][4].rows); test_mat[REF_OUTPUT][0].type());
vector<Point2d> points(N_POINTS);
vector<Point2d> r_points(N_POINTS);
//Run reference calculations
Mat ref_points(test_mat[INPUT][0].size(),CV_64FC2,&r_points[0]);
Mat _camera(3,3,CV_64F,cam);
Mat _rot(3,3,CV_64F,rot);
Mat _distort(test_mat[INPUT][2].size(),CV_64F,&dist[0]);
Mat _new_cam(test_mat[INPUT][4].size(),CV_64F,&new_cam[0]);
Mat _points(test_mat[INPUT][0].size(),CV_64FC2,&points[0]);
cvtest::convert(test_mat[INPUT][1],_camera,_camera.type());
cvtest::convert(test_mat[INPUT][2],_distort,_distort.type());
cvtest::convert(test_mat[INPUT][3],_rot,_rot.type());
cvtest::convert(test_mat[INPUT][4],_new_cam,_new_cam.type());
//Applying precalculated undistort rectify map
if (!useCPlus)
{
mapx = cv::Mat(_mapx);
mapy = cv::Mat(_mapy);
}
cv::Mat map1,map2;
cv::convertMaps(mapx,mapy,map1,map2,CV_32FC1);
CvMat _map1 = map1;
CvMat _map2 = map2;
const Point2d* sptr = (const Point2d*)test_mat[INPUT][0].data;
for( int i = 0;i < N_POINTS; i++ )
{
int u = saturate_cast<int>(sptr[i].x);
int v = saturate_cast<int>(sptr[i].y);
points[i].x = _map1.data.fl[v*_map1.cols + u];
points[i].y = _map2.data.fl[v*_map2.cols + u];
}
//---
cv::undistortPoints(_points, ref_points, _camera,
zero_distortion ? Mat() : _distort,
zero_R ? Mat::eye(3,3,CV_64F) : _rot,
zero_new_cam ? _camera : _new_cam);
//cvTsDistortPoints(&_points,&ref_points,&_camera,&_distort,&_rot,&_new_cam);
cvtest::convert(ref_points, test_mat[REF_OUTPUT][0], test_mat[REF_OUTPUT][0].type());
cvtest::copy(test_mat[INPUT][0],test_mat[OUTPUT][0]);
cvReleaseMat(&_mapx);
cvReleaseMat(&_mapy);
#else
int dist_size = test_mat[INPUT][2].cols > test_mat[INPUT][2].rows ? test_mat[INPUT][2].cols : test_mat[INPUT][2].rows;
double cam[9] = {0,0,0,0,0,0,0,0,1};
double rot[9] = {1,0,0,0,1,0,0,0,1};
double* dist = new double[dist_size ];
double* new_cam = new double[test_mat[INPUT][4].cols * test_mat[INPUT][4].rows];
double* points = new double[N_POINTS*2];
double* r_points = new double[N_POINTS*2];
//Run reference calculations
CvMat ref_points= cvMat(test_mat[INPUT][0].rows,test_mat[INPUT][0].cols,CV_64FC2,r_points);
CvMat _camera = cvMat(3,3,CV_64F,cam);
CvMat _rot = cvMat(3,3,CV_64F,rot);
CvMat _distort = cvMat(test_mat[INPUT][2].rows,test_mat[INPUT][2].cols,CV_64F,dist);
CvMat _new_cam = cvMat(test_mat[INPUT][4].rows,test_mat[INPUT][4].cols,CV_64F,new_cam);
CvMat _points= cvMat(test_mat[INPUT][0].rows,test_mat[INPUT][0].cols,CV_64FC2,points);
CvMat _input1 = cvMat(test_mat[INPUT][1]);
CvMat _input2 = cvMat(test_mat[INPUT][2]);
CvMat _input3 = cvMat(test_mat[INPUT][3]);
CvMat _input4 = cvMat(test_mat[INPUT][4]);
cvtest::convert(cvarrToMat(&_input1), cvarrToMat(&_camera), -1);
cvtest::convert(cvarrToMat(&_input2), cvarrToMat(&_distort), -1);
cvtest::convert(cvarrToMat(&_input3), cvarrToMat(&_rot), -1);
cvtest::convert(cvarrToMat(&_input4), cvarrToMat(&_new_cam), -1);
//Applying precalculated undistort rectify map
if (!useCPlus)
{
mapx = cv::cvarrToMat(_mapx);
mapy = cv::cvarrToMat(_mapy);
}
cv::Mat map1,map2;
cv::convertMaps(mapx,mapy,map1,map2,CV_32FC1);
CvMat _map1 = cvMat(map1);
CvMat _map2 = cvMat(map2);
for (int i=0;i<N_POINTS;i++)
{
double u = test_mat[INPUT][0].ptr<double>()[2*i];
double v = test_mat[INPUT][0].ptr<double>()[2*i+1];
_points.data.db[2*i] = (double)_map1.data.fl[(int)v*_map1.cols+(int)u];
_points.data.db[2*i+1] = (double)_map2.data.fl[(int)v*_map2.cols+(int)u];
}
//---
cvUndistortPoints(&_points,&ref_points,&_camera,
zero_distortion ? 0 : &_distort, zero_R ? 0 : &_rot, zero_new_cam ? &_camera : &_new_cam);
//cvTsDistortPoints(&_points,&ref_points,&_camera,&_distort,&_rot,&_new_cam);
CvMat dst = cvMat(test_mat[REF_OUTPUT][0]);
cvtest::convert(cvarrToMat(&ref_points), cvarrToMat(&dst), -1);
cvtest::copy(test_mat[INPUT][0],test_mat[OUTPUT][0]);
delete[] dist;
delete[] new_cam;
delete[] points;
delete[] r_points;
cvReleaseMat(&_mapx);
cvReleaseMat(&_mapy);
#endif
} }
void CV_InitUndistortRectifyMapTest::run_func() void CV_InitUndistortRectifyMapTest::run_func()
