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

orenyomtov · Nov 6, 2018 · 2c6f1ab · 2c6f1ab
2 parents 000110e + e75576e
commit 2c6f1ab
Show file tree

Hide file tree

Showing 30 changed files with 1,625 additions and 2,226 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -347,6 +347,7 @@ OCV_OPTION(GENERATE_ABI_DESCRIPTOR    "Generate XML file for abi_compliance_chec
 OCV_OPTION(CV_ENABLE_INTRINSICS       "Use intrinsic-based optimized code" ON )
 OCV_OPTION(CV_DISABLE_OPTIMIZATION    "Disable explicit optimized code (dispatched code/intrinsics/loop unrolling/etc)" OFF )
 OCV_OPTION(CV_TRACE                   "Enable OpenCV code trace" ON)
+OCV_OPTION(OPENCV_GENERATE_SETUPVARS  "Generate setup_vars* scripts" ON IF (NOT ANDROID AND NOT APPLE_FRAMEWORK) )
 
 OCV_OPTION(ENABLE_PYLINT              "Add target with Pylint checks"                            (BUILD_DOCS OR BUILD_EXAMPLES) IF (NOT CMAKE_CROSSCOMPILING AND NOT APPLE_FRAMEWORK) )
 OCV_OPTION(ENABLE_FLAKE8              "Add target with Python flake8 checker"                    (BUILD_DOCS OR BUILD_EXAMPLES) IF (NOT CMAKE_CROSSCOMPILING AND NOT APPLE_FRAMEWORK) )
@@ -929,6 +930,10 @@ if(COMMAND ocv_pylint_finalize)
   ocv_pylint_finalize()
 endif()
 
+if(OPENCV_GENERATE_SETUPVARS)
+  include(cmake/OpenCVGenSetupVars.cmake)
+endif()
+
 # ----------------------------------------------------------------------------
 # Summary:
 # ----------------------------------------------------------------------------

diff --git a/cmake/OpenCVGenSetupVars.cmake b/cmake/OpenCVGenSetupVars.cmake
@@ -0,0 +1,51 @@
+if(WIN32)
+  ocv_update(OPENCV_SETUPVARS_INSTALL_PATH ".")
+  ocv_update(OPENCV_SCRIPT_EXTENSION ".cmd")
+  ocv_update(OPENCV_SETUPVARS_TEMPLATE "setup_vars_win32.cmd.in")
+else()
+  ocv_update(OPENCV_SETUPVARS_INSTALL_PATH "bin")
+  ocv_update(OPENCV_SCRIPT_EXTENSION ".sh")
+  if(APPLE)
+    ocv_update(OPENCV_SETUPVARS_TEMPLATE "setup_vars_macosx.sh.in")
+  else()
+    ocv_update(OPENCV_SETUPVARS_TEMPLATE "setup_vars_linux.sh.in")
+  endif()
+endif()
+
+if(INSTALL_TO_MANGLED_PATHS)
+  ocv_update(OPENCV_SETUPVARS_FILENAME "setup_vars_opencv-${OPENCV_VERSION}${OPENCV_SCRIPT_EXTENSION}")
+else()
+  ocv_update(OPENCV_SETUPVARS_FILENAME setup_vars_opencv3${OPENCV_SCRIPT_EXTENSION})
+endif()
+
+##### build directory
+if(WIN32)
+  set(__build_type "${CMAKE_BUILD_TYPE}")
+  if(NOT __build_type)
+    set(__build_type "Release")  # default
+  endif()
+  file(RELATIVE_PATH OPENCV_LIB_RUNTIME_DIR_RELATIVE_CMAKECONFIG "${OpenCV_BINARY_DIR}/" "${EXECUTABLE_OUTPUT_PATH}/${__build_type}/")
+else()
+  file(RELATIVE_PATH OPENCV_LIB_RUNTIME_DIR_RELATIVE_CMAKECONFIG "${OpenCV_BINARY_DIR}/" "${LIBRARY_OUTPUT_PATH}/")
+endif()
+set(OPENCV_PYTHON_DIR_RELATIVE_CMAKECONFIG "python_loader")  # https://github.com/opencv/opencv/pull/12977
+configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/${OPENCV_SETUPVARS_TEMPLATE}" "${CMAKE_BINARY_DIR}/tmp/setup_vars${OPENCV_SCRIPT_EXTENSION}" @ONLY)
+file(COPY "${CMAKE_BINARY_DIR}/tmp/setup_vars${OPENCV_SCRIPT_EXTENSION}" DESTINATION "${CMAKE_BINARY_DIR}"
+    FILE_PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE)
+
+##### install directory
+if(WIN32)
+  file(RELATIVE_PATH OPENCV_LIB_RUNTIME_DIR_RELATIVE_CMAKECONFIG
+      "${CMAKE_INSTALL_PREFIX}/${OPENCV_SETUPVARS_INSTALL_PATH}/" "${CMAKE_INSTALL_PREFIX}/${OPENCV_BIN_INSTALL_PATH}/")
+else()
+  file(RELATIVE_PATH OPENCV_LIB_RUNTIME_DIR_RELATIVE_CMAKECONFIG
+      "${CMAKE_INSTALL_PREFIX}/${OPENCV_SETUPVARS_INSTALL_PATH}/" "${CMAKE_INSTALL_PREFIX}/${OPENCV_LIB_INSTALL_PATH}/")
+endif()
+file(RELATIVE_PATH OPENCV_PYTHON_DIR_RELATIVE_CMAKECONFIG
+    "${CMAKE_INSTALL_PREFIX}/${OPENCV_SETUPVARS_INSTALL_PATH}/" "${CMAKE_INSTALL_PREFIX}/")
+ocv_path_join(OPENCV_PYTHON_DIR_RELATIVE_CMAKECONFIG "${OPENCV_PYTHON_DIR_RELATIVE_CMAKECONFIG}" "python_loader")  # https://github.com/opencv/opencv/pull/12977
+configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/${OPENCV_SETUPVARS_TEMPLATE}" "${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/install/${OPENCV_SETUPVARS_FILENAME}" @ONLY)
+install(FILES "${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/install/${OPENCV_SETUPVARS_FILENAME}"
+    DESTINATION "${OPENCV_SETUPVARS_INSTALL_PATH}"
+    PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE
+    COMPONENT scripts)
diff --git a/cmake/OpenCVUtils.cmake b/cmake/OpenCVUtils.cmake
@@ -149,7 +149,9 @@ macro(ocv_path_join result_var P1 P2_)
   else()
     set(${result_var} "${P1}/${P2}")
   endif()
-  string(REGEX REPLACE "([/\\]?)[\\.][/\\]" "\\1" ${result_var} "${${result_var}}")
+  string(REPLACE "\\\\" "\\" ${result_var} "${${result_var}}")
+  string(REPLACE "//" "/" ${result_var} "${${result_var}}")
+  string(REGEX REPLACE "(^|[/\\])[\\.][/\\]" "\\1" ${result_var} "${${result_var}}")
   if("${${result_var}}" STREQUAL "")
     set(${result_var} ".")
   endif()

