From 68e55497b956652fa4d8cc1afec86a9c6df74730 Mon Sep 17 00:00:00 2001 From: Paul Jurczak Date: Thu, 12 Aug 2021 23:06:00 -0600 Subject: [PATCH 1/6] corrected a typo --- modules/aruco/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/aruco/README.md b/modules/aruco/README.md index d40ae78f2..9ed16270f 100644 --- a/modules/aruco/README.md +++ b/modules/aruco/README.md @@ -7,6 +7,6 @@ ArUco markers are easy to detect pattern grids that yield up to 1024 different p **ChArUco** -ArUco markers were improved by interspersing them inside a checkerboard called ChArUco. Checkerboard corner intersectionsa provide more stable corners because the edge location bias on one square is countered by the opposite edge orientation in the connecting square. By interspersing ArUco markers inside the checkerboard, each checkerboard corner gets a label which enables it to be used in complex calibration or pose scenarios where you cannot see all the corners of the checkerboard. +ArUco markers were improved by interspersing them inside a checkerboard called ChArUco. Checkerboard corner intersections provide more stable corners because the edge location bias on one square is countered by the opposite edge orientation in the connecting square. By interspersing ArUco markers inside the checkerboard, each checkerboard corner gets a label which enables it to be used in complex calibration or pose scenarios where you cannot see all the corners of the checkerboard. The smallest ChArUco board is 5 checkers and 4 markers called a "Diamond Marker". From ed199a349867595ecd706c29cd7d376a12ed9678 Mon Sep 17 00:00:00 2001 From: Stephen McDowell Date: Mon, 23 Aug 2021 16:57:33 -0600 Subject: [PATCH 2/6] remove executable bit for various files --- .../tutorials/aruco_detection/images/markers.jpg | Bin .../transientareassegmentationmodule.hpp | 0 modules/cnn_3dobj/CMakeLists.txt | 0 modules/cnn_3dobj/FindCaffe.cmake | 0 modules/cnn_3dobj/FindGlog.cmake | 0 modules/cnn_3dobj/README.md | 0 modules/cnn_3dobj/doc/cnn_3dobj.bib | 0 modules/cnn_3dobj/include/opencv2/cnn_3dobj.hpp | 0 modules/cnn_3dobj/samples/classify.cpp | 0 modules/cnn_3dobj/samples/data/3Dmodel/ant.ply | 0 modules/cnn_3dobj/samples/data/3Dmodel/ape.ply | 0 modules/cnn_3dobj/samples/data/3Dmodel/bunny.ply | 0 modules/cnn_3dobj/samples/data/3Dmodel/cow.ply | 0 modules/cnn_3dobj/samples/data/3Dmodel/horse.ply | Bin modules/cnn_3dobj/samples/data/3Dmodel/plane.ply | 0 .../data/images_mean/triplet_mean.binaryproto | Bin modules/cnn_3dobj/samples/data/label_all.txt | 0 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b/modules/face/tutorials/face_recognition/img/fisherface_reconstruction_opencv.png old mode 100755 new mode 100644 diff --git a/modules/face/tutorials/face_recognition/img/fisherfaces_opencv.png b/modules/face/tutorials/face_recognition/img/fisherfaces_opencv.png old mode 100755 new mode 100644 diff --git a/modules/face/tutorials/face_recognition/img/lbp/lbp.png b/modules/face/tutorials/face_recognition/img/lbp/lbp.png old mode 100755 new mode 100644 diff --git a/modules/face/tutorials/face_recognition/img/lbp/lbp_yale.jpg b/modules/face/tutorials/face_recognition/img/lbp/lbp_yale.jpg