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Add editorconfig-checker (#149)
* Add editorconfig-checker * Editorconfig-check fix * Remove temporal cat
This commit is contained in:
Oleg Kalachev
@@ -120,70 +120,65 @@ void _drawPlanarBoard(Board *_board, Size outSize, OutputArray _img, int marginS
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/* Draw a (potentially partially visible) line. */
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static void linePartial(InputOutputArray image, Point3f p1, Point3f p2, const Scalar& color,
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int thickness = 1, int lineType = LINE_8, int shift = 0)
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int thickness = 1, int lineType = LINE_8, int shift = 0)
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{
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// If both points are behind the screen, don't draw anything
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if (p1.z <= 0 && p2.z <= 0)
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{
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return;
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}
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Point2f p1p{p1.x, p1.y};
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Point2f p2p{p2.x, p2.y};
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// If points are on the different sides of the plane, compute intersection point
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if (p1.z * p2.z < 0)
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{
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// Compute intersection point with the screen
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// We denote alpha as such:
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// xi = (1 - alpha) * x1 + alpha * x2
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// yi = (1 - alpha) * y1 + alpha * y2
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// zi = (1 - alpha) * z1 + alpha * z2 = 0
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// Thus, alpha can be expressed as
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// alpha = z1 / (z1 - z2)
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float alpha = p1.z / (p1.z - p2.z);
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Point2f pi{(1 - alpha) * p1.x + alpha * p2.x, (1 - alpha) * p1.y + alpha * p2.y};
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// Now, if z1 is negative, we draw the line from (xi, yi) to (x2, y2), else we draw from (x1, y1) to (xi, yi)
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if (p1.z < 0)
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{
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p1p = pi;
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}
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else
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{
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p2p = pi;
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}
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}
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line(image, p1p, p2p, color, thickness, lineType, shift);
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// If both points are behind the screen, don't draw anything
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if (p1.z <= 0 && p2.z <= 0) {
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return;
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}
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Point2f p1p{p1.x, p1.y};
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Point2f p2p{p2.x, p2.y};
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// If points are on the different sides of the plane, compute intersection point
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if (p1.z * p2.z < 0) {
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// Compute intersection point with the screen
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// We denote alpha as such:
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// xi = (1 - alpha) * x1 + alpha * x2
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// yi = (1 - alpha) * y1 + alpha * y2
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// zi = (1 - alpha) * z1 + alpha * z2 = 0
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// Thus, alpha can be expressed as
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// alpha = z1 / (z1 - z2)
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float alpha = p1.z / (p1.z - p2.z);
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Point2f pi{(1 - alpha) * p1.x + alpha * p2.x, (1 - alpha) * p1.y + alpha * p2.y};
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// Now, if z1 is negative, we draw the line from (xi, yi) to (x2, y2), else we draw from (x1, y1) to (xi, yi)
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if (p1.z < 0) {
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p1p = pi;
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} else {
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p2p = pi;
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}
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}
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line(image, p1p, p2p, color, thickness, lineType, shift);
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}
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void _drawAxis(InputOutputArray _image, InputArray _cameraMatrix, InputArray _distCoeffs,
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InputArray _rvec, InputArray _tvec, float length) {
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CV_Assert(_image.getMat().total() != 0 &&
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(_image.getMat().channels() == 1 || _image.getMat().channels() == 3));
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CV_Assert(length > 0);
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CV_Assert(_image.getMat().total() != 0 &&
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(_image.getMat().channels() == 1 || _image.getMat().channels() == 3));
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CV_Assert(length > 0);
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// project axis points
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std::vector< Point3f > axisPoints;
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axisPoints.push_back(Point3f(0, 0, 0));
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axisPoints.push_back(Point3f(length, 0, 0));
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axisPoints.push_back(Point3f(0, length, 0));
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axisPoints.push_back(Point3f(0, 0, length));
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std::vector< Point3f > imagePointsZ;
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_projectPoints(axisPoints, _rvec, _tvec, _cameraMatrix, _distCoeffs, imagePointsZ);
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// project axis points
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std::vector<Point3f> axisPoints;
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axisPoints.push_back(Point3f(0, 0, 0));
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axisPoints.push_back(Point3f(length, 0, 0));
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axisPoints.push_back(Point3f(0, length, 0));
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axisPoints.push_back(Point3f(0, 0, length));
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std::vector<Point3f> imagePointsZ;
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_projectPoints(axisPoints, _rvec, _tvec, _cameraMatrix, _distCoeffs, imagePointsZ);
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// draw axis lines
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linePartial(_image, imagePointsZ[0], imagePointsZ[1], Scalar(0, 0, 255), 3);
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linePartial(_image, imagePointsZ[0], imagePointsZ[2], Scalar(0, 255, 0), 3);
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linePartial(_image, imagePointsZ[0], imagePointsZ[3], Scalar(255, 0, 0), 3);
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// draw axis lines
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linePartial(_image, imagePointsZ[0], imagePointsZ[1], Scalar(0, 0, 255), 3);
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linePartial(_image, imagePointsZ[0], imagePointsZ[2], Scalar(0, 255, 0), 3);
