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Pass RANSAC parameters as function input (#10569)

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* Pass RANSAC parameters as function input

* Clean up unnecessary code

* Keep the original function signature

* Clean up based on PR comments

Replace array with vector.

Correct naming convention for input variables.

Add checks on input variables.

* Use vector instead of array for dynamic size

* Revert change.

* Use dynamic array

* Fix wrong syntax in array allocation

* Undo change

* Fix variable name

* Use vector and not array

* fixed compile warning on Windows
This commit is contained in:
branka-plateiq 2018-06-26 06:40:28 -07:00 committed by Vadim Pisarevsky
parent 53a475d63c
commit 34ad9b8a42
2 changed files with 31 additions and 20 deletions
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4
modules/video/include/opencv2/video/tracking.hpp
View File

@ -250,7 +250,9 @@ when fullAffine=false.
@sa @sa
estimateAffine2D, estimateAffinePartial2D, getAffineTransform, getPerspectiveTransform, findHomography estimateAffine2D, estimateAffinePartial2D, getAffineTransform, getPerspectiveTransform, findHomography
*/ */
CV_EXPORTS_W Mat estimateRigidTransform( InputArray src, InputArray dst, bool fullAffine ); CV_EXPORTS_W Mat estimateRigidTransform( InputArray src, InputArray dst, bool fullAffine);
CV_EXPORTS_W Mat estimateRigidTransform( InputArray src, InputArray dst, bool fullAffine, int ransacMaxIters, double ransacGoodRatio,
int ransacSize0);
enum enum

47
modules/video/src/lkpyramid.cpp
View File

@ -1412,7 +1412,7 @@ namespace cv
{ {
static void static void
getRTMatrix( const Point2f* a, const Point2f* b, getRTMatrix( const std::vector<Point2f> a, const std::vector<Point2f> b,
int count, Mat& M, bool fullAffine ) int count, Mat& M, bool fullAffine )
{ {
CV_Assert( M.isContinuous() ); CV_Assert( M.isContinuous() );
@ -1488,6 +1488,12 @@ getRTMatrix( const Point2f* a, const Point2f* b,
} }
cv::Mat cv::estimateRigidTransform( InputArray src1, InputArray src2, bool fullAffine ) cv::Mat cv::estimateRigidTransform( InputArray src1, InputArray src2, bool fullAffine )
{
return estimateRigidTransform(src1, src2, fullAffine, 500, 0.5, 3);
}
cv::Mat cv::estimateRigidTransform( InputArray src1, InputArray src2, bool fullAffine, int ransacMaxIters, double ransacGoodRatio,
const int ransacSize0)
{ {
CV_INSTRUMENT_REGION() CV_INSTRUMENT_REGION()
@ -1495,9 +1501,6 @@ cv::Mat cv::estimateRigidTransform( InputArray src1, InputArray src2, bool fullA
const int COUNT = 15; const int COUNT = 15;
const int WIDTH = 160, HEIGHT = 120; const int WIDTH = 160, HEIGHT = 120;
const int RANSAC_MAX_ITERS = 500;
const int RANSAC_SIZE0 = 3;
const double RANSAC_GOOD_RATIO = 0.5;
std::vector<Point2f> pA, pB; std::vector<Point2f> pA, pB;
std::vector<int> good_idx; std::vector<int> good_idx;
@ -1509,6 +1512,12 @@ cv::Mat cv::estimateRigidTransform( InputArray src1, InputArray src2, bool fullA
RNG rng((uint64)-1); RNG rng((uint64)-1);
int good_count = 0; int good_count = 0;
if( ransacSize0 < 3 )
CV_Error( Error::StsBadArg, "ransacSize0 should have value bigger than 2.");
if( ransacGoodRatio > 1 || ransacGoodRatio < 0)
CV_Error( Error::StsBadArg, "ransacGoodRatio should have value between 0 and 1");
if( A.size() != B.size() ) if( A.size() != B.size() )
CV_Error( Error::StsUnmatchedSizes, "Both input images must have the same size" ); CV_Error( Error::StsUnmatchedSizes, "Both input images must have the same size" );
@ -1597,23 +1606,23 @@ cv::Mat cv::estimateRigidTransform( InputArray src1, InputArray src2, bool fullA
good_idx.resize(count); good_idx.resize(count);
if( count < RANSAC_SIZE0 ) if( count < ransacSize0 )
return Mat(); return Mat();
Rect brect = boundingRect(pB); Rect brect = boundingRect(pB);
std::vector<Point2f> a(ransacSize0);
std::vector<Point2f> b(ransacSize0);
// RANSAC stuff: // RANSAC stuff:
// 1. find the consensus // 1. find the consensus
for( k = 0; k < RANSAC_MAX_ITERS; k++ ) for( k = 0; k < ransacMaxIters; k++ )
{ {
int idx[RANSAC_SIZE0]; std::vector<int> idx(ransacSize0);
Point2f a[RANSAC_SIZE0]; // choose random 3 non-complanar points from A & B
Point2f b[RANSAC_SIZE0]; for( i = 0; i < ransacSize0; i++ )
// choose random 3 non-coplanar points from A & B
for( i = 0; i < RANSAC_SIZE0; i++ )
{ {
for( k1 = 0; k1 < RANSAC_MAX_ITERS; k1++ ) for( k1 = 0; k1 < ransacMaxIters; k1++ )
{ {
idx[i] = rng.uniform(0, count); idx[i] = rng.uniform(0, count);
@ -1633,7 +1642,7 @@ cv::Mat cv::estimateRigidTransform( InputArray src1, InputArray src2, bool fullA
if( j < i ) if( j < i )
continue; continue;
if( i+1 == RANSAC_SIZE0 ) if( i+1 == ransacSize0 )
{ {
// additional check for non-complanar vectors // additional check for non-complanar vectors
a[0] = pA[idx[0]]; a[0] = pA[idx[0]];
@ -1657,11 +1666,11 @@ cv::Mat cv::estimateRigidTransform( InputArray src1, InputArray src2, bool fullA
break; break;
} }
if( k1 >= RANSAC_MAX_ITERS ) if( k1 >= ransacMaxIters )
break; break;
} }
if( i < RANSAC_SIZE0 ) if( i < ransacSize0 )
continue; continue;
// estimate the transformation using 3 points // estimate the transformation using 3 points
@ -1675,11 +1684,11 @@ cv::Mat cv::estimateRigidTransform( InputArray src1, InputArray src2, bool fullA
good_idx[good_count++] = i; good_idx[good_count++] = i;
} }
if( good_count >= count*RANSAC_GOOD_RATIO ) if( good_count >= count*ransacGoodRatio )
break; break;
} }
if( k >= RANSAC_MAX_ITERS ) if( k >= ransacMaxIters )
return Mat(); return Mat();
if( good_count < count ) if( good_count < count )
@ -1692,7 +1701,7 @@ cv::Mat cv::estimateRigidTransform( InputArray src1, InputArray src2, bool fullA
} }
} }
getRTMatrix( &pA[0], &pB[0], good_count, M, fullAffine ); getRTMatrix( pA, pB, good_count, M, fullAffine );
M.at<double>(0, 2) /= scale; M.at<double>(0, 2) /= scale;
M.at<double>(1, 2) /= scale; M.at<double>(1, 2) /= scale;