old mode 100755 new mode 100644 diff --git a/modules/face/tutorials/face_recognition/img/lbp/patterns.png b/modules/face/tutorials/face_recognition/img/lbp/patterns.png old mode 100755 new mode 100644 diff --git a/modules/rgbd/include/opencv2/rgbd.hpp b/modules/rgbd/include/opencv2/rgbd.hpp old mode 100755 new mode 100644 diff --git a/modules/rgbd/src/odometry.cpp b/modules/rgbd/src/odometry.cpp old mode 100755 new mode 100644 From 85a21db82cabb11c9dce2595b4e4e748cc2df4bc Mon Sep 17 00:00:00 2001 From: Yoshiaki Sato Date: Wed, 25 Aug 2021 07:00:30 +0900 Subject: [PATCH 3/6] Update detector_params.yml Renamed a variable name minCornerDistance to minCornerDistanceRate since it is used at https://github.com/opencv/opencv_contrib/blob/907efb966823ea3ca40b70500068866f6bfb8f3a/modules/aruco/samples/detect_markers.cpp#L93 and https://github.com/opencv/opencv_contrib/blob/907efb966823ea3ca40b70500068866f6bfb8f3a/modules/aruco/samples/detect_diamonds.cpp#L94 . --- modules/aruco/samples/detector_params.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/aruco/samples/detector_params.yml b/modules/aruco/samples/detector_params.yml index 6f804e500..310710a5e 100644 --- a/modules/aruco/samples/detector_params.yml +++ b/modules/aruco/samples/detector_params.yml @@ -8,7 +8,7 @@ adaptiveThreshConstant: 7 minMarkerPerimeterRate: 0.03 maxMarkerPerimeterRate: 4.0 polygonalApproxAccuracyRate: 0.05 -minCornerDistance: 10.0 +minCornerDistanceRate: 10.0 minDistanceToBorder: 3 minMarkerDistance: 10.0 minMarkerDistanceRate: 0.05 From 4295bd79fc72398a4e20ed52abad4d278e921a92 Mon Sep 17 00:00:00 2001 From: Yoshiaki Sato Date: Fri, 27 Aug 2021 06:51:46 +0900 Subject: [PATCH 4/6] Update detector_params.yml Fix minCornerDistanceRate from 10.0 to 0.05, see https://docs.opencv.org/master/d1/dcd/structcv_1_1aruco_1_1DetectorParameters.html . --- modules/aruco/samples/detector_params.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/aruco/samples/detector_params.yml b/modules/aruco/samples/detector_params.yml index 310710a5e..ca3f74d92 100644 --- a/modules/aruco/samples/detector_params.yml +++ b/modules/aruco/samples/detector_params.yml @@ -8,7 +8,7 @@ adaptiveThreshConstant: 7 minMarkerPerimeterRate: 0.03 maxMarkerPerimeterRate: 4.0 polygonalApproxAccuracyRate: 0.05 -minCornerDistanceRate: 10.0 +minCornerDistanceRate: 0.05 minDistanceToBorder: 3 minMarkerDistance: 10.0 minMarkerDistanceRate: 0.05 From ce196ce2d634c6f631fd1abb1588e4379656332b Mon Sep 17 00:00:00 2001 From: Alexander Alekhin Date: Sat, 28 Aug 2021 17:21:53 +0000 Subject: [PATCH 5/6] build: eliminate build warnings --- modules/line_descriptor/src/LSDDetector.cpp | 2 +- .../opencv2/saliency/saliencySpecializedClasses.hpp | 2 +- modules/tracking/src/trackerCSRT.cpp | 2 +- modules/tracking/src/trackerCSRTScaleEstimation.cpp | 8 ++++---- modules/tracking/test/test_trackers.cpp | 3 ++- modules/xfeatures2d/src/msd.cpp | 4 ++-- modules/ximgproc/src/graphsegmentation.cpp | 3 ++- 7 files changed, 13 insertions(+), 11 deletions(-) diff --git a/modules/line_descriptor/src/LSDDetector.cpp b/modules/line_descriptor/src/LSDDetector.cpp index 2e4b75dc7..6d1a64742 