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Code Issues Releases Wiki Activity

Merge remote-tracking branch 'upstream/3.4' into merge-3.4

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This commit is contained in:
Alexander Alekhin
2019-01-10 12:29:39 +03:00
parent 1c9e23745c bca1ff20d7
commit ab2e83248f
7 changed files with 44 additions and 40 deletions
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0
modules/aruco/tutorials/charuco_detection/images/board.jpg → modules/aruco/tutorials/charuco_detection/images/charucoboard.jpg
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4
modules/ovis/CMakeLists.txt
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@@ -16,6 +16,10 @@ elseif(OGRE_VERSION VERSION_GREATER 1.10) # we need C++11 for OGRE 1.11
endif()
endif()
if(OGRE_VERSION VERSION_LESS 1.10.10)
message(WARNING "opencv_ovis: Ogre >= 1.10.10 recommended for interactive windows")
endif()
include_directories(${OGRE_INCLUDE_DIRS})
link_directories(${OGRE_LIBRARY_DIRS})

2
modules/ovis/src/ovis.cpp
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@@ -181,7 +181,7 @@ struct Application : public OgreBites::ApplicationContext, public OgreBites::Inp
int flags;
Application(const Ogre::String& _title, const Size& sz, int _flags)
: OgreBites::ApplicationContext("ovis", false), sceneMgr(NULL), title(_title), w(sz.width),
: OgreBites::ApplicationContext("ovis"), sceneMgr(NULL), title(_title), w(sz.width),
h(sz.height), key_pressed(-1), flags(_flags)
{
if(utils::getConfigurationParameterBool("OPENCV_OVIS_VERBOSE_LOG", false))