diff --git a/cmake/templates/setup_vars_linux.sh.in b/cmake/templates/setup_vars_linux.sh.in
@@ -0,0 +1,20 @@
+#!/bin/bash
+
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+
+[[ ! "${OPENCV_QUIET}" ]] && ( echo "Setting vars for OpenCV @OPENCV_VERSION@" )
+export LD_LIBRARY_PATH="$SCRIPT_DIR/@OPENCV_LIB_RUNTIME_DIR_RELATIVE_CMAKECONFIG@:$LD_LIBRARY_PATH"
+
+if [[ ! "$OPENCV_SKIP_PYTHON" ]]; then
+  PYTHONPATH_OPENCV="$SCRIPT_DIR/@OPENCV_PYTHON_DIR_RELATIVE_CMAKECONFIG@"
+  [[ ! "${OPENCV_QUIET}" ]] && ( echo "Append PYTHONPATH: ${PYTHONPATH_OPENCV}" )
+  export PYTHONPATH="${PYTHONPATH_OPENCV}:$PYTHONPATH"
+fi
+
+# Don't exec in "sourced" mode
+if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then
+  if [[ $# -ne 0 ]]; then
+    [[ ! "${OPENCV_QUIET}" && "${OPENCV_VERBOSE}" ]] && ( echo "Executing: $*" )
+    exec "$@"
+  fi
+fi
diff --git a/cmake/templates/setup_vars_macosx.sh.in b/cmake/templates/setup_vars_macosx.sh.in
@@ -0,0 +1,20 @@
+#!/bin/bash
+
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+
+[[ ! "${OPENCV_QUIET}" ]] && ( echo "Setting vars for OpenCV @OPENCV_VERSION@" )
+export DYLD_LIBRARY_PATH="$SCRIPT_DIR/@OPENCV_LIB_RUNTIME_DIR_RELATIVE_CMAKECONFIG@:$DYLD_LIBRARY_PATH"
+
+if [[ ! "$OPENCV_SKIP_PYTHON" ]]; then
+  PYTHONPATH_OPENCV="$SCRIPT_DIR/@OPENCV_PYTHON_DIR_RELATIVE_CMAKECONFIG@"
+  [[ ! "${OPENCV_QUIET}" ]] && ( echo "Append PYTHONPATH: ${PYTHONPATH_OPENCV}" )
+  export PYTHONPATH="${PYTHONPATH_OPENCV}:$PYTHONPATH"
+fi
+
+# Don't exec in "sourced" mode
+if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then
+  if [[ $# -ne 0 ]]; then
+    [[ ! "${OPENCV_QUIET}" && "${OPENCV_VERBOSE}" ]] && ( echo "Executing: $*" )
+    exec "$@"
+  fi
+fi
diff --git a/cmake/templates/setup_vars_win32.cmd.in b/cmake/templates/setup_vars_win32.cmd.in
@@ -0,0 +1,18 @@
+@ECHO OFF
+SETLOCAL EnableDelayedExpansion
+
+SET "SCRIPT_DIR=%~dp0"
+
+IF NOT DEFINED OPENCV_QUIET ( ECHO Setting vars for OpenCV @OPENCV_VERSION@ )
+SET "PATH=!SCRIPT_DIR!\@OPENCV_LIB_RUNTIME_DIR_RELATIVE_CMAKECONFIG@;%PATH%"
+
+IF NOT DEFINED OPENCV_SKIP_PYTHON (
+  SET "PYTHONPATH_OPENCV=!SCRIPT_DIR!\@OPENCV_PYTHON_DIR_RELATIVE_CMAKECONFIG@"
+  IF NOT DEFINED OPENCV_QUIET ( ECHO Append PYTHONPATH: !PYTHONPATH_OPENCV! )
+  SET "PYTHONPATH=!PYTHONPATH_OPENCV!;%PYTHONPATH%"
+)
+
+IF NOT [%1] == [] (
+  %*
+  EXIT /B !errorlevel!
+)
diff --git a/doc/Doxyfile.in b/doc/Doxyfile.in
@@ -107,7 +107,7 @@ RECURSIVE              = YES
 EXCLUDE                = @CMAKE_DOXYGEN_EXCLUDE_LIST@
 EXCLUDE_SYMLINKS       = NO
 EXCLUDE_PATTERNS       = *.inl.hpp *.impl.hpp *_detail.hpp */cudev/**/detail/*.hpp *.m */opencl/runtime/*
-EXCLUDE_SYMBOLS        = cv::DataType<*> cv::traits::* int void CV__*
+EXCLUDE_SYMBOLS        = cv::DataType<*> cv::traits::* int void CV__* T __CV*
 EXAMPLE_PATH           = @CMAKE_DOXYGEN_EXAMPLE_PATH@
 EXAMPLE_PATTERNS       = *
 EXAMPLE_RECURSIVE      = YES
@@ -255,6 +255,8 @@ PREDEFINED             = __cplusplus=1 \
                          CV_DEFAULT(x)=" = x" \
                          CV_NEON=1 \
                          CV_SSE2=1 \
+                         CV__DEBUG_NS_BEGIN= \
+                         CV__DEBUG_NS_END= \
                          CV_DEPRECATED=
 EXPAND_AS_DEFINED      =
 SKIP_FUNCTION_MACROS   = YES

