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Commit 8f1f4273 authored by Alexander Alekhin's avatar Alexander Alekhin
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calib3d: move undistort files from imgproc

parent a9c8a526
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Showing with 205 additions and 193 deletions
modules/calib3d/include/opencv2/calib3d.hpp
View file @ 8f1f4273
This diff is collapsed.
modules/calib3d/include/opencv2/calib3d/calib3d_c.h
View file @ 8f1f4273
......@@ -379,6 +379,39 @@ 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
......
modules/calib3d/misc/java/test/Calib3dTest.java
View file @ 8f1f4273
package org.opencv.test.calib3d;
import org.opencv.calib3d.Calib3d;
import org.opencv.core.Core;
import org.opencv.core.CvType;
import org.opencv.core.Mat;
import org.opencv.core.MatOfDouble;
......@@ -14,6 +15,15 @@ import org.opencv.imgproc.Imgproc;
public class Calib3dTest extends OpenCVTestCase {
Size size;
@Override
protected void setUp() throws Exception {
super.setUp();
size = new Size(3, 3);
}
public void testCalibrateCameraListOfMatListOfMatSizeMatMatListOfMatListOfMat() {
fail("Not yet implemented");
}
......@@ -602,4 +612,131 @@ public class Calib3dTest extends OpenCVTestCase {
Calib3d.computeCorrespondEpilines(left, 1, fundamental, lines);
assertMatEqual(truth, lines, EPS);
}
public void testGetDefaultNewCameraMatrixMat() {
Mat mtx = Calib3d.getDefaultNewCameraMatrix(gray0);
assertFalse(mtx.empty());
assertEquals(0, Core.countNonZero(mtx));
}
public void testGetDefaultNewCameraMatrixMatSizeBoolean() {
Mat mtx = Calib3d.getDefaultNewCameraMatrix(gray0, size, true);
assertFalse(mtx.empty());
assertFalse(0 == Core.countNonZero(mtx));
// TODO_: write better test
}
public void testInitUndistortRectifyMap() {
fail("Not yet implemented");
Mat cameraMatrix = new Mat(3, 3, CvType.CV_32F);
cameraMatrix.put(0, 0, 1, 0, 1);
cameraMatrix.put(1, 0, 0, 1, 1);
cameraMatrix.put(2, 0, 0, 0, 1);
Mat R = new Mat(3, 3, CvType.CV_32F, new Scalar(2));
Mat newCameraMatrix = new Mat(3, 3, CvType.CV_32F, new Scalar(3));
Mat distCoeffs = new Mat();
Mat map1 = new Mat();
Mat map2 = new Mat();
// TODO: complete this test
Calib3d.initUndistortRectifyMap(cameraMatrix, distCoeffs, R, newCameraMatrix, size, CvType.CV_32F, map1, map2);
}
public void testInitWideAngleProjMapMatMatSizeIntIntMatMat() {
fail("Not yet implemented");
Mat cameraMatrix = new Mat(3, 3, CvType.CV_32F);
Mat distCoeffs = new Mat(1, 4, CvType.CV_32F);
// Size imageSize = new Size(2, 2);
cameraMatrix.put(0, 0, 1, 0, 1);
cameraMatrix.put(1, 0, 0, 1, 2);
cameraMatrix.put(2, 0, 0, 0, 1);
distCoeffs.put(0, 0, 1, 3, 2, 4);
truth = new Mat(3, 3, CvType.CV_32F);
truth.put(0, 0, 0, 0, 0);
truth.put(1, 0, 0, 0, 0);
truth.put(2, 0, 0, 3, 0);
// TODO: No documentation for this function
// Calib3d.initWideAngleProjMap(cameraMatrix, distCoeffs, imageSize,
// 5, m1type, truthput1, truthput2);
}
public void testInitWideAngleProjMapMatMatSizeIntIntMatMatInt() {
fail("Not yet implemented");
}
public void testInitWideAngleProjMapMatMatSizeIntIntMatMatIntDouble() {
fail("Not yet implemented");
}
public void testUndistortMatMatMatMat() {
Mat src = new Mat(3, 3, CvType.CV_32F, new Scalar(3));
Mat cameraMatrix = new Mat(3, 3, CvType.CV_32F) {
{
put(0, 0, 1, 0, 1);
put(1, 0, 0, 1, 2);
put(2, 0, 0, 0, 1);
}
};
Mat distCoeffs = new Mat(1, 4, CvType.CV_32F) {