0
modules/sfm/samples/trajectory_reconstruccion.cpp → modules/sfm/samples/trajectory_reconstruction.cpp
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74
modules/sfm/src/projection.cpp
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@@ -55,34 +55,34 @@ namespace sfm
template<typename T>
void
homogeneousToEuclidean(const Mat & _X, Mat & _x)
homogeneousToEuclidean(const Mat & X_, Mat & x_)
{
int d = _X.rows - 1;
int d = X_.rows - 1;
const Mat_<T> & X_rows = _X.rowRange(0,d);
const Mat_<T> h = _X.row(d);
const Mat_<T> & X_rows = X_.rowRange(0,d);
const Mat_<T> h = X_.row(d);
const T * h_ptr = h[0], *h_ptr_end = h_ptr + h.cols;
const T * X_ptr = X_rows[0];
T * x_ptr = _x.ptr<T>(0);
T * x_ptr = x_.ptr<T>(0);
for (; h_ptr != h_ptr_end; ++h_ptr, ++X_ptr, ++x_ptr)
{
const T * X_col_ptr = X_ptr;
T * x_col_ptr = x_ptr, *x_col_ptr_end = x_col_ptr + d * _x.step1();
for (; x_col_ptr != x_col_ptr_end; X_col_ptr+=X_rows.step1(), x_col_ptr+=_x.step1() )
T * x_col_ptr = x_ptr, *x_col_ptr_end = x_col_ptr + d * x_.step1();
for (; x_col_ptr != x_col_ptr_end; X_col_ptr+=X_rows.step1(), x_col_ptr+=x_.step1() )
*x_col_ptr = (*X_col_ptr) / (*h_ptr);
}
}
void
homogeneousToEuclidean(InputArray _X, OutputArray _x)
homogeneousToEuclidean(InputArray X_, OutputArray x_)
{
// src
const Mat X = _X.getMat();
const Mat X = X_.getMat();
// dst
_x.create(X.rows-1, X.cols, X.type());
Mat x = _x.getMat();
x_.create(X.rows-1, X.cols, X.type());
Mat x = x_.getMat();
// type
if( X.depth() == CV_32F )
@@ -96,11 +96,11 @@ homogeneousToEuclidean(InputArray _X, OutputArray _x)
}
void
euclideanToHomogeneous(InputArray _x, OutputArray _X)
euclideanToHomogeneous(InputArray x_, OutputArray X_)
{
const Mat x = _x.getMat();
const Mat x = x_.getMat();
const Mat last_row = Mat::ones(1, x.cols, x.type());
vconcat(x, last_row, _X);
vconcat(x, last_row, X_);
}
template<typename T>
@@ -111,16 +111,16 @@ projectionFromKRt(const Mat_<T> &K, const Mat_<T> &R, const Mat_<T> &t, Mat_<T>
}
void
projectionFromKRt(InputArray _K, InputArray _R, InputArray _t, OutputArray _P)
projectionFromKRt(InputArray K_, InputArray R_, InputArray t_, OutputArray P_)
{
const Mat K = _K.getMat(), R = _R.getMat(), t = _t.getMat();
const Mat K = K_.getMat(), R = R_.getMat(), t = t_.getMat();
const int depth = K.depth();
CV_Assert((K.cols == 3 && K.rows == 3) && (t.cols == 1 && t.rows == 3) && (K.size() == R.size()));
CV_Assert((depth == CV_32F || depth == CV_64F) && depth == R.depth() && depth == t.depth());
_P.create(3, 4, depth);
P_.create(3, 4, depth);
Mat P = _P.getMat();
Mat P = P_.getMat();
// type
if( depth == CV_32F )
@@ -136,33 +136,33 @@ projectionFromKRt(InputArray _K, InputArray _R, InputArray _t, OutputArray _P)
template<typename T>
void
KRtFromProjection( const Mat_<T> &_P, Mat_<T> _K, Mat_<T> _R, Mat_<T> _t )
KRtFromProjection( const Mat_<T> &P_, Mat_<T> K_, Mat_<T> R_, Mat_<T> t_ )
{
libmv::Mat34 P;
libmv::Mat3 K, R;
libmv::Vec3 t;
cv2eigen( _P, P );
cv2eigen( P_, P );
libmv::KRt_From_P( P, &K, &R, &t );
eigen2cv( K, _K );
eigen2cv( R, _R );
eigen2cv( t, _t );
eigen2cv( K, K_ );
eigen2cv( R, R_ );
eigen2cv( t, t_ );
}
void
KRtFromProjection( InputArray _P, OutputArray _K, OutputArray _R, OutputArray _t )
KRtFromProjection( InputArray P_, OutputArray K_, OutputArray R_, OutputArray t_ )
{
const Mat P = _P.getMat();
const Mat P = P_.getMat();
const int depth = P.depth();
CV_Assert((P.cols == 4 && P.rows == 3) && (depth == CV_32F || depth == CV_64F));
_K.create(3, 3, depth);
_R.create(3, 3, depth);
_t.create(3, 1, depth);
K_.create(3, 3, depth);
R_.create(3, 3, depth);
t_.create(3, 1, depth);
Mat K = _K.getMat(), R = _R.getMat(), t = _t.getMat();
Mat K = K_.getMat(), R = R_.getMat(), t = t_.getMat();
// type
if( depth == CV_32F )
@@ -177,19 +177,19 @@ KRtFromProjection( InputArray _P, OutputArray _K, OutputArray _R, OutputArray _t
template<typename T>
T
depthValue( const Mat_<T> &_R, const Mat_<T> &_t, const Mat_<T> &_X )
depthValue( const Mat_<T> &R_, const Mat_<T> &t_, const Mat_<T> &X_ )
{
Matx<T,3,3> R(_R);
Vec<T,3> t(_t);
Matx<T,3,3> R(R_);
Vec<T,3> t(t_);
if ( _X.rows == 3)
if ( X_.rows == 3)
{
Vec<T,3> X(_X);
Vec<T,3> X(X_);
return (R*X)(2) + t(2);
}
else
{
Vec<T,4> X(_X);
Vec<T,4> X(X_);
Vec<T,3> Xe;
homogeneousToEuclidean(X,Xe);
return depthValue<T>( Mat(R), Mat(t), Mat(Xe) );
@@ -197,9 +197,9 @@ depthValue( const Mat_<T> &_R, const Mat_<T> &_t, const Mat_<T> &_X )
}
double
depth( InputArray _R, InputArray _t, InputArray _X)
depth( InputArray R_, InputArray t_, InputArray X_)
{
const Mat R = _R.getMat(), t = _t.getMat(), X = _X.getMat();
const Mat R = R_.getMat(), t = t_.getMat(), X = X_.getMat();
const int depth = R.depth();
CV_Assert( R.rows == 3 && R.cols == 3 && t.rows == 3 && t.cols == 1 );
CV_Assert( (X.rows == 3 && X.cols == 1) || (X.rows == 4 && X.cols == 1) );

2
modules/sfm/tutorials/sfm_trajectory_estimation/sfm_trajectory_estimation.markdown
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@@ -14,7 +14,7 @@ In this tutorial you will learn how to use the reconstruction api for camera mot
Code
----
@include sfm/samples/trajectory_reconstruccion.cpp
@include sfm/samples/trajectory_reconstruction.cpp
Explanation
-----------

2
modules/text/CMakeLists.txt
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@@ -7,7 +7,7 @@ if(NOT CMAKE_CROSSCOMPILING OR OPENCV_FIND_TESSERACT)
if(Tesseract_FOUND)
message(STATUS "Tesseract: YES")
set(HAVE_TESSERACT 1)
ocv_include_directories(${Tesseract_INCLUDE_DIR})
ocv_include_directories(${Tesseract_INCLUDE_DIRS})
ocv_target_link_libraries(${the_module} ${Tesseract_LIBRARIES})
else()
message(STATUS "Tesseract: NO")