{ {
if (useCPlus) cv::Mat camera_mat = test_mat[INPUT][0];
{ cv::Mat dist = zero_distortion ? cv::Mat() : test_mat[INPUT][1];
cv::Mat input2,input3,input4; cv::Mat R = zero_R ? cv::Mat() : test_mat[INPUT][2];
input2 = zero_distortion ? cv::Mat() : test_mat[INPUT][2]; cv::Mat new_cam = zero_new_cam ? cv::Mat() : test_mat[INPUT][3];
input3 = zero_R ? cv::Mat() : test_mat[INPUT][3]; cv::Mat& mapx = test_mat[OUTPUT][0], &mapy = test_mat[OUTPUT][1];
input4 = zero_new_cam ? cv::Mat() : test_mat[INPUT][4]; cv::initUndistortRectifyMap(camera_mat,dist,R,new_cam,img_size,map_type,mapx,mapy);
cv::initUndistortRectifyMap(camera_mat,input2,input3,input4,img_size,mat_type,mapx,mapy);
}
else
{
CvMat input1 = cvMat(test_mat[INPUT][1]), input2, input3, input4;
if( !zero_distortion )
input2 = cvMat(test_mat[INPUT][2]);
if( !zero_R )
input3 = cvMat(test_mat[INPUT][3]);
if( !zero_new_cam )
input4 = cvMat(test_mat[INPUT][4]);
cvInitUndistortRectifyMap(&input1,
zero_distortion ? 0 : &input2,
zero_R ? 0 : &input3,
zero_new_cam ? 0 : &input4,
_mapx,_mapy);
}
} }
double CV_InitUndistortRectifyMapTest::get_success_error_level( int /*test_case_idx*/, int /*i*/, int /*j*/ ) double CV_InitUndistortRectifyMapTest::get_success_error_level( int /*test_case_idx*/, int /*i*/, int /*j*/ )
@ -1227,7 +1013,6 @@ protected:
void fill_array( int test_case_idx, int i, int j, Mat& arr ); void fill_array( int test_case_idx, int i, int j, Mat& arr );
private: private:
bool useCPlus;
cv::Mat input0; cv::Mat input0;
cv::Mat input1; cv::Mat input1;
cv::Mat input2; cv::Mat input2;
@ -1276,21 +1061,13 @@ void CV_UndistortTest::fill_array( int test_case_idx, int i, int j, Mat& arr )
void CV_UndistortTest::run_func() void CV_UndistortTest::run_func()
{ {
if (!useCPlus) if (zero_distortion)
{ {
CvMat a = cvMat(test_mat[INPUT][1]), k = cvMat(test_mat[INPUT][2]); cv::undistort(input0,input_output,input1,cv::Mat());
cvUndistort2( test_array[INPUT][0], test_array[INPUT_OUTPUT][0], &a, &k);
} }
else else
{ {
if (zero_distortion) cv::undistort(input0,input_output,input1,input2);
{
cv::undistort(input0,input_output,input1,cv::Mat());
}
else
{
cv::undistort(input0,input_output,input1,input2);
}
} }
} }
@ -1353,14 +1130,11 @@ int CV_UndistortTest::prepare_test_case( int test_case_idx )
_new_cam.convertTo(_new_cam0, _new_cam0.depth()); _new_cam.convertTo(_new_cam0, _new_cam0.depth());
//Testing C++ code //Testing C++ code
useCPlus = ((cvtest::randInt(rng) % 2)!=0); //useCPlus = ((cvtest::randInt(rng) % 2)!=0);
if (useCPlus) input0 = test_mat[INPUT][0];
{ input1 = test_mat[INPUT][1];
input0 = test_mat[INPUT][0]; input2 = test_mat[INPUT][2];
input1 = test_mat[INPUT][1]; input_new_cam = test_mat[INPUT][3];
input2 = test_mat[INPUT][2];
input_new_cam = test_mat[INPUT][3];
}
return code; return code;
} }
@ -1368,16 +1142,14 @@ int CV_UndistortTest::prepare_test_case( int test_case_idx )
void CV_UndistortTest::prepare_to_validation( int /*test_case_idx*/ ) void CV_UndistortTest::prepare_to_validation( int /*test_case_idx*/ )
{ {
if (useCPlus) Mat& output = test_mat[INPUT_OUTPUT][0];
{ input_output.convertTo(output, output.type());
Mat& output = test_mat[INPUT_OUTPUT][0];
input_output.convertTo(output, output.type());
}
Mat& src = test_mat[INPUT][0]; Mat& src = test_mat[INPUT][0];
Mat& dst = test_mat[REF_INPUT_OUTPUT][0]; Mat& dst = test_mat[REF_INPUT_OUTPUT][0];
Mat& dst0 = test_mat[INPUT_OUTPUT][0]; Mat& dst0 = test_mat[INPUT_OUTPUT][0];
Mat mapx, mapy; Mat mapx, mapy;
cvtest::initUndistortMap( test_mat[INPUT][1], test_mat[INPUT][2], dst.size(), mapx, mapy ); cvtest::initUndistortMap( test_mat[INPUT][1], test_mat[INPUT][2],
Mat(), Mat(), dst.size(), mapx, mapy, CV_32F );
Mat mask( dst.size(), CV_8U ); Mat mask( dst.size(), CV_8U );
test_remap( src, dst, mapx, mapy, &mask, interpolation ); test_remap( src, dst, mapx, mapy, &mask, interpolation );
dst.setTo(Scalar::all(0), mask); dst.setTo(Scalar::all(0), mask);
@ -1446,12 +1218,13 @@ void CV_UndistortMapTest::fill_array( int test_case_idx, int i, int j, Mat& arr
