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saveBestModel() is modified. accuracy test is passed.

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ASUS 2015-02-12 21:22:52 -05:00
parent 87c2b8197a
commit 6dbf13d7b5
2 changed files with 44 additions and 16 deletions
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13
modules/calib3d/src/fundam.cpp
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@ -399,16 +399,18 @@ cv::Mat cv::findHomography( InputArray _points1, InputArray _points2,
{ {
tempMask = Mat::ones(npoints, 1, CV_8U); tempMask = Mat::ones(npoints, 1, CV_8U);
result = cb->runKernel(src, dst, H) > 0; result = cb->runKernel(src, dst, H) > 0;
} }
else if( method == RANSAC )
else if( method == RANSAC)
result = createRANSACPointSetRegistrator(cb, 4, ransacReprojThreshold, confidence, maxIters)->run(src, dst, H, tempMask); result = createRANSACPointSetRegistrator(cb, 4, ransacReprojThreshold, confidence, maxIters)->run(src, dst, H, tempMask);
else if( method == LMEDS ) else if( method == LMEDS )
result = createLMeDSPointSetRegistrator(cb, 4, confidence, maxIters)->run(src, dst, H, tempMask); result = createLMeDSPointSetRegistrator(cb, 4, confidence, maxIters)->run(src, dst, H, tempMask);
else if( method == RHO ){ else if( method == RHO )
result = createAndRunRHORegistrator(confidence, maxIters, ransacReprojThreshold, npoints, src, dst, H, tempMask); result = createAndRunRHORegistrator(confidence, maxIters, ransacReprojThreshold, npoints, src, dst, H, tempMask);
}else else
CV_Error(Error::StsBadArg, "Unknown estimation method"); CV_Error(Error::StsBadArg, "Unknown estimation method");
if( result && npoints > 4 && method != RHO) if( result && npoints > 4 && method != RHO)
{ {
compressPoints( src.ptr<Point2f>(), tempMask.ptr<uchar>(), 1, npoints ); compressPoints( src.ptr<Point2f>(), tempMask.ptr<uchar>(), 1, npoints );
@ -419,8 +421,9 @@ cv::Mat cv::findHomography( InputArray _points1, InputArray _points2,
Mat dst1 = dst.rowRange(0, npoints); Mat dst1 = dst.rowRange(0, npoints);
src = src1; src = src1;
dst = dst1; dst = dst1;
if( method == RANSAC || method == LMEDS ) if( method == RANSAC || method == LMEDS)
cb->runKernel( src, dst, H ); cb->runKernel( src, dst, H );
Mat H8(8, 1, CV_64F, H.ptr<double>()); Mat H8(8, 1, CV_64F, H.ptr<double>());
createLMSolver(makePtr<HomographyRefineCallback>(src, dst), 10)->run(H8); createLMSolver(makePtr<HomographyRefineCallback>(src, dst), 10)->run(H8);
} }

47
modules/calib3d/src/rhorefc.cpp
View File

@ -55,7 +55,6 @@
#include "rhorefc.h" #include "rhorefc.h"
/* Defines */ /* Defines */
#define MEM_ALIGN 32 #define MEM_ALIGN 32
#define HSIZE (3*3*sizeof(float)) #define HSIZE (3*3*sizeof(float))
@ -383,7 +382,7 @@ unsigned rhoRefC(RHO_HEST_REFC* restrict p, /* Homography estimation conte
* PROSAC Loop * PROSAC Loop
*/ */
for(p->ctrl.i=0; p->ctrl.i < p->arg.maxI; p->ctrl.i++){ for(p->ctrl.i=0; p->ctrl.i < p->arg.maxI || p->ctrl.i<100; p->ctrl.i++){
sacHypothesize(p) && sacVerify(p); sacHypothesize(p) && sacVerify(p);
} }
@ -861,7 +860,28 @@ static inline int sacIsSampleDegenerate(RHO_HEST_REFC* p){
*/ */
static inline void sacGenerateModel(RHO_HEST_REFC* p){ static inline void sacGenerateModel(RHO_HEST_REFC* p){
#if 1
hFuncRefC(p->curr.pkdPts, p->curr.H); hFuncRefC(p->curr.pkdPts, p->curr.H);
#else
int mm = 4;
cv::Mat _H(3,3,CV_32FC1);
std::vector<cv::Point2f> _srcPoints(mm,cv::Point2f());
std::vector<cv::Point2f> _dstPoints(mm,cv::Point2f());
for (int i=0 ; i< mm ; i++){
cv::Point2f tempPoint2f(p->curr.pkdPts[2*i], p->curr.pkdPts[2*i+1]);
_srcPoints[i] = tempPoint2f;
tempPoint2f=cv::Point2f((float)p->curr.pkdPts[2*i+8],(float) p->curr.pkdPts[2*i+9]);
_dstPoints[i] = tempPoint2f;
}
_H = cv::findHomography(_srcPoints, _dstPoints,0,3);
double* data = (double*) _H.data;
p->curr.H[0]=data[0]; p->curr.H[1]=data[1]; p->curr.H[2]=data[2];
p->curr.H[3]=data[3]; p->curr.H[4]=data[4]; p->curr.H[5]=data[5];
p->curr.H[6]=data[6]; p->curr.H[7]=data[7]; p->curr.H[8]=1.0;
#endif
} }
/** /**
@ -1074,17 +1094,22 @@ static inline int sacIsBestModelGoodEnough(RHO_HEST_REFC* p){
*/ */
static inline void sacSaveBestModel(RHO_HEST_REFC* p){ static inline void sacSaveBestModel(RHO_HEST_REFC* p){
float* H = p->curr.H;
char* inl = p->curr.inl;
unsigned numInl = p->curr.numInl;
p->curr.H = p->best.H; memcpy(p->best.H, p->curr.H, HSIZE);
p->curr.inl = p->best.inl; memcpy(p->best.inl, p->curr.inl, p->arg.N);
p->curr.numInl = p->best.numInl; p->best.numInl = p->curr.numInl;
p->best.H = H; // float* H = p->curr.H;
p->best.inl = inl; // char* inl = p->curr.inl;
p->best.numInl = numInl; // unsigned numInl = p->curr.numInl;
// p->curr.H = p->best.H;
// p->curr.inl = p->best.inl;
// p->curr.numInl = p->best.numInl;
// p->best.H = H;
// p->best.inl = inl;
// p->best.numInl = numInl;
} }
/** /**