Use armadillo for easier conversion to OpenCV

swarm-lab · Nov 1, 2023 · 85b1716 · 85b1716
1 parent 7c45e59
commit 85b1716
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Showing 4 changed files with 35 additions and 50 deletions.
diff --git a/R/calib3d.R b/R/calib3d.R
@@ -50,7 +50,7 @@ findChessboardCorners <- function(image, pprow, ppcol, adaptive_threshold = TRUE
 
   flags <- 1 * adaptive_threshold + 2 * normalize + 4 * filter_quads + 8 * fast_check
 
-  `_findChessboardCorners`(image, pprow, ppcol, flags)
+  `_findChessboardCorners`(image, pprow, ppcol, flags)[,,]
 }
 
 
@@ -115,7 +115,8 @@ cornerSubPix <- function(image, corners, win_size = c(11, 11), zero_zone = c(-1,
   if (nrow(corners) < 1)
     stop("'corners' does not contain any value.")
 
-  `_cornerSubPix`(image, corners, win_size, zero_zone, maxit, eps)
+  dim(corners) <- c(nrow(corners), 1, 2)
+  `_cornerSubPix`(image, corners, win_size, zero_zone, maxit, eps)[,,]
 }
 
 
@@ -388,5 +389,6 @@ undistortPoints <- function(points, camera_matrix, dist_coefs, new_camera_matrix
   if (ncol(points) != 2)
     stop("'points' should have exactly 2 columns.")
 
-  `_undistortPoints`(points, camera_matrix, dist_coefs, new_camera_matrix)
+  dim(points) <- c(nrow(points), 1, 2)
+  `_undistortPoints`(points, camera_matrix, dist_coefs, new_camera_matrix)[,,]
 }
diff --git a/src/calib3d.h b/src/calib3d.h
@@ -1,51 +1,42 @@
-Rcpp::NumericMatrix _findChessboardCorners(Image& image, int pprow, int ppcol, int flags) {
-  std::vector<cv::Point2f> corners;
+arma::Cube<float> _findChessboardCorners(Image& image, int pprow, int ppcol, int flags) {
+  cv::Mat_<cv::Vec2f> cornersCV;
 
   if (image.GPU) {
-    cv::findChessboardCorners(image.uimage, cv::Size(pprow, ppcol), corners, flags);
+    cv::findChessboardCorners(image.uimage, cv::Size(pprow, ppcol), cornersCV, flags);
   } else {
-    cv::findChessboardCorners(image.image, cv::Size(pprow, ppcol), corners, flags);
+    cv::findChessboardCorners(image.image, cv::Size(pprow, ppcol), cornersCV, flags);
   }
 
-  Rcpp::NumericMatrix out = Rcpp::NumericMatrix(corners.size(), 2);
-  colnames(out) = Rcpp::CharacterVector::create("x", "y");
+  arma::Cube<float> corners;
 
-  for (uint i = 0; i < corners.size(); i++) {
-    out(i, 0) = corners[i].x + 1;
-    out(i, 1) = -corners[i].y + image.nrow();
+  if (!cornersCV.empty()) {
+    cv2arma(cornersCV, corners);
+    corners.slice(0) += 1;
+    corners.slice(1) = -corners.slice(1) + image.nrow();
   }
 
-  return out;
+  return corners;
 }
 
-
-Rcpp::NumericMatrix _cornerSubPix(Image& image, Rcpp::NumericMatrix corners,
-                                  Rcpp::NumericVector winSize, Rcpp::NumericVector zeroZone,
-                                  int maxit, double eps) {
+arma::Cube<float> _cornerSubPix(Image& image, arma::Cube<float> corners,
+                                Rcpp::NumericVector winSize, Rcpp::NumericVector zeroZone,
+                                int maxit, double eps) {
   cv::TermCriteria termcrit(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, maxit, eps);
-  std::vector<cv::Point2f> corners_vec;
-
-  for (uint i = 0; i < corners.nrow(); i++) {
-    corners_vec.push_back(cv::Point2f(corners(i,0) - 1, -corners(i, 1) + image.nrow()));
-  }
+  cv::Mat_<cv::Vec2f> cornersCV;
+  arma2cv(corners, cornersCV);
 
   if (image.GPU) {
-    cv::cornerSubPix(image.uimage, corners_vec, cv::Size(winSize(0), winSize(1)),
+    cv::cornerSubPix(image.uimage, cornersCV, cv::Size(winSize(0), winSize(1)),
                      cv::Size(zeroZone(0), zeroZone(1)), termcrit);
   } else {
-    cv::cornerSubPix(image.image, corners_vec, cv::Size(winSize(0), winSize(1)),
+    cv::cornerSubPix(image.image, cornersCV, cv::Size(winSize(0), winSize(1)),
                      cv::Size(zeroZone(0), zeroZone(1)), termcrit);
   }
 