void CV_UndistortMapTest::run_func() void CV_UndistortMapTest::run_func()
{ {
CvMat a = cvMat(test_mat[INPUT][0]), k = cvMat(test_mat[INPUT][1]); cv::Mat a = test_mat[INPUT][0], k = test_mat[INPUT][1];
cv::Mat &mapx = test_mat[OUTPUT][0], &mapy = !dualChannel ? test_mat[OUTPUT][1] : mapx;
cv::Size mapsz = test_mat[OUTPUT][0].size();
if (!dualChannel ) cv::initUndistortRectifyMap(a, k, cv::Mat(), a,
cvInitUndistortMap( &a, &k, test_array[OUTPUT][0], test_array[OUTPUT][1] ); mapsz, dualChannel ? CV_32FC2 : CV_32FC1,
else mapx, !dualChannel ? cv::_InputOutputArray(mapy) : cv::noArray());
cvInitUndistortMap( &a, &k, test_array[OUTPUT][0], 0 );
} }
@ -1503,7 +1276,8 @@ int CV_UndistortMapTest::prepare_test_case( int test_case_idx )
void CV_UndistortMapTest::prepare_to_validation( int ) void CV_UndistortMapTest::prepare_to_validation( int )
{ {
Mat mapx, mapy; Mat mapx, mapy;
cvtest::initUndistortMap( test_mat[INPUT][0], test_mat[INPUT][1], test_mat[REF_OUTPUT][0].size(), mapx, mapy ); cvtest::initUndistortMap( test_mat[INPUT][0], test_mat[INPUT][1], Mat(), Mat(),
test_mat[REF_OUTPUT][0].size(), mapx, mapy, CV_32F );
if( !dualChannel ) if( !dualChannel )
{ {
mapx.copyTo(test_mat[REF_OUTPUT][0]); mapx.copyTo(test_mat[REF_OUTPUT][0]);

301
modules/calib3d/test/test_undistort_badarg.cpp
Unescape View File

@ -40,7 +40,7 @@
//M*/ //M*/
#include "test_precomp.hpp" #include "test_precomp.hpp"
#include "opencv2/calib3d/calib3d_c.h" #include "opencv2/core/core_c.h"
namespace opencv_test { namespace { namespace opencv_test { namespace {
@ -55,19 +55,9 @@ protected:
private: private:
//common //common
cv::Size img_size; cv::Size img_size;
bool useCPlus;
//static const int N_POINTS = 1; //static const int N_POINTS = 1;
static const int N_POINTS2 = 2; static const int N_POINTS2 = 2;
//C
CvMat* _camera_mat;
CvMat* matR;
CvMat* matP;
CvMat* _distortion_coeffs;
CvMat* _src_points;
CvMat* _dst_points;
//C++ //C++
cv::Mat camera_mat; cv::Mat camera_mat;
cv::Mat R; cv::Mat R;
@ -80,27 +70,17 @@ private:
CV_UndistortPointsBadArgTest::CV_UndistortPointsBadArgTest () CV_UndistortPointsBadArgTest::CV_UndistortPointsBadArgTest ()
{ {
useCPlus = false;
_camera_mat = matR = matP = _distortion_coeffs = _src_points = _dst_points = NULL;
} }
void CV_UndistortPointsBadArgTest::run_func() void CV_UndistortPointsBadArgTest::run_func()
{ {
if (useCPlus) cv::undistortPoints(src_points,dst_points,camera_mat,distortion_coeffs,R,P);
{
cv::undistortPoints(src_points,dst_points,camera_mat,distortion_coeffs,R,P);
}
else
{
cvUndistortPoints(_src_points,_dst_points,_camera_mat,_distortion_coeffs,matR,matP);
}
} }
void CV_UndistortPointsBadArgTest::run(int) void CV_UndistortPointsBadArgTest::run(int)
{ {
//RNG& rng = ts->get_rng(); //RNG& rng = ts->get_rng();
int errcount = 0; int errcount = 0;
useCPlus = false;
//initializing //initializing
img_size.width = 800; img_size.width = 800;
img_size.height = 600; img_size.height = 600;
@ -110,7 +90,6 @@ void CV_UndistortPointsBadArgTest::run(int)
static_cast<double>(img_size.width) / 4.0, static_cast<double>(img_size.width) / 4.0,
static_cast<double>(img_size.height) / 4.0, static_cast<double>(img_size.height) / 4.0,
}; };
double d_points[N_POINTS2];
double p[9] = {155.f, 0.f, img_size.width/2.f+img_size.width/50.f, 0, 310.f, img_size.height/2.f+img_size.height/50.f, 0.f, 0.f, 1.f}; double p[9] = {155.f, 0.f, img_size.width/2.f+img_size.width/50.f, 0, 310.f, img_size.height/2.f+img_size.height/50.f, 0.f, 0.f, 1.f};
double r[9] = {1,0,0,0,1,0,0,0,1}; double r[9] = {1,0,0,0,1,0,0,0,1};
@ -119,137 +98,6 @@ void CV_UndistortPointsBadArgTest::run(int)
CvMat _P_orig = cvMat(3,3,CV_64F,p); CvMat _P_orig = cvMat(3,3,CV_64F,p);
CvMat _R_orig = cvMat(3,3,CV_64F,r); CvMat _R_orig = cvMat(3,3,CV_64F,r);
CvMat _src_points_orig = cvMat(1,4,CV_64FC2,s_points); CvMat _src_points_orig = cvMat(1,4,CV_64FC2,s_points);
CvMat _dst_points_orig = cvMat(1,4,CV_64FC2,d_points);
_camera_mat = &_camera_mat_orig;