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linePartial(_image, imagePointsZ[0], imagePointsZ[3], Scalar(255, 0, 0), 3);
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}
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static CvMat _cvMat(const cv::Mat& m)
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{
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CvMat self;
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CV_DbgAssert(m.dims <= 2);
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self = cvMat(m.rows, m.dims == 1 ? 1 : m.cols, m.type(), m.data);
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self.step = (int)m.step[0];
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self.type = (self.type & ~cv::Mat::CONTINUOUS_FLAG) | (m.flags & cv::Mat::CONTINUOUS_FLAG);
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return self;
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CvMat self;
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CV_DbgAssert(m.dims <= 2);
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self = cvMat(m.rows, m.dims == 1 ? 1 : m.cols, m.type(), m.data);
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self.step = (int)m.step[0];
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self.type = (self.type & ~cv::Mat::CONTINUOUS_FLAG) | (m.flags & cv::Mat::CONTINUOUS_FLAG);
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return self;
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}
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static void _projectPoints( InputArray _opoints,
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@@ -195,47 +190,47 @@ static void _projectPoints( InputArray _opoints,
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OutputArray _jacobian,
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double aspectRatio )
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{
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Mat opoints = _opoints.getMat();
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int npoints = opoints.checkVector(3), depth = opoints.depth();
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CV_Assert(npoints >= 0 && (depth == CV_32F || depth == CV_64F));
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Mat opoints = _opoints.getMat();
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int npoints = opoints.checkVector(3), depth = opoints.depth();
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CV_Assert(npoints >= 0 && (depth == CV_32F || depth == CV_64F));
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CvMat dpdrot, dpdt, dpdf, dpdc, dpddist;
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CvMat *pdpdrot=0, *pdpdt=0, *pdpdf=0, *pdpdc=0, *pdpddist=0;
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CvMat dpdrot, dpdt, dpdf, dpdc, dpddist;
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CvMat *pdpdrot = 0, *pdpdt = 0, *pdpdf = 0, *pdpdc = 0, *pdpddist = 0;
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CV_Assert( _ipoints.needed() );
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CV_Assert(_ipoints.needed());
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_ipoints.create(npoints, 1, CV_MAKETYPE(depth, 3), -1, true);
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Mat imagePoints = _ipoints.getMat();
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CvMat c_imagePoints = _cvMat(imagePoints);
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CvMat c_objectPoints = _cvMat(opoints);
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Mat cameraMatrix = _cameraMatrix.getMat();
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_ipoints.create(npoints, 1, CV_MAKETYPE(depth, 3), -1, true);
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Mat imagePoints = _ipoints.getMat();
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CvMat c_imagePoints = _cvMat(imagePoints);
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CvMat c_objectPoints = _cvMat(opoints);
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Mat cameraMatrix = _cameraMatrix.getMat();
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Mat rvec = _rvec.getMat(), tvec = _tvec.getMat();
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CvMat c_cameraMatrix = _cvMat(cameraMatrix);
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CvMat c_rvec = _cvMat(rvec), c_tvec = _cvMat(tvec);
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Mat rvec = _rvec.getMat(), tvec = _tvec.getMat();
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CvMat c_cameraMatrix = _cvMat(cameraMatrix);
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CvMat c_rvec = _cvMat(rvec), c_tvec = _cvMat(tvec);
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double dc0buf[5]={0};
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Mat dc0(5,1,CV_64F,dc0buf);
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Mat distCoeffs = _distCoeffs.getMat();
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if( distCoeffs.empty() )
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distCoeffs = dc0;
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CvMat c_distCoeffs = _cvMat(distCoeffs);
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int ndistCoeffs = distCoeffs.rows + distCoeffs.cols - 1;
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double dc0buf[5] = {0};
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Mat dc0(5, 1, CV_64F, dc0buf);
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Mat distCoeffs = _distCoeffs.getMat();
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if (distCoeffs.empty())
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distCoeffs = dc0;
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CvMat c_distCoeffs = _cvMat(distCoeffs);
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int ndistCoeffs = distCoeffs.rows + distCoeffs.cols - 1;
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Mat jacobian;
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if( _jacobian.needed() )
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{
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_jacobian.create(npoints*2, 3+3+2+2+ndistCoeffs, CV_64F);
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jacobian = _jacobian.getMat();
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pdpdrot = &(dpdrot = _cvMat(jacobian.colRange(0, 3)));
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pdpdt = &(dpdt = _cvMat(jacobian.colRange(3, 6)));
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pdpdf = &(dpdf = _cvMat(jacobian.colRange(6, 8)));
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pdpdc = &(dpdc = _cvMat(jacobian.colRange(8, 10)));
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pdpddist = &(dpddist = _cvMat(jacobian.colRange(10, 10+ndistCoeffs)));
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}
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Mat jacobian;
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if (_jacobian.needed())
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{
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_jacobian.create(npoints * 2, 3 + 3 + 2 + 2 + ndistCoeffs, CV_64F);
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jacobian = _jacobian.getMat();
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pdpdrot = &(dpdrot = _cvMat(jacobian.colRange(0, 3)));
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pdpdt = &(dpdt = _cvMat(jacobian.colRange(3, 6)));
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pdpdf = &(dpdf = _cvMat(jacobian.colRange(6, 8)));
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pdpdc = &(dpdc = _cvMat(jacobian.colRange(8, 10)));
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pdpddist = &(dpddist = _cvMat(jacobian.colRange(10, 10 + ndistCoeffs)));
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}
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_cvProjectPoints2( &c_objectPoints, &c_rvec, &c_tvec, &c_cameraMatrix, &c_distCoeffs,
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&c_imagePoints, pdpdrot, pdpdt, pdpdf, pdpdc, pdpddist, aspectRatio );
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_cvProjectPoints2(&c_objectPoints, &c_rvec, &c_tvec, &c_cameraMatrix, &c_distCoeffs,
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&c_imagePoints, pdpdrot, pdpdt, pdpdf, pdpdc, pdpddist, aspectRatio);
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}
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namespace _detail
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