Skip to content

Commit

Permalink
Merge remote-tracking branch 'upstream/3.4' into merge-3.4
Browse files Browse the repository at this point in the history
  • Loading branch information
@alalek
alalek committed Jan 28, 2023
2 parents 4d918ba + deaf632 commit d3ae175
Show file tree
Hide file tree
Showing 6 changed files with 302 additions and 30 deletions.
25 changes: 14 additions & 11 deletions modules/calib3d/src/calibration.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -1670,6 +1670,12 @@ static double cvCalibrateCamera2Internal( const CvMat* objectPoints,
}
}

Mat mask = cvarrToMat(solver.mask);
int nparams_nz = countNonZero(mask);
if (nparams_nz >= 2 * total)
CV_Error_(CV_StsBadArg,
("There should be less vars to optimize (having %d) than the number of residuals (%d = 2 per point)", nparams_nz, 2 * total));

// 2. initialize extrinsic parameters
for( i = 0, pos = 0; i < nimages; i++, pos += ni )
{
Expand Down Expand Up @@ -1795,27 +1801,24 @@ static double cvCalibrateCamera2Internal( const CvMat* objectPoints,
{
if( stdDevs )
{
Mat mask = cvarrToMat(solver.mask);
int nparams_nz = countNonZero(mask);
Mat JtJinv, JtJN;
JtJN.create(nparams_nz, nparams_nz, CV_64F);
subMatrix(cvarrToMat(_JtJ), JtJN, mask, mask);
completeSymm(JtJN, false);
cv::invert(JtJN, JtJinv, DECOMP_SVD);
//sigma2 is deviation of the noise
//see any papers about variance of the least squares estimator for
//detailed description of the variance estimation methods
double sigma2 = norm(allErrors, NORM_L2SQR) / (total - nparams_nz);
// an explanation of that denominator correction can be found here:
// R. Hartley, A. Zisserman, Multiple View Geometry in Computer Vision, 2004, section 5.1.3, page 134
// see the discussion for more details: https://github.com/opencv/opencv/pull/22992
int nErrors = 2 * total - nparams_nz;
double sigma2 = norm(allErrors, NORM_L2SQR) / nErrors;
Mat stdDevsM = cvarrToMat(stdDevs);
int j = 0;
for ( int s = 0; s < nparams; s++ )
{
stdDevsM.at<double>(s) = mask.data[s] ? std::sqrt(JtJinv.at<double>(j,j) * sigma2) : 0.0;
if( mask.data[s] )
{
stdDevsM.at<double>(s) = std::sqrt(JtJinv.at<double>(j,j) * sigma2);
j++;
}
else
stdDevsM.at<double>(s) = 0.;
}
}
break;
}
Expand Down
7 changes: 6 additions & 1 deletion modules/calib3d/src/fisheye.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -1594,13 +1594,18 @@ void cv::internal::EstimateUncertainties(InputArrayOfArrays objectPoints, InputA

Vec<double, 1> sigma_x;
meanStdDev(ex.reshape(1, 1), noArray(), sigma_x);
sigma_x *= sqrt(2.0 * (double)ex.total()/(2.0 * (double)ex.total() - 1.0));

Mat JJ2, ex3;
ComputeJacobians(objectPoints, imagePoints, params, omc, Tc, check_cond, thresh_cond, JJ2, ex3);

sqrt(JJ2.inv(), JJ2);

int nParams = JJ2.rows;
// an explanation of that denominator correction can be found here:
// R. Hartley, A. Zisserman, Multiple View Geometry in Computer Vision, 2004, section 5.1.3, page 134
// see the discussion for more details: https://github.com/opencv/opencv/pull/22992
sigma_x *= sqrt(2.0 * (double)ex.total()/(2.0 * (double)ex.total() - nParams));

errors = 3 * sigma_x(0) * JJ2.diag();
rms = sqrt(norm(ex, NORM_L2SQR)/ex.total());
}
Expand Down
6 changes: 3 additions & 3 deletions modules/calib3d/test/test_fisheye.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -597,9 +597,9 @@ TEST_F(fisheyeTest, EstimateUncertainties)
cv::internal::EstimateUncertainties(objectPoints, imagePoints, param, rvec, tvec,
errors, err_std, thresh_cond, check_cond, rms);