_distortion_coeffs = &_distortion_coeffs_orig;
matP = &_P_orig;
matR = &_R_orig;
_src_points = &_src_points_orig;
_dst_points = &_dst_points_orig;
//tests
CvMat* temp1;
CvMat* temp;
IplImage* temp_img = cvCreateImage(cvSize(img_size.width,img_size.height),8,3);
//-----------
temp = (CvMat*)temp_img;
_src_points = temp;
errcount += run_test_case( CV_StsAssert, "Input data is not CvMat*" );
_src_points = &_src_points_orig;
temp = (CvMat*)temp_img;
_dst_points = temp;
errcount += run_test_case( CV_StsAssert, "Output data is not CvMat*" );
_dst_points = &_dst_points_orig;
temp = cvCreateMat(2,3,CV_64F);
_src_points = temp;
errcount += run_test_case( CV_StsAssert, "Invalid input data matrix size" );
_src_points = &_src_points_orig;
cvReleaseMat(&temp);
temp = cvCreateMat(2,3,CV_64F);
_dst_points = temp;
errcount += run_test_case(CV_StsAssert, "Invalid output data matrix size" );
_dst_points = &_dst_points_orig;
cvReleaseMat(&temp);
temp = cvCreateMat(1,3,CV_64F);
temp1 = cvCreateMat(4,1,CV_64F);
_dst_points = temp;
_src_points = temp1;
errcount += run_test_case(CV_StsAssert, "Output and input data sizes mismatch" );
_dst_points = &_dst_points_orig;
_src_points = &_src_points_orig;
cvReleaseMat(&temp);
cvReleaseMat(&temp1);
temp = cvCreateMat(1,3,CV_32S);
_dst_points = temp;
errcount += run_test_case(CV_StsAssert, "Invalid output data matrix type" );
_dst_points = &_dst_points_orig;
cvReleaseMat(&temp);
temp = cvCreateMat(1,3,CV_32S);
_src_points = temp;
errcount += run_test_case(CV_StsAssert, "Invalid input data matrix type" );
_src_points = &_src_points_orig;
cvReleaseMat(&temp);
//------------
temp = cvCreateMat(2,3,CV_64F);
_camera_mat = temp;
errcount += run_test_case( CV_StsAssert, "Invalid camera data matrix size" );
_camera_mat = &_camera_mat_orig;
cvReleaseMat(&temp);
temp = cvCreateMat(3,4,CV_64F);
_camera_mat = temp;
errcount += run_test_case( CV_StsAssert, "Invalid camera data matrix size" );
_camera_mat = &_camera_mat_orig;
cvReleaseMat(&temp);
temp = (CvMat*)temp_img;
_camera_mat = temp;
errcount += run_test_case( CV_StsAssert, "Camera data is not CvMat*" );
_camera_mat = &_camera_mat_orig;
//----------
temp = (CvMat*)temp_img;
_distortion_coeffs = temp;
errcount += run_test_case( CV_StsAssert, "Distortion coefficients data is not CvMat*" );
_distortion_coeffs = &_distortion_coeffs_orig;
temp = cvCreateMat(1,6,CV_64F);
_distortion_coeffs = temp;
errcount += run_test_case( CV_StsAssert, "Invalid distortion coefficients data matrix size" );
_distortion_coeffs = &_distortion_coeffs_orig;
cvReleaseMat(&temp);
temp = cvCreateMat(3,3,CV_64F);
_distortion_coeffs = temp;
errcount += run_test_case( CV_StsAssert, "Invalid distortion coefficients data matrix size" );
_distortion_coeffs = &_distortion_coeffs_orig;
cvReleaseMat(&temp);
//----------
temp = (CvMat*)temp_img;
matR = temp;
errcount += run_test_case( CV_StsAssert, "R data is not CvMat*" );
matR = &_R_orig;
temp = cvCreateMat(4,3,CV_64F);
matR = temp;
errcount += run_test_case( CV_StsAssert, "Invalid R data matrix size" );
matR = &_R_orig;
cvReleaseMat(&temp);
temp = cvCreateMat(3,2,CV_64F);
matR = temp;
errcount += run_test_case( CV_StsAssert, "Invalid R data matrix size" );
matR = &_R_orig;
cvReleaseMat(&temp);
//-----------
temp = (CvMat*)temp_img;
matP = temp;
errcount += run_test_case( CV_StsAssert, "P data is not CvMat*" );
matP = &_P_orig;
temp = cvCreateMat(4,3,CV_64F);
matP = temp;
errcount += run_test_case( CV_StsAssert, "Invalid P data matrix size" );
matP = &_P_orig;
cvReleaseMat(&temp);
temp = cvCreateMat(3,2,CV_64F);
matP = temp;
errcount += run_test_case( CV_StsAssert, "Invalid P data matrix size" );
matP = &_P_orig;
cvReleaseMat(&temp);
//------------
//C++ tests
useCPlus = true;
camera_mat = cv::cvarrToMat(&_camera_mat_orig); camera_mat = cv::cvarrToMat(&_camera_mat_orig);
distortion_coeffs = cv::cvarrToMat(&_distortion_coeffs_orig); distortion_coeffs = cv::cvarrToMat(&_distortion_coeffs_orig);
@ -257,27 +105,19 @@ void CV_UndistortPointsBadArgTest::run(int)
