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refactored gpu::solvePnpRansac a bit

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This commit is contained in:
Alexey Spizhevoy 2011-03-02 08:04:08 +00:00
parent 60e33921e3
commit 74c398e6b7
1 changed files with 6 additions and 5 deletions
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11
modules/gpu/src/calib3d.cpp
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@ -276,23 +276,24 @@ void cv::gpu::solvePnpRansac(const Mat& object, const Mat& image, const Mat& cam
int num_inliers = static_cast<int>(best_score); int num_inliers = static_cast<int>(best_score);
// Extract the best hypothesis data // Extract the best hypothesis data
Mat rot_mat = rot_matrices.colRange(best_idx.x * 9, (best_idx.x + 1) * 9).reshape(0, 3); Mat rot_mat = rot_matrices.colRange(best_idx.x * 9, (best_idx.x + 1) * 9).reshape(0, 3);
Rodrigues(rot_mat, rvec); Rodrigues(rot_mat, rvec);
rvec = rvec.reshape(0, 1); rvec = rvec.reshape(0, 1);
tvec = transl_vectors.colRange(best_idx.x * 3, (best_idx.x + 1) * 3).clone(); tvec = transl_vectors.colRange(best_idx.x * 3, (best_idx.x + 1) * 3).clone();
tvec = tvec.reshape(0, 1); tvec = tvec.reshape(0, 1);
// Build vector of inlier indices // Build vector of inlier indices
if (params.inliers != NULL) if (params.inliers != NULL)
{ {
params.inliers->resize(num_inliers); params.inliers->clear();
params.inliers->reserve(num_inliers);
Point3f p; Point3f p, p_transf;
Point3f p_transf;
Point2f p_proj; Point2f p_proj;
const float* rot = rot_mat.ptr<float>(); const float* rot = rot_mat.ptr<float>();
const float* transl = tvec.ptr<float>(); const float* transl = tvec.ptr<float>();
int inlier_id = 0;
for (int i = 0; i < num_points; ++i) for (int i = 0; i < num_points; ++i)
{ {
@ -305,7 +306,7 @@ void cv::gpu::solvePnpRansac(const Mat& object, const Mat& image, const Mat& cam
p_proj.x = p_transf.x / p_transf.z; p_proj.x = p_transf.x / p_transf.z;
p_proj.y = p_transf.y / p_transf.z; p_proj.y = p_transf.y / p_transf.z;
if (norm(p_proj - image_normalized.at<Point2f>(0, i)) < params.max_dist) if (norm(p_proj - image_normalized.at<Point2f>(0, i)) < params.max_dist)
(*params.inliers)[inlier_id++] = i; params.inliers->push_back(i);
} }
} }
} }