{
put(0, 0, 1, 3, 2, 4);
}
};
Calib3d.undistort(src, dst, cameraMatrix, distCoeffs);
truth = new Mat(3, 3, CvType.CV_32F) {
{
put(0, 0, 0, 0, 0);
put(1, 0, 0, 0, 0);
put(2, 0, 0, 3, 0);
}
};
assertMatEqual(truth, dst, EPS);
}
public void testUndistortMatMatMatMatMat() {
Mat src = new Mat(3, 3, CvType.CV_32F, new Scalar(3));
Mat cameraMatrix = new Mat(3, 3, CvType.CV_32F) {
{
put(0, 0, 1, 0, 1);
put(1, 0, 0, 1, 2);
put(2, 0, 0, 0, 1);
}
};
Mat distCoeffs = new Mat(1, 4, CvType.CV_32F) {
{
put(0, 0, 2, 1, 4, 5);
}
};
Mat newCameraMatrix = new Mat(3, 3, CvType.CV_32F, new Scalar(1));
Calib3d.undistort(src, dst, cameraMatrix, distCoeffs, newCameraMatrix);
truth = new Mat(3, 3, CvType.CV_32F, new Scalar(3));
assertMatEqual(truth, dst, EPS);
}
//undistortPoints(List<Point> src, List<Point> dst, Mat cameraMatrix, Mat distCoeffs)
public void testUndistortPointsListOfPointListOfPointMatMat() {
MatOfPoint2f src = new MatOfPoint2f(new Point(1, 2), new Point(3, 4), new Point(-1, -1));
MatOfPoint2f dst = new MatOfPoint2f();
Mat cameraMatrix = Mat.eye(3, 3, CvType.CV_64FC1);
Mat distCoeffs = new Mat(8, 1, CvType.CV_64FC1, new Scalar(0));
Calib3d.undistortPoints(src, dst, cameraMatrix, distCoeffs);
assertEquals(src.size(), dst.size());
for(int i=0; i<src.toList().size(); i++) {
//Log.d("UndistortPoints", "s="+src.get(i)+", d="+dst.get(i));
assertTrue(src.toList().get(i).equals(dst.toList().get(i)));
}
}
}
modules/calib3d/src/calibration.cpp
View file @ 8f1f4273
......@@ -42,7 +42,7 @@
#include "precomp.hpp"
#include "opencv2/imgproc/imgproc_c.h"
#include "opencv2/imgproc/detail/distortion_model.hpp"
#include "distortion_model.hpp"
#include "opencv2/calib3d/calib3d_c.h"
#include <stdio.h>
#include <iterator>
......
modules/imgproc/src/undistort.cpp → modules/calib3d/src/undistort.cpp
View file @ 8f1f4273
......@@ -41,9 +41,11 @@
//M*/
#include "precomp.hpp"
#include "opencv2/imgproc/detail/distortion_model.hpp"
#include "distortion_model.hpp"
#include "undistort.hpp"
#include "opencv2/calib3d/calib3d_c.h"
cv::Mat cv::getDefaultNewCameraMatrix( InputArray _cameraMatrix, Size imgsize,
bool centerPrincipalPoint )
{
......@@ -534,29 +536,31 @@ static void cvUndistortPointsInternal( const CvMat* _src, CvMat* _dst, const CvM
}
}
void cvUndistortPoints( const CvMat* _src, CvMat* _dst, const CvMat* _cameraMatrix,
const CvMat* _distCoeffs,
const CvMat* matR, const CvMat* matP )
void cvUndistortPoints(const CvMat* _src, CvMat* _dst, const CvMat* _cameraMatrix,
const CvMat* _distCoeffs,
const CvMat* matR, const CvMat* matP)
{
cvUndistortPointsInternal(_src, _dst, _cameraMatrix, _distCoeffs, matR, matP,
cv::TermCriteria(cv::TermCriteria::COUNT, 5, 0.01));
}
void cv::undistortPoints( InputArray _src, OutputArray _dst,
InputArray _cameraMatrix,
InputArray _distCoeffs,
InputArray _Rmat,
InputArray _Pmat )
namespace cv {
void undistortPoints(InputArray _src, OutputArray _dst,
InputArray _cameraMatrix,
InputArray _distCoeffs,
InputArray _Rmat,
InputArray _Pmat)
{
undistortPoints(_src, _dst, _cameraMatrix, _distCoeffs, _Rmat, _Pmat, TermCriteria(TermCriteria::MAX_ITER, 5, 0.01));
}
void cv::undistortPoints( InputArray _src, OutputArray _dst,
InputArray _cameraMatrix,
InputArray _distCoeffs,
InputArray _Rmat,
InputArray _Pmat,
TermCriteria criteria)
void undistortPoints(InputArray _src, OutputArray _dst,
InputArray _cameraMatrix,