R = cv::cvarrToMat(&_R_orig); R = cv::cvarrToMat(&_R_orig);
src_points = cv::cvarrToMat(&_src_points_orig); src_points = cv::cvarrToMat(&_src_points_orig);
temp = cvCreateMat(2,2,CV_32FC2); src_points.create(2, 2, CV_32F);
src_points = cv::cvarrToMat(temp);
errcount += run_test_case( CV_StsAssert, "Invalid input data matrix size" ); errcount += run_test_case( CV_StsAssert, "Invalid input data matrix size" );
src_points = cv::cvarrToMat(&_src_points_orig); src_points = cv::cvarrToMat(&_src_points_orig);
cvReleaseMat(&temp);
temp = cvCreateMat(1,4,CV_64FC2); src_points.create(1, 4, CV_64FC2);
src_points = cv::cvarrToMat(temp);
errcount += run_test_case( CV_StsAssert, "Invalid input data matrix type" ); errcount += run_test_case( CV_StsAssert, "Invalid input data matrix type" );
src_points = cv::cvarrToMat(&_src_points_orig); src_points = cv::cvarrToMat(&_src_points_orig);
cvReleaseMat(&temp);
src_points = cv::Mat(); src_points = cv::Mat();
errcount += run_test_case( CV_StsAssert, "Input data matrix is not continuous" ); errcount += run_test_case( CV_StsAssert, "Input data matrix is not continuous" );
src_points = cv::cvarrToMat(&_src_points_orig); src_points = cv::cvarrToMat(&_src_points_orig);
cvReleaseMat(&temp);
//------------ //------------
cvReleaseImage(&temp_img);
ts->set_failed_test_info(errcount > 0 ? cvtest::TS::FAIL_BAD_ARG_CHECK : cvtest::TS::OK); ts->set_failed_test_info(errcount > 0 ? cvtest::TS::FAIL_BAD_ARG_CHECK : cvtest::TS::OK);
} }
@ -292,20 +132,7 @@ protected:
void run_func(); void run_func();
private: private:
//common
cv::Size img_size; cv::Size img_size;
bool useCPlus;
//C
CvMat* _camera_mat;
CvMat* matR;
CvMat* _new_camera_mat;
CvMat* _distortion_coeffs;
CvMat* _mapx;
CvMat* _mapy;
//C++
cv::Mat camera_mat; cv::Mat camera_mat;
cv::Mat R; cv::Mat R;
cv::Mat new_camera_mat; cv::Mat new_camera_mat;
@ -318,20 +145,11 @@ private:
CV_InitUndistortRectifyMapBadArgTest::CV_InitUndistortRectifyMapBadArgTest () CV_InitUndistortRectifyMapBadArgTest::CV_InitUndistortRectifyMapBadArgTest ()
{ {
useCPlus = false;
_camera_mat = matR = _new_camera_mat = _distortion_coeffs = _mapx = _mapy = NULL;
} }
void CV_InitUndistortRectifyMapBadArgTest::run_func() void CV_InitUndistortRectifyMapBadArgTest::run_func()
{ {
if (useCPlus) cv::initUndistortRectifyMap(camera_mat,distortion_coeffs,R,new_camera_mat,img_size,mat_type,mapx,mapy);
{
cv::initUndistortRectifyMap(camera_mat,distortion_coeffs,R,new_camera_mat,img_size,mat_type,mapx,mapy);
}
else
{
cvInitUndistortRectifyMap(_camera_mat,_distortion_coeffs,matR,_new_camera_mat,_mapx,_mapy);
}
} }
void CV_InitUndistortRectifyMapBadArgTest::run(int) void CV_InitUndistortRectifyMapBadArgTest::run(int)
@ -342,8 +160,8 @@ void CV_InitUndistortRectifyMapBadArgTest::run(int)
img_size.height = 600; img_size.height = 600;
double cam[9] = {150.f, 0.f, img_size.width/2.f, 0, 300.f, img_size.height/2.f, 0.f, 0.f, 1.f}; double cam[9] = {150.f, 0.f, img_size.width/2.f, 0, 300.f, img_size.height/2.f, 0.f, 0.f, 1.f};
double dist[4] = {0.01,0.02,0.001,0.0005}; double dist[4] = {0.01,0.02,0.001,0.0005};
float* arr_mapx = new float[img_size.width*img_size.height]; std::vector<float> arr_mapx(img_size.width*img_size.height);
float* arr_mapy = new float[img_size.width*img_size.height]; std::vector<float> arr_mapy(img_size.width*img_size.height);
double arr_new_camera_mat[9] = {155.f, 0.f, img_size.width/2.f+img_size.width/50.f, 0, 310.f, img_size.height/2.f+img_size.height/50.f, 0.f, 0.f, 1.f}; double arr_new_camera_mat[9] = {155.f, 0.f, img_size.width/2.f+img_size.width/50.f, 0, 310.f, img_size.height/2.f+img_size.height/50.f, 0.f, 0.f, 1.f};
double r[9] = {1,0,0,0,1,0,0,0,1}; double r[9] = {1,0,0,0,1,0,0,0,1};
@ -351,25 +169,10 @@ void CV_InitUndistortRectifyMapBadArgTest::run(int)
CvMat _distortion_coeffs_orig = cvMat(1,4,CV_64F,dist); CvMat _distortion_coeffs_orig = cvMat(1,4,CV_64F,dist);
CvMat _new_camera_mat_orig = cvMat(3,3,CV_64F,arr_new_camera_mat); CvMat _new_camera_mat_orig = cvMat(3,3,CV_64F,arr_new_camera_mat);