100644 --- a/modules/line_descriptor/src/LSDDetector.cpp +++ b/modules/line_descriptor/src/LSDDetector.cpp @@ -170,7 +170,7 @@ void LSDDetector::detectImpl( const Mat& imageSrc, std::vector& keyline int class_counter = -1; for ( int octaveIdx = 0; octaveIdx < (int) lines_lsd.size(); octaveIdx++ ) { - float octaveScale = pow( (float)scale, octaveIdx ); + float octaveScale = std::pow((float)scale, (float)octaveIdx); for ( int k = 0; k < (int) lines_lsd[octaveIdx].size(); k++ ) { KeyLine kl; diff --git a/modules/saliency/include/opencv2/saliency/saliencySpecializedClasses.hpp b/modules/saliency/include/opencv2/saliency/saliencySpecializedClasses.hpp index c3149bfac..580f6f384 100644 --- a/modules/saliency/include/opencv2/saliency/saliencySpecializedClasses.hpp +++ b/modules/saliency/include/opencv2/saliency/saliencySpecializedClasses.hpp @@ -455,7 +455,7 @@ private: inline static float LoG( float x, float y, float delta ) { float d = - ( x * x + y * y ) / ( 2 * delta * delta ); - return -1.0f / ( (float) ( CV_PI ) * pow( delta, 4 ) ) * ( 1 + d ) * exp( d ); + return -1.0f / ( (float) ( CV_PI ) * (delta*delta*delta*delta) ) * ( 1 + d ) * exp( d ); } // Laplacian of Gaussian // Read matrix from binary file diff --git a/modules/tracking/src/trackerCSRT.cpp b/modules/tracking/src/trackerCSRT.cpp index 0c541cfb7..0534789b4 100644 --- a/modules/tracking/src/trackerCSRT.cpp +++ b/modules/tracking/src/trackerCSRT.cpp @@ -527,7 +527,7 @@ bool TrackerCSRTImpl::initImpl(const Mat& image_, const Rect2d& boundingBox) sqrt(original_target_size.width * original_target_size.height))); template_size.width = template_size.height = (template_size.width + template_size.height) / 2.0f; - rescale_ratio = sqrt(pow(params.template_size,2) / (template_size.width * template_size.height)); + rescale_ratio = sqrt((params.template_size * params.template_size) / (template_size.width * template_size.height)); if(rescale_ratio > 1) { rescale_ratio = 1; } diff --git a/modules/tracking/src/trackerCSRTScaleEstimation.cpp b/modules/tracking/src/trackerCSRTScaleEstimation.cpp index 5bde5f420..9467349b6 100644 --- a/modules/tracking/src/trackerCSRTScaleEstimation.cpp +++ b/modules/tracking/src/trackerCSRTScaleEstimation.cpp @@ -91,10 +91,10 @@ DSST::DSST(const Mat &image, scale_sigma = static_cast(sqrt(scales_count) * sigma_factor); - min_scale_factor = pow(scale_step, - cvCeil(log(max(5.0 / template_size.width, 5.0 / template_size.height)) / log(scale_step))); - max_scale_factor = powf(scale_step, - static_cast(cvFloor(log(min((float)image.rows / (float)bounding_box.width, + min_scale_factor = static_cast(pow(scale_step, + cvCeil(log(max(5.0 / template_size.width, 5.0 / template_size.height)) / log(scale_step)))); + max_scale_factor = static_cast(pow(scale_step, + cvFloor(log(min((float)image.rows / (float)bounding_box.width, (float)image.cols / (float)bounding_box.height)) / log(scale_step)))); ys = Mat(1, scales_count, CV_32FC1); float ss, sf; diff --git a/modules/tracking/test/test_trackers.cpp b/modules/tracking/test/test_trackers.cpp index db1617e35..82fdf5e2d 100644 --- a/modules/tracking/test/test_trackers.cpp +++ b/modules/tracking/test/test_trackers.cpp @@ -145,7 +145,8 @@ float TrackerTest::calcDistance( Rect a, Rect b ) { Point2f p_a( (float)(a.x + a.width / 2), (float)(a.y + a.height / 2) ); Point2f p_b( (float)(b.x + b.width / 2), (float)(b.y + b.height / 2) ); - return sqrt( pow( p_a.x - p_b.x, 2 ) + pow( p_a.y - p_b.y, 2 ) ); + Point2f diff = p_a - p_b; + return sqrt(diff.dot(diff)); } float TrackerTest::calcOverlap( Rect a, Rect b ) diff --git a/modules/xfeatures2d/src/msd.cpp b/modules/xfeatures2d/src/msd.cpp index 637d992cb..d07c78cef 100644 --- a/modules/xfeatures2d/src/msd.cpp +++ b/modules/xfeatures2d/src/msd.cpp @@ -367,7 +367,7 @@ namespace cv p_res.y = j + xr + 0.5f; } else { - float effectiveScaleFactor = std::pow(m_scale_factor, scale); + float effectiveScaleFactor = std::pow(m_scale_factor, (float)scale); p_res.x = (i + xc + 0.5f) * effectiveScaleFactor; p_res.y = (j + xr + 0.5f) * effectiveScaleFactor; @@ -755,7 +755,7 @@ namespace cv continue; } kp_temp.response = saliency[r][j * cW + i]; - kp_temp.size = (m_patch_radius * 2.0f + 1) * std::pow(m_scale_factor, r); + kp_temp.size = (m_patch_radius * 2.0f + 1) * std::pow(m_scale_factor, (float)r); kp_temp.octave = r; if (m_compute_orientation) kp_temp.angle = computeOrientation(m_scaleSpace[r], i, j, orientPoints); diff --git a/modules/ximgproc/src/graphsegmentation.cpp b/modules/ximgproc/src/graphsegmentation.cpp index 77a8ed40f..45c8c2a46 100644 --- a/modules/ximgproc/src/graphsegmentation.cpp +++ b/modules/ximgproc/src/graphsegmentation.cpp @@ -194,7 +194,8 @@ namespace cv { float tmp_total = 0; for ( int channel = 0; channel < nb_channels; channel++) { - tmp_total += pow(p[j * nb_channels + channel] - p2[j2 * nb_channels + channel], 2); + float tmp_diff = p[j * nb_channels + channel] - p2[j2 * nb_channels + channel]; + tmp_total += tmp_diff * tmp_diff; } float diff = 0; From 83b04ee76d6627872a30454d85aaea387f9d6224 Mon Sep 17 00:00:00 2001 From: Vadim Levin Date: Sat, 28 Aug 2021 21:55:09 +0300 Subject: [PATCH 6/6] fix: aruco test tries to pass 2d array to std::vector --- modules/aruco/misc/python/test/test_aruco.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/modules/aruco/misc/python/test/test_aruco.py b/modules/aruco/misc/python/test/test_aruco.py index 474aa87ec..836d5ce08 100644 --- a/modules/aruco/misc/python/test/test_aruco.py +++ b/modules/aruco/misc/python/test/test_aruco.py @@ -13,19 +13,19 @@ class aruco_test(NewOpenCVTests): def test_idsAccessibility(self): - ids = np.array([[elem] for elem in range(17)]) - rev_ids = np.array(list(reversed(ids))) + ids = np.arange(17) + rev_ids = ids[::-1] aruco_dict = cv.aruco.Dictionary_get(cv.aruco.DICT_5X5_250) board = cv.aruco.CharucoBoard_create(7, 5, 1, 0.5, aruco_dict) - self.assertTrue(np.equal(board.ids, ids).all()) + np.testing.assert_array_equal(board.ids.squeeze(), ids) board.ids = rev_ids - self.assertTrue(np.equal(board.ids, rev_ids).all()) + np.testing.assert_array_equal(board.ids.squeeze(), rev_ids) board.setIds(ids) - self.assertTrue(np.equal(board.ids, ids).all()) + np.testing.assert_array_equal(board.ids.squeeze(), ids) with self.assertRaises(cv.error): board.setIds(np.array([0]))