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change flags and bugfix graph

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This commit is contained in:
Maksym Ivashechkin 2020-10-01 20:52:28 +02:00
parent a3e7c2d8e3
commit 0c4a8e2ca8
4 changed files with 11 additions and 7 deletions
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4
modules/calib3d/src/fundam.cpp
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@ -355,7 +355,7 @@ cv::Mat cv::findHomography( InputArray _points1, InputArray _points2,
{ {
CV_INSTRUMENT_REGION(); CV_INSTRUMENT_REGION();
if (method >= 32 && method <= 38) if (method >= USAC_DEFAULT && method <= USAC_MAGSAC)
return usac::findHomography(_points1, _points2, method, ransacReprojThreshold, return usac::findHomography(_points1, _points2, method, ransacReprojThreshold,
_mask, maxIters, confidence); _mask, maxIters, confidence);
@ -831,7 +831,7 @@ cv::Mat cv::findFundamentalMat( InputArray _points1, InputArray _points2,
{ {
CV_INSTRUMENT_REGION(); CV_INSTRUMENT_REGION();
if (method >= 32 && method <= 38) if (method >= USAC_DEFAULT && method <= USAC_MAGSAC)
return usac::findFundamentalMat(_points1, _points2, method, return usac::findFundamentalMat(_points1, _points2, method,
ransacReprojThreshold, confidence, maxIters, _mask); ransacReprojThreshold, confidence, maxIters, _mask);

2
modules/calib3d/src/ptsetreg.cpp
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@ -930,7 +930,7 @@ Mat estimateAffine2D(InputArray _from, InputArray _to, OutputArray _inliers,
const size_t refineIters) const size_t refineIters)
{ {
if (method >= 32 && method <= 38) if (method >= USAC_DEFAULT && method <= USAC_MAGSAC)
return cv::usac::estimateAffine2D(_from, _to, _inliers, method, return cv::usac::estimateAffine2D(_from, _to, _inliers, method,
ransacReprojThreshold, (int)maxIters, confidence, (int)refineIters); ransacReprojThreshold, (int)maxIters, confidence, (int)refineIters);

2
modules/calib3d/src/solvepnp.cpp
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@ -205,7 +205,7 @@ bool solvePnPRansac(InputArray _opoints, InputArray _ipoints,
{ {
CV_INSTRUMENT_REGION(); CV_INSTRUMENT_REGION();
if (flags >= 32 && flags <= 38) if (flags >= USAC_DEFAULT && flags <= USAC_MAGSAC)
return usac::solvePnPRansac(_opoints, _ipoints, _cameraMatrix, _distCoeffs, return usac::solvePnPRansac(_opoints, _ipoints, _cameraMatrix, _distCoeffs,
_rvec, _tvec, useExtrinsicGuess, iterationsCount, reprojectionError, _rvec, _tvec, useExtrinsicGuess, iterationsCount, reprojectionError,
confidence, _inliers, flags); confidence, _inliers, flags);

10
modules/calib3d/src/usac/local_optimization.cpp
View File

@ -136,6 +136,7 @@ private:
std::fill(used_edges.begin(), used_edges.end(), false); std::fill(used_edges.begin(), used_edges.end(), false);
bool has_edges = false;
// Iterate through all points and set their edges // Iterate through all points and set their edges
for (int point_idx = 0; point_idx < points_size; ++point_idx) { for (int point_idx = 0; point_idx < points_size; ++point_idx) {
energy = energies[point_idx]; energy = energies[point_idx];
@ -154,9 +155,8 @@ private:
b = spatial_coherence, c = spatial_coherence, d = 0; b = spatial_coherence, c = spatial_coherence, d = 0;
graph.addTermWeights(point_idx, d, a); graph.addTermWeights(point_idx, d, a);
b -= a; b -= a;
if (b + c >= 0) if (b + c < 0)
// Non-submodular expansion term detected; smooth costs must be a metric for expansion continue; // invalid regularity
continue;
if (b < 0) { if (b < 0) {
graph.addTermWeights(point_idx, 0, b); graph.addTermWeights(point_idx, 0, b);
graph.addTermWeights(actual_neighbor_idx, 0, -b); graph.addTermWeights(actual_neighbor_idx, 0, -b);
@ -167,9 +167,13 @@ private:
graph.addEdges(point_idx, actual_neighbor_idx, b + c, 0); graph.addEdges(point_idx, actual_neighbor_idx, b + c, 0);
} else } else
graph.addEdges(point_idx, actual_neighbor_idx, b, c); graph.addEdges(point_idx, actual_neighbor_idx, b, c);
has_edges = true;
} }
} }
if (!has_edges)
return quality->getInliers(model, labeling_inliers);
graph.maxFlow(); graph.maxFlow();
int inlier_number = 0; int inlier_number = 0;