CvMat _R_orig = cvMat(3,3,CV_64F,r); CvMat _R_orig = cvMat(3,3,CV_64F,r);
CvMat _mapx_orig = cvMat(img_size.height,img_size.width,CV_32FC1,arr_mapx); CvMat _mapx_orig = cvMat(img_size.height,img_size.width,CV_32FC1,&arr_mapx[0]);
CvMat _mapy_orig = cvMat(img_size.height,img_size.width,CV_32FC1,arr_mapy); CvMat _mapy_orig = cvMat(img_size.height,img_size.width,CV_32FC1,&arr_mapy[0]);
int mat_type_orig = CV_32FC1; int mat_type_orig = CV_32FC1;
_camera_mat = &_camera_mat_orig;
_distortion_coeffs = &_distortion_coeffs_orig;
_new_camera_mat = &_new_camera_mat_orig;
matR = &_R_orig;
_mapx = &_mapx_orig;
_mapy = &_mapy_orig;
mat_type = mat_type_orig;
//tests
useCPlus = true;
CvMat* temp;
//C++ tests
useCPlus = true;
camera_mat = cv::cvarrToMat(&_camera_mat_orig); camera_mat = cv::cvarrToMat(&_camera_mat_orig);
distortion_coeffs = cv::cvarrToMat(&_distortion_coeffs_orig); distortion_coeffs = cv::cvarrToMat(&_distortion_coeffs_orig);
new_camera_mat = cv::cvarrToMat(&_new_camera_mat_orig); new_camera_mat = cv::cvarrToMat(&_new_camera_mat_orig);
@ -377,32 +180,23 @@ void CV_InitUndistortRectifyMapBadArgTest::run(int)
mapx = cv::cvarrToMat(&_mapx_orig); mapx = cv::cvarrToMat(&_mapx_orig);
mapy = cv::cvarrToMat(&_mapy_orig); mapy = cv::cvarrToMat(&_mapy_orig);
mat_type = CV_64F; mat_type = CV_64F;
errcount += run_test_case( CV_StsAssert, "Invalid map matrix type" ); errcount += run_test_case( CV_StsAssert, "Invalid map matrix type" );
mat_type = mat_type_orig; mat_type = mat_type_orig;
temp = cvCreateMat(3,2,CV_32FC1); camera_mat.create(3, 2, CV_32F);
camera_mat = cv::cvarrToMat(temp);
errcount += run_test_case( CV_StsAssert, "Invalid camera data matrix size" ); errcount += run_test_case( CV_StsAssert, "Invalid camera data matrix size" );
camera_mat = cv::cvarrToMat(&_camera_mat_orig); camera_mat = cv::cvarrToMat(&_camera_mat_orig);
cvReleaseMat(&temp);
temp = cvCreateMat(4,3,CV_32FC1); R.create(4, 3, CV_32F);
R = cv::cvarrToMat(temp);
errcount += run_test_case( CV_StsAssert, "Invalid R data matrix size" ); errcount += run_test_case( CV_StsAssert, "Invalid R data matrix size" );
R = cv::cvarrToMat(&_R_orig); R = cv::cvarrToMat(&_R_orig);
cvReleaseMat(&temp);
temp = cvCreateMat(6,1,CV_32FC1); distortion_coeffs.create(6, 1, CV_32F);
distortion_coeffs = cv::cvarrToMat(temp);
errcount += run_test_case( CV_StsAssert, "Invalid distortion coefficients data matrix size" ); errcount += run_test_case( CV_StsAssert, "Invalid distortion coefficients data matrix size" );
distortion_coeffs = cv::cvarrToMat(&_distortion_coeffs_orig); distortion_coeffs = cv::cvarrToMat(&_distortion_coeffs_orig);
cvReleaseMat(&temp);
//------------ //------------
delete[] arr_mapx;
delete[] arr_mapy;
ts->set_failed_test_info(errcount > 0 ? cvtest::TS::FAIL_BAD_ARG_CHECK : cvtest::TS::OK); ts->set_failed_test_info(errcount > 0 ? cvtest::TS::FAIL_BAD_ARG_CHECK : cvtest::TS::OK);
} }
@ -419,17 +213,7 @@ protected:
private: private:
//common //common
cv::Size img_size; cv::Size img_size;
bool useCPlus;
//C
CvMat* _camera_mat;
CvMat* _new_camera_mat;
CvMat* _distortion_coeffs;
CvMat* _src;
CvMat* _dst;
//C++
cv::Mat camera_mat; cv::Mat camera_mat;
cv::Mat new_camera_mat; cv::Mat new_camera_mat;
cv::Mat distortion_coeffs; cv::Mat distortion_coeffs;
@ -440,20 +224,11 @@ private:
CV_UndistortBadArgTest::CV_UndistortBadArgTest () CV_UndistortBadArgTest::CV_UndistortBadArgTest ()
{ {
useCPlus = false;
_camera_mat = _new_camera_mat = _distortion_coeffs = _src = _dst = NULL;
} }
void CV_UndistortBadArgTest::run_func() void CV_UndistortBadArgTest::run_func()
{ {
if (useCPlus) cv::undistort(src,dst,camera_mat,distortion_coeffs,new_camera_mat);
{
cv::undistort(src,dst,camera_mat,distortion_coeffs,new_camera_mat);
}
else
{
cvUndistort2(_src,_dst,_camera_mat,_distortion_coeffs,_new_camera_mat);
}
} }
void CV_UndistortBadArgTest::run(int) void CV_UndistortBadArgTest::run(int)
@ -464,52 +239,15 @@ void CV_UndistortBadArgTest::run(int)
img_size.height = 600; img_size.height = 600;