-  for (uint i = 0; i < corners_vec.size(); i++) {
-    corners(i, 0) = corners_vec[i].x + 1;
-    corners(i, 1) = -corners_vec[i].y + image.nrow();
-  }
-
+  cv2arma(cornersCV, corners);
   return corners;
 }
 
-
 Rcpp::List _calibrateCameraRO(Rcpp::List refPoints, Rcpp::List imgPoints,
                               Rcpp::NumericVector imgSize, int iFixedPoint,
                               int flags, int maxit, double eps) {
@@ -146,28 +137,20 @@ void _undistort(Image& image, arma::Mat<double> cameraMatrix, arma::Mat<double>
   cv::undistort(image.image, target.image, cameraMatrixCV, distCoeffsCV, newCameraMatrixCV);
 }
 
-Rcpp::NumericMatrix _undistortPoints(Rcpp::NumericMatrix points,
-                                     arma::Mat<double> cameraMatrix,
-                                     arma::Mat<double> distCoeffs,
-                                     arma::Mat<double> newCameraMatrix) {
-  std::vector<cv::Point2f> pointsCV, outCV;
-  for (uint i = 0; i < points.nrow(); i++) {
-    pointsCV.push_back(cv::Point2f(points(i,0), points(i, 1)));
-  }
+arma::Cube<float> _undistortPoints(arma::Cube<float> points,
+                                   arma::Mat<double> cameraMatrix,
+                                   arma::Mat<double> distCoeffs,
+                                   arma::Mat<double> newCameraMatrix) {
+  cv::Mat_<cv::Vec2f> pointsCV;
+  arma2cv(points, pointsCV);
 
   cv::Mat_<double> cameraMatrixCV, distCoeffsCV, newCameraMatrixCV;
   arma2cv(cameraMatrix, cameraMatrixCV);
   arma2cv(distCoeffs, distCoeffsCV);
   arma2cv(newCameraMatrix, newCameraMatrixCV);
 
-  cv::undistortPoints(pointsCV, outCV, cameraMatrixCV, distCoeffsCV, cv::noArray(), newCameraMatrixCV);
+  cv::undistortPoints(pointsCV, pointsCV, cameraMatrixCV, distCoeffsCV, cv::noArray(), newCameraMatrixCV);
+  cv2arma(pointsCV, points);
 
-  Rcpp::NumericMatrix out = Rcpp::NumericMatrix(outCV.size(), 2);
-  for (uint i = 0; i < outCV.size(); i++) {
-    out(i, 0) = outCV[i].x;
-    out(i, 1) = outCV[i].y;
-  }
-
-  return out;
+  return points;
 }
-
diff --git a/src/filters.h b/src/filters.h
@@ -269,7 +269,7 @@ void _pyrDown(Image& image, Image& target) {
   if (target.GPU)
     cv::pyrDown(image.image, target.uimage, cv::Size(target.uimage.cols, target.uimage.rows));
 
-    return cv::pyrDown(image.image, target.image, cv::Size(target.image.cols, target.image.rows));
+  return cv::pyrDown(image.image, target.image, cv::Size(target.image.cols, target.image.rows));
 }
 
 void _pyrUp(Image& image, Image& target) {
@@ -283,5 +283,5 @@ void _pyrUp(Image& image, Image& target) {
   if (target.GPU)
     cv::pyrUp(image.image, target.uimage, cv::Size(target.uimage.cols, target.uimage.rows));
 
-    return cv::pyrUp(image.image, target.image, cv::Size(target.image.cols, target.image.rows));
+  return cv::pyrUp(image.image, target.image, cv::Size(target.image.cols, target.image.rows));
 }
diff --git a/src/shape.h b/src/shape.h
@@ -377,7 +377,7 @@ Rcpp::NumericMatrix _approxPolyDP(Rcpp::NumericMatrix curve, double epsilon, boo
   Rcpp::NumericMatrix out(approxpoints.size(), 2);
   colnames(out) = Rcpp::CharacterVector::create("x", "y");
 
-  for (int i = 0; i < approxpoints.size(); i++) {
+  for (unsigned int i = 0; i < approxpoints.size(); i++) {
     out(i, 0) = approxpoints[i].x;
     out(i, 1) = approxpoints[i].y;
   }