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added code, test and doc for five-point algorithm

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Bo Li
2012-12-26 18:58:50 +01:00
parent 3edf7c5386
commit 956a029ede
4 changed files with 1256 additions and 1 deletions
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14
modules/calib3d/include/opencv2/calib3d/calib3d.hpp
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@@ -638,6 +638,20 @@ CV_EXPORTS Mat findFundamentalMat( InputArray points1, InputArray points2,
OutputArray mask, int method=FM_RANSAC,
double param1=3., double param2=0.99);
//! finds essential matrix from a set of corresponding 2D points using five-point algorithm
CV_EXPORTS Mat findEssentialMat( InputArray points1, InputArray points2, double focal = 1.0, Point2d pp = Point2d(0, 0),
int method = CV_RANSAC,
double prob = 0.999, double threshold = 1.0, OutputArray mask = noArray() );
//! decompose essential matrix to possible rotation matrix and one translation vector
CV_EXPORTS void decomposeEssentialMat( InputArray E, OutputArray R1, OutputArray R2, OutputArray t );
//! recover relative camera pose from a set of corresponding 2D points
CV_EXPORTS int recoverPose( InputArray E, InputArray points1, InputArray points2, OutputArray R, OutputArray t,
double focal = 1.0, Point2d pp = Point2d(0, 0),
InputOutputArray mask = noArray());
//! finds coordinates of epipolar lines corresponding the specified points
CV_EXPORTS void computeCorrespondEpilines( InputArray points,
int whichImage, InputArray F,