double cam[9] = {150.f, 0.f, img_size.width/2.f, 0, 300.f, img_size.height/2.f, 0.f, 0.f, 1.f}; double cam[9] = {150.f, 0.f, img_size.width/2.f, 0, 300.f, img_size.height/2.f, 0.f, 0.f, 1.f};
double dist[4] = {0.01,0.02,0.001,0.0005}; double dist[4] = {0.01,0.02,0.001,0.0005};
float* arr_src = new float[img_size.width*img_size.height]; std::vector<float> arr_src(img_size.width*img_size.height);
float* arr_dst = new float[img_size.width*img_size.height]; std::vector<float> arr_dst(img_size.width*img_size.height);
double arr_new_camera_mat[9] = {155.f, 0.f, img_size.width/2.f+img_size.width/50.f, 0, 310.f, img_size.height/2.f+img_size.height/50.f, 0.f, 0.f, 1.f}; double arr_new_camera_mat[9] = {155.f, 0.f, img_size.width/2.f+img_size.width/50.f, 0, 310.f, img_size.height/2.f+img_size.height/50.f, 0.f, 0.f, 1.f};
CvMat _camera_mat_orig = cvMat(3,3,CV_64F,cam); CvMat _camera_mat_orig = cvMat(3,3,CV_64F,cam);
CvMat _distortion_coeffs_orig = cvMat(1,4,CV_64F,dist); CvMat _distortion_coeffs_orig = cvMat(1,4,CV_64F,dist);
CvMat _new_camera_mat_orig = cvMat(3,3,CV_64F,arr_new_camera_mat); CvMat _new_camera_mat_orig = cvMat(3,3,CV_64F,arr_new_camera_mat);
CvMat _src_orig = cvMat(img_size.height,img_size.width,CV_32FC1,arr_src); CvMat _src_orig = cvMat(img_size.height,img_size.width,CV_32FC1,&arr_src[0]);
CvMat _dst_orig = cvMat(img_size.height,img_size.width,CV_32FC1,arr_dst); CvMat _dst_orig = cvMat(img_size.height,img_size.width,CV_32FC1,&arr_dst[0]);
_camera_mat = &_camera_mat_orig;
_distortion_coeffs = &_distortion_coeffs_orig;
_new_camera_mat = &_new_camera_mat_orig;
_src = &_src_orig;
_dst = &_dst_orig;
//tests
useCPlus = true;
CvMat* temp;
CvMat* temp1;
//C tests
useCPlus = false;
temp = cvCreateMat(800,600,CV_32F);
temp1 = cvCreateMat(800,601,CV_32F);
_src = temp;
_dst = temp1;
errcount += run_test_case( CV_StsAssert, "Input and output data matrix sizes mismatch" );
_src = &_src_orig;
_dst = &_dst_orig;
cvReleaseMat(&temp);
cvReleaseMat(&temp1);
temp = cvCreateMat(800,600,CV_32F);
temp1 = cvCreateMat(800,600,CV_64F);
_src = temp;
_dst = temp1;
errcount += run_test_case( CV_StsAssert, "Input and output data matrix types mismatch" );
_src = &_src_orig;
_dst = &_dst_orig;
cvReleaseMat(&temp);
cvReleaseMat(&temp1);
//C++ tests
useCPlus = true;
camera_mat = cv::cvarrToMat(&_camera_mat_orig); camera_mat = cv::cvarrToMat(&_camera_mat_orig);
distortion_coeffs = cv::cvarrToMat(&_distortion_coeffs_orig); distortion_coeffs = cv::cvarrToMat(&_distortion_coeffs_orig);
@ -517,9 +255,10 @@ void CV_UndistortBadArgTest::run(int)
src = cv::cvarrToMat(&_src_orig); src = cv::cvarrToMat(&_src_orig);
dst = cv::cvarrToMat(&_dst_orig); dst = cv::cvarrToMat(&_dst_orig);
camera_mat.create(5, 5, CV_64F);
errcount += run_test_case( CV_StsAssert, "Invalid camera data matrix size" );
//------------ //------------
delete[] arr_src;
delete[] arr_dst;
ts->set_failed_test_info(errcount > 0 ? cvtest::TS::FAIL_BAD_ARG_CHECK : cvtest::TS::OK); ts->set_failed_test_info(errcount > 0 ? cvtest::TS::FAIL_BAD_ARG_CHECK : cvtest::TS::OK);
} }

2
modules/imgproc/test/test_imgwarp.cpp
Unescape View File

@ -796,7 +796,7 @@ int CV_RemapTest::prepare_test_case( int test_case_idx )
k[2] = cvtest::randReal(rng)*0.004 - 0.002; k[2] = cvtest::randReal(rng)*0.004 - 0.002;
k[3] = cvtest::randReal(rng)*0.004 - 0.002; k[3] = cvtest::randReal(rng)*0.004 - 0.002;
cvtest::initUndistortMap( _a, _k, test_mat[INPUT][1].size(), test_mat[INPUT][1], test_mat[INPUT][2] ); cvtest::initUndistortMap( _a, _k, Mat(), Mat(), test_mat[INPUT][1].size(), test_mat[INPUT][1], test_mat[INPUT][2], CV_32F );
return code; return code;
} }

1
modules/stitching/src/motion_estimators.cpp
Unescape View File

@ -41,6 +41,7 @@
//M*/ //M*/
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/core/core_c.h"
#include "opencv2/calib3d/calib3d_c.h" #include "opencv2/calib3d/calib3d_c.h"
#include "opencv2/core/cvdef.h" #include "opencv2/core/cvdef.h"

4
modules/ts/include/opencv2/ts.hpp
Unescape View File