diff --git a/modules/calib3d/src/circlesgrid.cpp b/modules/calib3d/src/circlesgrid.cpp
@@ -174,7 +174,7 @@ void CirclesGridClusterFinder::findGrid(const std::vector<cv::Point2f> &points,
     if(outsideCorners.size() != outsideCornersCount)
       return;
   }
-  getSortedCorners(hull2f, corners, outsideCorners, sortedCorners);
+  getSortedCorners(hull2f, patternPoints, corners, outsideCorners, sortedCorners);
   if(sortedCorners.size() != cornersCount)
     return;
 
@@ -291,7 +291,18 @@ void CirclesGridClusterFinder::findOutsideCorners(const std::vector<cv::Point2f>
 #endif
 }
 
-void CirclesGridClusterFinder::getSortedCorners(const std::vector<cv::Point2f> &hull2f, const std::vector<cv::Point2f> &corners, const std::vector<cv::Point2f> &outsideCorners, std::vector<cv::Point2f> &sortedCorners)
+namespace {
+double pointLineDistance(const cv::Point2f &p, const cv::Vec4f &line)
+{
+  Vec3f pa( line[0], line[1], 1 );
+  Vec3f pb( line[2], line[3], 1 );
+  Vec3f l = pa.cross(pb);
+  return std::abs((p.x * l[0] + p.y * l[1] + l[2])) * 1.0 /
+         std::sqrt(double(l[0] * l[0] + l[1] * l[1]));
+}
+}
+
+void CirclesGridClusterFinder::getSortedCorners(const std::vector<cv::Point2f> &hull2f, const std::vector<cv::Point2f> &patternPoints, const std::vector<cv::Point2f> &corners, const std::vector<cv::Point2f> &outsideCorners, std::vector<cv::Point2f> &sortedCorners)
 {
   Point2f firstCorner;
   if(isAsymmetricGrid)
@@ -337,10 +348,26 @@ void CirclesGridClusterFinder::getSortedCorners(const std::vector<cv::Point2f> &
 
