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aruco: use Mat().copyTo idiom instead of for loops

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pull/898/head
Pavel Rojtberg 8 years ago
parent a7ad78b9be
commit d07e70a48d
2 changed files with 20 additions and 65 deletions
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  1. 48
      modules/aruco/src/aruco.cpp
  2. 37
      modules/aruco/src/charuco.cpp

48
modules/aruco/src/aruco.cpp
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@ -920,13 +920,8 @@ static void _getBoardObjectAndImagePoints(const Ptr<Board> &_board, InputArray _
}
// create output
_objPoints.create((int)objPnts.size(), 1, CV_32FC3);
for(unsigned int i = 0; i < objPnts.size(); i++)
_objPoints.getMat().ptr< Point3f >(0)[i] = objPnts[i];
_imgPoints.create((int)objPnts.size(), 1, CV_32FC2);
for(unsigned int i = 0; i < imgPnts.size(); i++)
_imgPoints.getMat().ptr< Point2f >(0)[i] = imgPnts[i];
Mat(objPnts).copyTo(_objPoints);
Mat(imgPnts).copyTo(_imgPoints);
}
@ -937,7 +932,7 @@ static void _getBoardObjectAndImagePoints(const Ptr<Board> &_board, InputArray _
static void _projectUndetectedMarkers(const Ptr<Board> &_board, InputOutputArrayOfArrays _detectedCorners,
InputOutputArray _detectedIds, InputArray _cameraMatrix,
InputArray _distCoeffs,
OutputArrayOfArrays _undetectedMarkersProjectedCorners,
vector< vector< Point2f > >& _undetectedMarkersProjectedCorners,
OutputArray _undetectedMarkersIds) {
// first estimate board pose with the current avaible markers
@ -972,18 +967,8 @@ static void _projectUndetectedMarkers(const Ptr<Board> &_board, InputOutputArray
// parse output
_undetectedMarkersIds.create((int)undetectedIds.size(), 1, CV_32SC1);
for(unsigned int i = 0; i < undetectedIds.size(); i++)
_undetectedMarkersIds.getMat().ptr< int >(0)[i] = undetectedIds[i];
_undetectedMarkersProjectedCorners.create((int)undetectedCorners.size(), 1, CV_32FC2);
for(unsigned int i = 0; i < undetectedCorners.size(); i++) {
_undetectedMarkersProjectedCorners.create(4, 1, CV_32FC2, i, true);
for(int j = 0; j < 4; j++) {
_undetectedMarkersProjectedCorners.getMat(i).ptr< Point2f >()[j] =
undetectedCorners[i][j];
}
}
Mat(undetectedIds).copyTo(_undetectedMarkersIds);
_undetectedMarkersProjectedCorners = undetectedCorners;
}
@ -994,7 +979,7 @@ static void _projectUndetectedMarkers(const Ptr<Board> &_board, InputOutputArray
*/
static void _projectUndetectedMarkers(const Ptr<Board> &_board, InputOutputArrayOfArrays _detectedCorners,
InputOutputArray _detectedIds,
OutputArrayOfArrays _undetectedMarkersProjectedCorners,
vector< vector< Point2f > >& _undetectedMarkersProjectedCorners,
OutputArray _undetectedMarkersIds) {
@ -1042,20 +1027,14 @@ static void _projectUndetectedMarkers(const Ptr<Board> &_board, InputOutputArray
// get homography from detected markers
Mat transformation = findHomography(detectedMarkersObj2DAll, imageCornersAll);
_undetectedMarkersProjectedCorners.create((int)undetectedMarkersIds.size(), 1, CV_32FC2);
_undetectedMarkersProjectedCorners.resize(undetectedMarkersIds.size());
// for each undetected marker, apply transformation
for(unsigned int i = 0; i < undetectedMarkersObj2D.size(); i++) {
Mat projectedMarker;
perspectiveTransform(undetectedMarkersObj2D[i], projectedMarker, transformation);
_undetectedMarkersProjectedCorners.create(4, 1, CV_32FC2, i, true);
projectedMarker.copyTo(_undetectedMarkersProjectedCorners.getMat(i));
perspectiveTransform(undetectedMarkersObj2D[i], _undetectedMarkersProjectedCorners[i], transformation);
}
_undetectedMarkersIds.create((int)undetectedMarkersIds.size(), 1, CV_32SC1);
for(unsigned int i = 0; i < undetectedMarkersIds.size(); i++)
_undetectedMarkersIds.getMat().ptr< int >(0)[i] = undetectedMarkersIds[i];
Mat(undetectedMarkersIds).copyTo(_undetectedMarkersIds);
}
@ -1216,9 +1195,7 @@ void refineDetectedMarkers(InputArray _image, const Ptr<Board> &_board,
_detectedIds.clear();
// parse output
_detectedIds.create((int)finalAcceptedIds.size(), 1, CV_32SC1);
for(unsigned int i = 0; i < finalAcceptedIds.size(); i++)
_detectedIds.getMat().ptr< int >(0)[i] = finalAcceptedIds[i];
Mat(finalAcceptedIds).copyTo(_detectedIds);
_detectedCorners.create((int)finalAcceptedCorners.size(), 1, CV_32FC2);
for(unsigned int i = 0; i < finalAcceptedCorners.size(); i++) {
@ -1248,10 +1225,7 @@ void refineDetectedMarkers(InputArray _image, const Ptr<Board> &_board,
}
if(_recoveredIdxs.needed()) {
_recoveredIdxs.create((int)recoveredIdxs.size(), 1, CV_32SC1);
for(unsigned int i = 0; i < recoveredIdxs.size(); i++) {
_recoveredIdxs.getMat().ptr< int >()[i] = recoveredIdxs[i];
}
Mat(recoveredIdxs).copyTo(_recoveredIdxs);
}
}
}