InputArray _distCoeffs,
InputArray _Rmat,
InputArray _Pmat,
TermCriteria criteria)
{
Mat src = _src.getMat(), cameraMatrix = _cameraMatrix.getMat();
Mat distCoeffs = _distCoeffs.getMat(), R = _Rmat.getMat(), P = _Pmat.getMat();
......@@ -578,10 +582,7 @@ void cv::undistortPoints( InputArray _src, OutputArray _dst,
cvUndistortPointsInternal(&_csrc, &_cdst, &_ccameraMatrix, pD, pR, pP, criteria);
}
namespace cv
{
static Point2f mapPointSpherical(const Point2f& p, float alpha, Vec4d* J, int projType)
static Point2f mapPointSpherical(const Point2f& p, float alpha, Vec4d* J, enum UndistortTypes projType)
{
double x = p.x, y = p.y;
double beta = 1 + 2*alpha;
......@@ -613,11 +614,11 @@ static Point2f mapPointSpherical(const Point2f& p, float alpha, Vec4d* J, int pr
}
return Point2f((float)asin(x1), (float)asin(y1));
}
CV_Error(CV_StsBadArg, "Unknown projection type");
CV_Error(Error::StsBadArg, "Unknown projection type");
}
static Point2f invMapPointSpherical(Point2f _p, float alpha, int projType)
static Point2f invMapPointSpherical(Point2f _p, float alpha, enum UndistortTypes projType)
{
double eps = 1e-12;
Vec2d p(_p.x, _p.y), q(_p.x, _p.y), err;
......@@ -646,11 +647,10 @@ static Point2f invMapPointSpherical(Point2f _p, float alpha, int projType)
return i < maxiter ? Point2f((float)q[0], (float)q[1]) : Point2f(-FLT_MAX, -FLT_MAX);
}
}
float cv::initWideAngleProjMap( InputArray _cameraMatrix0, InputArray _distCoeffs0,
Size imageSize, int destImageWidth, int m1type,
OutputArray _map1, OutputArray _map2, int projType, double _alpha )
float initWideAngleProjMap(InputArray _cameraMatrix0, InputArray _distCoeffs0,
Size imageSize, int destImageWidth, int m1type,
OutputArray _map1, OutputArray _map2,
enum UndistortTypes projType, double _alpha)
{
Mat cameraMatrix0 = _cameraMatrix0.getMat(), distCoeffs0 = _distCoeffs0.getMat();
double k[14] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0}, M[9]={0,0,0,0,0,0,0,0,0};
......@@ -735,4 +735,5 @@ float cv::initWideAngleProjMap( InputArray _cameraMatrix0, InputArray _distCoeff
return scale;
}
} // namespace
/* End of file */
modules/imgproc/src/undistort.hpp → modules/calib3d/src/undistort.hpp
View file @ 8f1f4273
......@@ -40,8 +40,8 @@
//
//M*/
#ifndef OPENCV_IMGPROC_UNDISTORT_HPP
#define OPENCV_IMGPROC_UNDISTORT_HPP
#ifndef OPENCV_CALIB3D_UNDISTORT_HPP
#define OPENCV_CALIB3D_UNDISTORT_HPP
namespace cv
{
......@@ -54,6 +54,6 @@ namespace cv
#endif
}
#endif
#endif // OPENCV_CALIB3D_UNDISTORT_HPP
/* End of file */
modules/calib3d/test/test_undistort.cpp
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This diff is collapsed.
modules/calib3d/test/test_undistort_badarg.cpp
View file @ 8f1f4273
......@@ -40,7 +40,7 @@
//M*/
#include "test_precomp.hpp"
#include "opencv2/imgproc/imgproc_c.h"
#include "opencv2/calib3d/calib3d_c.h"
namespace opencv_test { namespace {
......
modules/imgproc/include/opencv2/imgproc.hpp
View file @ 8f1f4273
This diff is collapsed.
modules/imgproc/include/opencv2/imgproc/imgproc_c.h
View file @ 8f1f4273
......@@ -273,39 +273,6 @@ CVAPI(void) cvLinearPolar( const CvArr* src, CvArr* dst,
CvPoint2D32f center, double maxRadius,
int flags CV_DEFAULT(CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS));
/** @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));
/** @brief Returns a structuring element of the specified size and shape for morphological operations.
