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added solvePnPRansac method

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This commit is contained in:
Alexander Shishkov
2011-03-05 00:18:49 +00:00
parent c3b05cf398
commit 04461a53f1
5 changed files with 508 additions and 22 deletions
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13
modules/calib3d/include/opencv2/calib3d/calib3d.hpp
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@@ -519,6 +519,19 @@ CV_EXPORTS_W void solvePnP( const Mat& objectPoints,
CV_OUT Mat& rvec, CV_OUT Mat& tvec,
bool useExtrinsicGuess=false );
//! computes the camera pose from a few 3D points and the corresponding projections. The outliers are possible.
CV_EXPORTS_W void solvePnPRansac( const Mat& objectPoints,
const Mat& imagePoints,
const Mat& cameraMatrix,
const Mat& distCoeffs,
CV_OUT Mat& rvec,
CV_OUT Mat& tvec,
bool useExtrinsicGuess = false,
int iterationsCount = 100,
float reprojectionError = 8.0,
int minInliersCount = 100,
CV_OUT vector<int>* inliers = NULL );
//! initializes camera matrix from a few 3D points and the corresponding projections.
CV_EXPORTS_W Mat initCameraMatrix2D( const vector<vector<Point3f> >& objectPoints,
const vector<vector<Point2f> >& imagePoints,