37
modules/aruco/src/charuco.cpp
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@ -230,7 +230,7 @@ void CharucoBoard::_getNearestMarkerCorners() {
/**
* Remove charuco corners if any of their minMarkers closest markers has not been detected
*/
static unsigned int _filterCornersWithoutMinMarkers(const Ptr<CharucoBoard> &_board,
static int _filterCornersWithoutMinMarkers(const Ptr<CharucoBoard> &_board,
InputArray _allCharucoCorners,
InputArray _allCharucoIds,
InputArray _allArucoIds, int minMarkers,
@ -265,17 +265,9 @@ static unsigned int _filterCornersWithoutMinMarkers(const Ptr<CharucoBoard> &_bo
}
// parse output
_filteredCharucoCorners.create((int)filteredCharucoCorners.size(), 1, CV_32FC2);
for(unsigned int i = 0; i < filteredCharucoCorners.size(); i++) {
_filteredCharucoCorners.getMat().at< Point2f >(i) = filteredCharucoCorners[i];
}
_filteredCharucoIds.create((int)filteredCharucoIds.size(), 1, CV_32SC1);
for(unsigned int i = 0; i < filteredCharucoIds.size(); i++) {
_filteredCharucoIds.getMat().at< int >(i) = filteredCharucoIds[i];
}
return (unsigned int)filteredCharucoCorners.size();
Mat(filteredCharucoCorners).copyTo(_filteredCharucoCorners);
Mat(filteredCharucoIds).copyTo(_filteredCharucoIds);
return (int)_filteredCharucoIds.total();
}
@ -326,7 +318,7 @@ class CharucoSubpixelParallel : public ParallelLoopBody {
* @brief From all projected chessboard corners, select those inside the image and apply subpixel
* refinement. Returns number of valid corners.
*/
static unsigned int _selectAndRefineChessboardCorners(InputArray _allCorners, InputArray _image,
static int _selectAndRefineChessboardCorners(InputArray _allCorners, InputArray _image,
OutputArray _selectedCorners,
OutputArray _selectedIds,
const vector< Size > &winSizes) {
@ -380,17 +372,9 @@ static unsigned int _selectAndRefineChessboardCorners(InputArray _allCorners, In
CharucoSubpixelParallel(&grey, &filteredChessboardImgPoints, &filteredWinSizes, params));
// parse output
_selectedCorners.create((int)filteredChessboardImgPoints.size(), 1, CV_32FC2);
for(unsigned int i = 0; i < filteredChessboardImgPoints.size(); i++) {
_selectedCorners.getMat().at< Point2f >(i) = filteredChessboardImgPoints[i];
}
_selectedIds.create((int)filteredIds.size(), 1, CV_32SC1);
for(unsigned int i = 0; i < filteredIds.size(); i++) {
_selectedIds.getMat().at< int >(i) = filteredIds[i];
}
return (unsigned int)filteredChessboardImgPoints.size();
Mat(filteredChessboardImgPoints).copyTo(_selectedCorners);
Mat(filteredIds).copyTo(_selectedIds);
return (int)filteredChessboardImgPoints.size();
}
@ -863,11 +847,8 @@ void detectCharucoDiamond(InputArray _image, InputArrayOfArrays _markerCorners,
if(diamondIds.size() > 0) {
// parse output
_diamondIds.create((int)diamondIds.size(), 1, CV_32SC4);
for(unsigned int i = 0; i < diamondIds.size(); i++)
_diamondIds.getMat().at< Vec4i >(i) = diamondIds[i];
Mat(diamondIds).copyTo(_diamondIds);
_diamondCorners.create((int)diamondCorners.size(), 1, CV_32FC2);
for(unsigned int i = 0; i < diamondCorners.size(); i++) {

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