   if(!isAsymmetricGrid)
   {
-    double dist1 = norm(sortedCorners[0] - sortedCorners[1]);
-    double dist2 = norm(sortedCorners[1] - sortedCorners[2]);
+    double dist01 = norm(sortedCorners[0] - sortedCorners[1]);
+    double dist12 = norm(sortedCorners[1] - sortedCorners[2]);
+    // Use half the average distance between circles on the shorter side as threshold for determining whether a point lies on an edge.
+    double thresh = min(dist01, dist12) / min(patternSize.width, patternSize.height) / 2;
+
+    size_t circleCount01 = 0;
+    size_t circleCount12 = 0;
+    Vec4f line01( sortedCorners[0].x, sortedCorners[0].y, sortedCorners[1].x, sortedCorners[1].y );
+    Vec4f line12( sortedCorners[1].x, sortedCorners[1].y, sortedCorners[2].x, sortedCorners[2].y );
+    // Count the circles along both edges.
+    for (size_t i = 0; i < patternPoints.size(); i++)
+    {
+      if (pointLineDistance(patternPoints[i], line01) < thresh)
+        circleCount01++;
+      if (pointLineDistance(patternPoints[i], line12) < thresh)
+        circleCount12++;
+    }
 
-    if((dist1 > dist2 && patternSize.height > patternSize.width) || (dist1 < dist2 && patternSize.height < patternSize.width))
+    // Ensure that the edge from sortedCorners[0] to sortedCorners[1] is the one with more circles (i.e. it is interpreted as the pattern's width).
+    if ((circleCount01 > circleCount12 && patternSize.height > patternSize.width) || (circleCount01 < circleCount12 && patternSize.height < patternSize.width))
     {
       for(size_t i=0; i<sortedCorners.size()-1; i++)
       {

diff --git a/modules/calib3d/src/circlesgrid.hpp b/modules/calib3d/src/circlesgrid.hpp
@@ -67,7 +67,7 @@ class CirclesGridClusterFinder
 private:
   void findCorners(const std::vector<cv::Point2f> &hull2f, std::vector<cv::Point2f> &corners);
   void findOutsideCorners(const std::vector<cv::Point2f> &corners, std::vector<cv::Point2f> &outsideCorners);
-  void getSortedCorners(const std::vector<cv::Point2f> &hull2f, const std::vector<cv::Point2f> &corners, const std::vector<cv::Point2f> &outsideCorners, std::vector<cv::Point2f> &sortedCorners);
+  void getSortedCorners(const std::vector<cv::Point2f> &hull2f, const std::vector<cv::Point2f> &patternPoints, const std::vector<cv::Point2f> &corners, const std::vector<cv::Point2f> &outsideCorners, std::vector<cv::Point2f> &sortedCorners);
   void rectifyPatternPoints(const std::vector<cv::Point2f> &patternPoints, const std::vector<cv::Point2f> &sortedCorners, std::vector<cv::Point2f> &rectifiedPatternPoints);
   void parsePatternPoints(const std::vector<cv::Point2f> &patternPoints, const std::vector<cv::Point2f> &rectifiedPatternPoints, std::vector<cv::Point2f> &centers);
 

diff --git a/modules/calib3d/test/test_chesscorners.cpp b/modules/calib3d/test/test_chesscorners.cpp
@@ -624,5 +624,24 @@ TEST(Calib3d_AsymmetricCirclesPatternDetector, accuracy) { CV_ChessboardDetector
 TEST(Calib3d_AsymmetricCirclesPatternDetectorWithClustering, accuracy) { CV_ChessboardDetectorTest test( ASYMMETRIC_CIRCLES_GRID, CALIB_CB_CLUSTERING ); test.safe_run(); }
 #endif
 
+TEST(Calib3d_CirclesPatternDetectorWithClustering, accuracy)
+{
+    cv::String dataDir = string(TS::ptr()->get_data_path()) + "cv/cameracalibration/circles/";
+
+    cv::Mat expected;
+    FileStorage fs(dataDir + "circles_corners15.dat", FileStorage::READ);
+    fs["corners"] >> expected;
+    fs.release();
+
+    cv::Mat image = cv::imread(dataDir + "circles15.png");
+
+    std::vector<Point2f> centers;
+    cv::findCirclesGrid(image, Size(10, 8), centers, CALIB_CB_SYMMETRIC_GRID | CALIB_CB_CLUSTERING);
+    ASSERT_EQ(expected.total(), centers.size());
+
+    double error = calcError(centers, expected);
+    ASSERT_LE(error, precise_success_error_level);
+}
+
 }} // namespace
 /* End of file. */