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solvepnpransac() interface changed

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This commit is contained in:
edgarriba 2014-07-08 16:07:30 +02:00
parent dd52d1b526
commit 747c6a2bd2
1 changed files with 14 additions and 24 deletions
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38
modules/calib3d/src/solvepnp.cpp
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@ -341,7 +341,7 @@ public:
void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
InputArray _cameraMatrix, InputArray _distCoeffs,
OutputArray _rvec, OutputArray _tvec, bool useExtrinsicGuess,
int iterationsCount, float reprojectionError, int minInliersCount,
int iterationsCount, float reprojectionError, float confidence,
OutputArray _inliers, int flags)
{
@ -349,24 +349,14 @@ void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat();
CV_Assert(opoints.isContinuous());
CV_Assert(opoints.depth() == CV_32F);
CV_Assert(opoints.depth() == CV_32F || opoints.depth() == CV_64F);
CV_Assert((opoints.rows == 1 && opoints.channels() == 3) || opoints.cols*opoints.channels() == 3);
CV_Assert(ipoints.isContinuous());
CV_Assert(ipoints.depth() == CV_32F);
CV_Assert(ipoints.depth() == CV_32F || ipoints.depth() == CV_64F);
CV_Assert((ipoints.rows == 1 && ipoints.channels() == 2) || ipoints.cols*ipoints.channels() == 2);
Mat objectPoints = opoints.reshape(3, 1), imagePoints = ipoints.reshape(2, 1);
if (minInliersCount <= 0)
minInliersCount = objectPoints.cols;
cv::pnpransac::Parameters params;
params.iterationsCount = iterationsCount; // maxIters
params.minInliersCount = minInliersCount;
params.reprojectionError = reprojectionError; // threshold
params.useExtrinsicGuess = useExtrinsicGuess;
params.camera.init(cameraMatrix, distCoeffs);
params.flags = flags;
Ptr<PointSetRegistrator::Callback> cb; // pointer to callback
_rvec.create(3, 1, CV_64FC1);
@ -379,34 +369,34 @@ void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
rvec = _rvec.getMat();
tvec = _tvec.getMat();
cb = makePtr<PnPRansacCallback>( params.camera.intrinsics, params.camera.distortion,
params.flags, params.useExtrinsicGuess, rvec, tvec);
cb = makePtr<PnPRansacCallback>( cameraMatrix, distCoeffs, flags,
useExtrinsicGuess, rvec, tvec);
}
else
{
rvec = Mat(3, 1, CV_64FC1);
tvec = Mat(3, 1, CV_64FC1);
cb = makePtr<PnPRansacCallback>( params.camera.intrinsics, params.camera.distortion,
params.flags, params.useExtrinsicGuess, rvec, tvec);
cb = makePtr<PnPRansacCallback>( cameraMatrix, distCoeffs, flags,
useExtrinsicGuess, rvec, tvec);
}
int model_points = 7; // number of model points
double param1 = params.reprojectionError ; // reprojection error
double param2 = 0.99; // confidence
int param3 = params.iterationsCount; // number maximum iterations
int model_points = 3; // minimum of number of model points
double param1 = reprojectionError ; // reprojection error
double param2 = confidence; // confidence
int param3 = iterationsCount; // number maximum iterations
cv::Mat _local_model(3, 2, CV_64FC1);
cv::Mat _mask_local_inliers(1, opoints.rows, CV_8UC1);
// call Ransac
int result = createRANSACPointSetRegistrator(cb, model_points, param1, param2, param3)->run(_opoints, _ipoints, _local_model, _mask_local_inliers);
int result = createRANSACPointSetRegistrator(cb, model_points, param1, param2, param3)
->run(_opoints, _ipoints, _local_model, _mask_local_inliers);
_rvec.assign(_local_model.rowRange(0,3)); // output rotation vector
_tvec.assign(_local_model.rowRange(3,6)); // output translation vector
//std::cout << _mask_local_inliers.type() << std::endl;
Mat _local_inliers;
int count = 0;
for (int i = 0; i < _mask_local_inliers.rows; ++i)