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fixed a bug for the mask of recoverPose function

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This commit is contained in:
Bo Li 2013-07-18 09:55:39 +08:00
parent 616dbd53f0
commit 9b5eca975b
1 changed files with 17 additions and 7 deletions
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24
modules/calib3d/src/five-point.cpp
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@ -529,15 +529,24 @@ int cv::recoverPose( InputArray E, InputArray _points1, InputArray _points2, Out
mask4 = (Q.row(2) > 0) & mask4;
mask4 = (Q.row(2) < dist) & mask4;
mask1 = mask1.t();
mask2 = mask2.t();
mask3 = mask3.t();
mask4 = mask4.t();
// If _mask is given, then use it to filter outliers.
if (_mask.needed())
if (!_mask.empty())
{
_mask.create(1, npoints, CV_8U, -1, true);
Mat mask = _mask.getMat();
bitwise_and(mask, mask1, mask1);
bitwise_and(mask, mask2, mask2);
bitwise_and(mask, mask3, mask3);
bitwise_and(mask, mask4, mask4);
Mat mask = _mask.getMat();
CV_Assert(mask.size() == mask1.size());
bitwise_and(mask, mask1, mask1);
bitwise_and(mask, mask2, mask2);
bitwise_and(mask, mask3, mask3);
bitwise_and(mask, mask4, mask4);
}
if (_mask.empty() && _mask.needed())
{
_mask.create(mask1.size(), CV_8U);
}
CV_Assert(_R.needed() && _t.needed());
@ -548,6 +557,7 @@ int cv::recoverPose( InputArray E, InputArray _points1, InputArray _points2, Out
int good2 = countNonZero(mask2);
int good3 = countNonZero(mask3);
int good4 = countNonZero(mask4);
if (good1 >= good2 && good1 >= good3 && good1 >= good4)
{
R1.copyTo(_R);