@note the created structuring element IplConvKernel\* element must be released in the end using
......
modules/imgproc/misc/java/test/ImgprocTest.java
View file @ 8f1f4273
......@@ -891,21 +891,6 @@ public class ImgprocTest extends OpenCVTestCase {
assertMatEqual(truth, transform, EPS);
}
public void testGetDefaultNewCameraMatrixMat() {
Mat mtx = Imgproc.getDefaultNewCameraMatrix(gray0);
assertFalse(mtx.empty());
assertEquals(0, Core.countNonZero(mtx));
}
public void testGetDefaultNewCameraMatrixMatSizeBoolean() {
Mat mtx = Imgproc.getDefaultNewCameraMatrix(gray0, size, true);
assertFalse(mtx.empty());
assertFalse(0 == Core.countNonZero(mtx));
// TODO_: write better test
}
public void testGetDerivKernelsMatMatIntIntInt() {
Mat kx = new Mat(imgprocSz, imgprocSz, CvType.CV_32F);
Mat ky = new Mat(imgprocSz, imgprocSz, CvType.CV_32F);
......@@ -1139,52 +1124,6 @@ public class ImgprocTest extends OpenCVTestCase {
fail("Not yet implemented");
}
public void testInitUndistortRectifyMap() {
fail("Not yet implemented");
Mat cameraMatrix = new Mat(3, 3, CvType.CV_32F);
cameraMatrix.put(0, 0, 1, 0, 1);
cameraMatrix.put(1, 0, 0, 1, 1);
cameraMatrix.put(2, 0, 0, 0, 1);
Mat R = new Mat(3, 3, CvType.CV_32F, new Scalar(2));
Mat newCameraMatrix = new Mat(3, 3, CvType.CV_32F, new Scalar(3));
Mat distCoeffs = new Mat();
Mat map1 = new Mat();
Mat map2 = new Mat();
// TODO: complete this test
Imgproc.initUndistortRectifyMap(cameraMatrix, distCoeffs, R, newCameraMatrix, size, CvType.CV_32F, map1, map2);
}
public void testInitWideAngleProjMapMatMatSizeIntIntMatMat() {
fail("Not yet implemented");
Mat cameraMatrix = new Mat(3, 3, CvType.CV_32F);
Mat distCoeffs = new Mat(1, 4, CvType.CV_32F);
// Size imageSize = new Size(2, 2);
cameraMatrix.put(0, 0, 1, 0, 1);
cameraMatrix.put(1, 0, 0, 1, 2);
cameraMatrix.put(2, 0, 0, 0, 1);
distCoeffs.put(0, 0, 1, 3, 2, 4);
truth = new Mat(3, 3, CvType.CV_32F);
truth.put(0, 0, 0, 0, 0);
truth.put(1, 0, 0, 0, 0);
truth.put(2, 0, 0, 3, 0);
// TODO: No documentation for this function
// Imgproc.initWideAngleProjMap(cameraMatrix, distCoeffs, imageSize,
// 5, m1type, truthput1, truthput2);
}
public void testInitWideAngleProjMapMatMatSizeIntIntMatMatInt() {
fail("Not yet implemented");
}
public void testInitWideAngleProjMapMatMatSizeIntIntMatMatIntDouble() {
fail("Not yet implemented");
}
public void testIntegral2MatMatMat() {
Mat src = new Mat(3, 3, CvType.CV_32F, new Scalar(3));
Mat expSum = new Mat(4, 4, CvType.CV_64F);
......@@ -1748,72 +1687,6 @@ public class ImgprocTest extends OpenCVTestCase {
assertMatEqual(makeMask(gray255.clone(), 0), dst);
}
public void testUndistortMatMatMatMat() {
Mat src = new Mat(3, 3, CvType.CV_32F, new Scalar(3));
Mat cameraMatrix = new Mat(3, 3, CvType.CV_32F) {
{
put(0, 0, 1, 0, 1);
put(1, 0, 0, 1, 2);
put(2, 0, 0, 0, 1);
}
};
Mat distCoeffs = new Mat(1, 4, CvType.CV_32F) {
{
put(0, 0, 1, 3, 2, 4);