@ -220,7 +220,7 @@ void copyMakeBorder(const Mat& src, Mat& dst, int top, int bottom, int left, int
Mat calcSobelKernel2D( int dx, int dy, int apertureSize, int origin=0 ); Mat calcSobelKernel2D( int dx, int dy, int apertureSize, int origin=0 );
Mat calcLaplaceKernel2D( int aperture_size ); Mat calcLaplaceKernel2D( int aperture_size );
void initUndistortMap( const Mat& a, const Mat& k, Size sz, Mat& mapx, Mat& mapy ); void initUndistortMap( const Mat& a, const Mat& k, const Mat& R, const Mat& new_a, Size sz, Mat& mapx, Mat& mapy, int map_type );
void minMaxLoc(const Mat& src, double* minval, double* maxval, void minMaxLoc(const Mat& src, double* minval, double* maxval,
vector<int>* minloc, vector<int>* maxloc, const Mat& mask=Mat()); vector<int>* minloc, vector<int>* maxloc, const Mat& mask=Mat());
@ -594,7 +594,7 @@ protected:
catch(const cv::Exception& e) catch(const cv::Exception& e)
{ {
thrown = true; thrown = true;
if( e.code != expected_code ) if( e.code != expected_code && e.code != cv::Error::StsAssert && e.code != cv::Error::StsError )
{ {
ts->printf(TS::LOG, "%s (test case #%d): the error code %d is different from the expected %d\n", ts->printf(TS::LOG, "%s (test case #%d): the error code %d is different from the expected %d\n",
descr, test_case_idx, e.code, expected_code); descr, test_case_idx, e.code, expected_code);

54
modules/ts/src/ts_func.cpp
Unescape View File

@ -2810,29 +2810,57 @@ Mat calcLaplaceKernel2D( int aperture_size )
} }
void initUndistortMap( const Mat& _a0, const Mat& _k0, Size sz, Mat& _mapx, Mat& _mapy ) void initUndistortMap( const Mat& _a0, const Mat& _k0, const Mat& _R0, const Mat& _new_cam0, Size sz, Mat& __mapx, Mat& __mapy, int map_type )
{ {
_mapx.create(sz, CV_32F); Mat _mapx(sz, CV_32F), _mapy(sz, CV_32F);
_mapy.create(sz, CV_32F);
double a[9], k[5]={0,0,0,0,0}; double a[9], k[5]={0,0,0,0,0}, iR[9]={1, 0, 0, 0, 1, 0, 0, 0, 1}, a1[9];
Mat _a(3, 3, CV_64F, a); Mat _a(3, 3, CV_64F, a), _a1(3, 3, CV_64F, a1);
Mat _k(_k0.rows,_k0.cols, CV_MAKETYPE(CV_64F,_k0.channels()),k); Mat _k(_k0.rows,_k0.cols, CV_MAKETYPE(CV_64F,_k0.channels()),k);
Mat _iR(3, 3, CV_64F, iR);
double fx, fy, cx, cy, ifx, ify, cxn, cyn; double fx, fy, cx, cy, ifx, ify, cxn, cyn;
CV_Assert(_k0.empty() ||
_k0.size() == Size(5, 1) ||
_k0.size() == Size(1, 5) ||
_k0.size() == Size(4, 1) ||
_k0.size() == Size(1, 4));
CV_Assert(_a0.size() == Size(3, 3));
_a0.convertTo(_a, CV_64F); _a0.convertTo(_a, CV_64F);
_k0.convertTo(_k, CV_64F); if( !_k0.empty() )
_k0.convertTo(_k, CV_64F);
if( !_R0.empty() )
{
CV_Assert(_R0.size() == Size(3, 3));
Mat tmp;
_R0.convertTo(tmp, CV_64F);
invert(tmp, _iR, DECOMP_LU);
}
if( !_new_cam0.empty() )
{
CV_Assert(_new_cam0.size() == Size(3, 3));
_new_cam0.convertTo(_a1, CV_64F);
}
else
_a.copyTo(_a1);
fx = a[0]; fy = a[4]; cx = a[2]; cy = a[5]; fx = a[0]; fy = a[4]; cx = a[2]; cy = a[5];
ifx = 1./fx; ify = 1./fy; ifx = 1./a1[0]; ify = 1./a1[4];
cxn = cx; cxn = a1[2];
cyn = cy; cyn = a1[5];
for( int v = 0; v < sz.height; v++ ) for( int v = 0; v < sz.height; v++ )
{ {
for( int u = 0; u < sz.width; u++ ) for( int u = 0; u < sz.width; u++ )
{ {
double x = (u - cxn)*ifx; double x_ = (u - cxn)*ifx;
double y = (v - cyn)*ify; double y_ = (v - cyn)*ify;
double X = iR[0]*x_ + iR[1]*y_ + iR[2];
double Y = iR[3]*x_ + iR[4]*y_ + iR[5];
double Z = iR[6]*x_ + iR[7]*y_ + iR[8];
double x = X/Z;
double y = Y/Z;
double x2 = x*x, y2 = y*y; double x2 = x*x, y2 = y*y;
double r2 = x2 + y2; double r2 = x2 + y2;
double cdist = 1 + (k[0] + (k[1] + k[4]*r2)*r2)*r2; double cdist = 1 + (k[0] + (k[1] + k[4]*r2)*r2)*r2;
@ -2843,8 +2871,10 @@ void initUndistortMap( const Mat& _a0, const Mat& _k0, Size sz, Mat& _mapx, Mat&
_mapx.at<float>(v, u) = (float)(x1*fx + cx); _mapx.at<float>(v, u) = (float)(x1*fx + cx);
} }
} }
}
_mapx.convertTo(__mapx, map_type);
_mapy.convertTo(__mapy, map_type);
}
std::ostream& operator << (std::ostream& out, const MatInfo& m) std::ostream& operator << (std::ostream& out, const MatInfo& m)
{ {

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