EXPECT_MAT_NEAR(errors.f, cv::Vec2d(1.29837104202046, 1.31565641071524), 1e-10);
EXPECT_MAT_NEAR(errors.c, cv::Vec2d(0.890439368129246, 0.816096854937896), 1e-10);
EXPECT_MAT_NEAR(errors.k, cv::Vec4d(0.00516248605191506, 0.0168181467500934, 0.0213118690274604, 0.00916010877545648), 1e-10);
EXPECT_MAT_NEAR(errors.f, cv::Vec2d(1.34250246865020720, 1.36037536429654530), 1e-10);
EXPECT_MAT_NEAR(errors.c, cv::Vec2d(0.92070526160049848, 0.84383585812851514), 1e-10);
EXPECT_MAT_NEAR(errors.k, cv::Vec4d(0.0053379581373996041, 0.017389792901700545, 0.022036256089491224, 0.0094714594258908952), 1e-10);
EXPECT_MAT_NEAR(err_std, cv::Vec2d(0.187475975266883, 0.185678953263995), 1e-10);
CV_Assert(fabs(rms - 0.263782587133546) < 1e-10);
CV_Assert(errors.alpha == 0);
Expand Down
2 changes: 2 additions & 0 deletions modules/core/src/parallel.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -275,7 +275,9 @@ namespace {
void recordException(const cv::String& msg)
#endif
{
#ifndef CV_THREAD_SANITIZER
if (!hasException)
#endif
{
cv::AutoLock lock(cv::getInitializationMutex());
if (!hasException)
Expand Down
59 changes: 44 additions & 15 deletions modules/imgproc/src/drawing.cpp
100644 → 100755
View file
Original file line number Diff line number Diff line change
Expand Up @@ -63,7 +63,7 @@ CollectPolyEdges( Mat& img, const Point2l* v, int npts,
int shift, Point offset=Point() );

static void
FillEdgeCollection( Mat& img, std::vector<PolyEdge>& edges, const void* color );
FillEdgeCollection( Mat& img, std::vector<PolyEdge>& edges, const void* color, int line_type);

static void
PolyLine( Mat& img, const Point2l* v, int npts, bool closed,
Expand Down Expand Up @@ -1049,7 +1049,7 @@ EllipseEx( Mat& img, Point2l center, Size2l axes,
v.push_back(center);
std::vector<PolyEdge> edges;
CollectPolyEdges( img, &v[0], (int)v.size(), edges, color, line_type, XY_SHIFT );
FillEdgeCollection( img, edges, color );
FillEdgeCollection( img, edges, color, line_type );
}
}

Expand Down Expand Up @@ -1277,37 +1277,60 @@ CollectPolyEdges( Mat& img, const Point2l* v, int count, std::vector<PolyEdge>&
pt1.x = (pt1.x + offset.x) << (XY_SHIFT - shift);
pt1.y = (pt1.y + delta) >> shift;

if( line_type < cv::LINE_AA )
Point2l pt0c(pt0), pt1c(pt1);

if (line_type < cv::LINE_AA)
{
t0.y = pt0.y; t1.y = pt1.y;
t0.x = (pt0.x + (XY_ONE >> 1)) >> XY_SHIFT;
t1.x = (pt1.x + (XY_ONE >> 1)) >> XY_SHIFT;
Line( img, t0, t1, color, line_type );
Line(img, t0, t1, color, line_type);