}
};
Imgproc.undistort(src, dst, cameraMatrix, distCoeffs);
truth = new Mat(3, 3, CvType.CV_32F) {
{
put(0, 0, 0, 0, 0);
put(1, 0, 0, 0, 0);
put(2, 0, 0, 3, 0);
}
};
assertMatEqual(truth, dst, EPS);
}
public void testUndistortMatMatMatMatMat() {
Mat src = new Mat(3, 3, CvType.CV_32F, new Scalar(3));
Mat cameraMatrix = new Mat(3, 3, CvType.CV_32F) {
{
put(0, 0, 1, 0, 1);
put(1, 0, 0, 1, 2);
put(2, 0, 0, 0, 1);
}
};
Mat distCoeffs = new Mat(1, 4, CvType.CV_32F) {
{
put(0, 0, 2, 1, 4, 5);
}
};
Mat newCameraMatrix = new Mat(3, 3, CvType.CV_32F, new Scalar(1));
Imgproc.undistort(src, dst, cameraMatrix, distCoeffs, newCameraMatrix);
truth = new Mat(3, 3, CvType.CV_32F, new Scalar(3));
assertMatEqual(truth, dst, EPS);
}
//undistortPoints(List<Point> src, List<Point> dst, Mat cameraMatrix, Mat distCoeffs)
public void testUndistortPointsListOfPointListOfPointMatMat() {
MatOfPoint2f src = new MatOfPoint2f(new Point(1, 2), new Point(3, 4), new Point(-1, -1));
MatOfPoint2f dst = new MatOfPoint2f();
Mat cameraMatrix = Mat.eye(3, 3, CvType.CV_64FC1);
Mat distCoeffs = new Mat(8, 1, CvType.CV_64FC1, new Scalar(0));
Imgproc.undistortPoints(src, dst, cameraMatrix, distCoeffs);
assertEquals(src.size(), dst.size());
for(int i=0; i<src.toList().size(); i++) {
//Log.d("UndistortPoints", "s="+src.get(i)+", d="+dst.get(i));
assertTrue(src.toList().get(i).equals(dst.toList().get(i)));
}
}
public void testWarpAffineMatMatMatSize() {
Mat src = new Mat(3, 3, CvType.CV_32F) {
{
......
modules/imgproc/test/test_imgwarp.cpp
View file @ 8f1f4273
This diff is collapsed.
samples/android/camera-calibration/src/org/opencv/samples/cameracalibration/OnCameraFrameRender.java
View file @ 8f1f4273
......@@ -4,6 +4,7 @@ import java.util.ArrayList;
import java.util.List;
import org.opencv.android.CameraBridgeViewBase.CvCameraViewFrame;
import org.opencv.calib3d.Calib3d;
import org.opencv.core.Core;
import org.opencv.core.Mat;
import org.opencv.core.MatOfPoint;
......@@ -50,7 +51,7 @@ class UndistortionFrameRender extends FrameRender {
@Override
public Mat render(CvCameraViewFrame inputFrame) {
Mat renderedFrame = new Mat(inputFrame.rgba().size(), inputFrame.rgba().type());
Imgproc.undistort(inputFrame.rgba(), renderedFrame,
Calib3d.undistort(inputFrame.rgba(), renderedFrame,
mCalibrator.getCameraMatrix(), mCalibrator.getDistortionCoefficients());
return renderedFrame;
......@@ -71,7 +72,7 @@ class ComparisonFrameRender extends FrameRender {
@Override
public Mat render(CvCameraViewFrame inputFrame) {
Mat undistortedFrame = new Mat(inputFrame.rgba().size(), inputFrame.rgba().type());
Imgproc.undistort(inputFrame.rgba(), undistortedFrame,
Calib3d.undistort(inputFrame.rgba(), undistortedFrame,
mCalibrator.getCameraMatrix(), mCalibrator.getDistortionCoefficients());
Mat comparisonFrame = inputFrame.rgba();
......
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