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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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22
modules/calib3d/src/calibration.cpp
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@@ -3276,28 +3276,6 @@ void cv::projectPoints( const Mat& opoints,
&_imagePoints, &_dpdrot, &_dpdt, &_dpdf, &_dpdc, &_dpddist, aspectRatio );
}
void cv::solvePnP( const Mat& opoints, const Mat& ipoints,
const Mat& cameraMatrix, const Mat& distCoeffs,
Mat& rvec, Mat& tvec, bool useExtrinsicGuess )
{
CV_Assert(opoints.isContinuous() && opoints.depth() == CV_32F &&
((opoints.rows == 1 && opoints.channels() == 3) ||
opoints.cols*opoints.channels() == 3) &&
ipoints.isContinuous() && ipoints.depth() == CV_32F &&
((ipoints.rows == 1 && ipoints.channels() == 2) ||
ipoints.cols*ipoints.channels() == 2));
rvec.create(3, 1, CV_64F);
tvec.create(3, 1, CV_64F);
CvMat _objectPoints = opoints, _imagePoints = ipoints;
CvMat _cameraMatrix = cameraMatrix, _distCoeffs = distCoeffs;
CvMat _rvec = rvec, _tvec = tvec;
cvFindExtrinsicCameraParams2(&_objectPoints, &_imagePoints, &_cameraMatrix,
distCoeffs.data ? &_distCoeffs : 0,
&_rvec, &_tvec, useExtrinsicGuess );
}
cv::Mat cv::initCameraMatrix2D( const vector<vector<Point3f> >& objectPoints,
const vector<vector<Point2f> >& imagePoints,
Size imageSize, double aspectRatio )