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Merge pull request #289 from jmbuena:master

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This commit is contained in:
Andrey Kamaev 2013-01-16 17:01:00 +04:00 committed by OpenCV Buildbot
commit 867ddebe07
3 changed files with 83 additions and 0 deletions
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1
modules/calib3d/src/_modelest.h
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@ -69,6 +69,7 @@ protected:
virtual bool getSubset( const CvMat* m1, const CvMat* m2,
CvMat* ms1, CvMat* ms2, int maxAttempts=1000 );
virtual bool checkSubset( const CvMat* ms1, int count );
virtual bool isMinimalSetConsistent( const CvMat* /*m1*/, const CvMat* /*m2*/ ) { return true; };
CvRNG rng;
int modelPoints;

70
modules/calib3d/src/fundam.cpp
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@ -68,6 +68,8 @@ public:
protected:
virtual void computeReprojError( const CvMat* m1, const CvMat* m2,
const CvMat* model, CvMat* error );
virtual bool isMinimalSetConsistent( const CvMat* m1, const CvMat* m2 );
virtual bool weakConstraint ( const CvMat* srcPoints, const CvMat* dstPoints, int t1, int t2, int t3 );
};
@ -287,6 +289,74 @@ cvFindHomography( const CvMat* objectPoints, const CvMat* imagePoints,
return (int)result;
}
// We check whether three correspondences for the homography estimation
// are geometrically consistent (the points in the source image should
// maintain the same circular order than in the destination image).
//
// The usefullness of this constraint is explained in the paper:
//
// "Speeding-up homography estimation in mobile devices"
// Journal of Real-Time Image Processing. 2013. DOI: 10.1007/s11554-012-0314-1
// Pablo Marquez-Neila, Javier Lopez-Alberca, Jose M. Buenaposada, Luis Baumela
bool
CvHomographyEstimator::weakConstraint ( const CvMat* srcPoints, const CvMat* dstPoints, int t1, int t2, int t3 )
{
const CvPoint2D64f* src = (const CvPoint2D64f*)srcPoints->data.ptr;
const CvPoint2D64f* dst = (const CvPoint2D64f*)dstPoints->data.ptr;
CvMat* A = cvCreateMat( 3, 3, CV_64F );
CvMat* B = cvCreateMat( 3, 3, CV_64F );
double detA;
double detB;
cvmSet(A, 0, 0, src[t1].x);
cvmSet(A, 0, 1, src[t1].y);
cvmSet(A, 0, 2, 1);
cvmSet(A, 1, 0, src[t2].x);
cvmSet(A, 1, 1, src[t2].y);
cvmSet(A, 1, 2, 1);
cvmSet(A, 2, 0, src[t3].x);
cvmSet(A, 2, 1, src[t3].y);
cvmSet(A, 2, 2, 1);
cvmSet(B, 0, 0, dst[t1].x);
cvmSet(B, 0, 1, dst[t1].y);
cvmSet(B, 0, 2, 1);
cvmSet(B, 1, 0, dst[t2].x);
cvmSet(B, 1, 1, dst[t2].y);
cvmSet(B, 1, 2, 1);
cvmSet(B, 2, 0, dst[t3].x);
cvmSet(B, 2, 1, dst[t3].y);
cvmSet(B, 2, 2, 1);
detA = cvDet(A);
detB = cvDet(B);
cvReleaseMat(&A);
cvReleaseMat(&B);
return (detA*detB >= 0);
};
// We check whether the minimal set of points for the homography estimation
// are geometrically consistent. We check if every 3 correspondences sets
// fulfills the constraint.
//
// The usefullness of this constraint is explained in the paper:
//
// "Speeding-up homography estimation in mobile devices"
// Journal of Real-Time Image Processing. 2013. DOI: 10.1007/s11554-012-0314-1
// Pablo Marquez-Neila, Javier Lopez-Alberca, Jose M. Buenaposada, Luis Baumela
bool
CvHomographyEstimator::isMinimalSetConsistent ( const CvMat* srcPoints, const CvMat* dstPoints )
{
return weakConstraint(srcPoints, dstPoints, 0, 1, 2) &&
weakConstraint(srcPoints, dstPoints, 1, 2, 3) &&
weakConstraint(srcPoints, dstPoints, 0, 2, 3) &&
weakConstraint(srcPoints, dstPoints, 0, 1, 3);
}
/* Evaluation of Fundamental Matrix from point correspondences.
The original code has been written by Valery Mosyagin */

12
modules/calib3d/src/modelest.cpp
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@ -152,6 +152,18 @@ bool CvModelEstimator2::runRANSAC( const CvMat* m1, const CvMat* m2, CvMat* mode
return false;
break;
}
// Here we check for model specific geometrical
// constraints that allow to avoid "runKernel"
// and not checking for inliers if not fulfilled.
//
// The usefullness of this constraint for homographies is explained in the paper:
//
// "Speeding-up homography estimation in mobile devices"
// Journal of Real-Time Image Processing. 2013. DOI: 10.1007/s11554-012-0314-1
// Pablo Márquez-Neila, Javier López-Alberca, José M. Buenaposada, Luis Baumela
if ( !isMinimalSetConsistent( ms1, ms2 ) )
continue;
}
nmodels = runKernel( ms1, ms2, models );