// use clipped endpoints to create a more accurate PolyEdge
if ((unsigned)t0.x >= (unsigned)(img.cols) ||
(unsigned)t1.x >= (unsigned)(img.cols) ||
(unsigned)t0.y >= (unsigned)(img.rows) ||
(unsigned)t1.y >= (unsigned)(img.rows))
{
clipLine(img.size(), t0, t1);

if (t0.y != t1.y)
{
pt0c.y = t0.y; pt1c.y = t1.y;
pt0c.x = (int64)(t0.x) << XY_SHIFT;
pt1c.x = (int64)(t1.x) << XY_SHIFT;
}
}
else
{
pt0c.x += XY_ONE >> 1;
pt1c.x += XY_ONE >> 1;
}
}
else
{
t0.x = pt0.x; t1.x = pt1.x;
t0.y = pt0.y << XY_SHIFT;
t1.y = pt1.y << XY_SHIFT;
LineAA( img, t0, t1, color );
LineAA(img, t0, t1, color);
}

if( pt0.y == pt1.y )
if (pt0.y == pt1.y)
continue;

if( pt0.y < pt1.y )
edge.dx = (pt1c.x - pt0c.x) / (pt1c.y - pt0c.y);
if (pt0.y < pt1.y)
{
edge.y0 = (int)(pt0.y);
edge.y1 = (int)(pt1.y);
edge.x = pt0.x;
edge.x = pt0c.x + (pt0.y - pt0c.y) * edge.dx; // correct starting point for clipped lines
}
else
{
edge.y0 = (int)(pt1.y);
edge.y1 = (int)(pt0.y);
edge.x = pt1.x;
edge.x = pt1c.x + (pt1.y - pt1c.y) * edge.dx; // correct starting point for clipped lines
}
edge.dx = (pt1.x - pt0.x) / (pt1.y - pt0.y);
edges.push_back(edge);
}
}
Expand All @@ -1324,7 +1347,7 @@ struct CmpEdges
/**************** helper macros and functions for sequence/contour processing ***********/

static void
FillEdgeCollection( Mat& img, std::vector<PolyEdge>& edges, const void* color )
FillEdgeCollection( Mat& img, std::vector<PolyEdge>& edges, const void* color, int line_type)
{
PolyEdge tmp;
int i, y, total = (int)edges.size();
Expand All @@ -1333,6 +1356,12 @@ FillEdgeCollection( Mat& img, std::vector<PolyEdge>& edges, const void* color )
int y_max = INT_MIN, y_min = INT_MAX;
int64 x_max = 0xFFFFFFFFFFFFFFFF, x_min = 0x7FFFFFFFFFFFFFFF;
int pix_size = (int)img.elemSize();
int delta;

if (line_type < CV_AA)
delta = 0;
else
delta = XY_ONE - 1;

if( total < 2 )
return;
Expand Down Expand Up @@ -1411,12 +1440,12 @@ FillEdgeCollection( Mat& img, std::vector<PolyEdge>& edges, const void* color )

if (keep_prelast->x > prelast->x)
{
x1 = (int)((prelast->x + XY_ONE - 1) >> XY_SHIFT);
x1 = (int)((prelast->x + delta) >> XY_SHIFT);
x2 = (int)(keep_prelast->x >> XY_SHIFT);
}
else
{
x1 = (int)((keep_prelast->x + XY_ONE - 1) >> XY_SHIFT);
x1 = (int)((keep_prelast->x + delta) >> XY_SHIFT);
x2 = (int)(prelast->x >> XY_SHIFT);
}

Expand Down Expand Up @@ -2017,7 +2046,7 @@ void fillPoly( InputOutputArray _img, const Point** pts, const int* npts, int nc
CollectPolyEdges(img, _pts.data(), npts[i], edges, buf, line_type, shift, offset);
}

FillEdgeCollection(img, edges, buf);
FillEdgeCollection(img, edges, buf, line_type);
}

void polylines( InputOutputArray _img, const Point* const* pts, const int* npts, int ncontours, bool isClosed,
Expand Down Expand Up @@ -2672,7 +2701,7 @@ cvDrawContours( void* _img, CvSeq* contour,
}

if( thickness < 0 )
cv::FillEdgeCollection( img, edges, ext_buf );
cv::FillEdgeCollection( img, edges, ext_buf, line_type);

if( h_next && contour0 )
contour0->h_next = h_next;
Expand Down
Loading

0 comments on commit d3ae175

Please sign in to comment.