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Expose maxIters in findFundamentalMat

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Lets the user choose the maximum number of iterations the robust
estimator runs for, similary to findHomography. This can significantly
improve performance (at a computational cost).
This commit is contained in:
Eduard Trulls 2020-02-04 07:28:07 +00:00 committed by Alexander Smorkalov
parent d2cc30e2a5
commit 7e637c134f
2 changed files with 18 additions and 6 deletions
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6
modules/calib3d/include/opencv2/calib3d.hpp
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@ -1905,6 +1905,7 @@ point localization, image resolution, and the image noise.
@param confidence Parameter used for the RANSAC and LMedS methods only. It specifies a desirable level
of confidence (probability) that the estimated matrix is correct.
@param mask
@param maxIters The maximum number of robust method iterations.
The epipolar geometry is described by the following equation:
@ -1938,6 +1939,11 @@ stereoRectifyUncalibrated to compute the rectification transformation. :
findFundamentalMat(points1, points2, FM_RANSAC, 3, 0.99);
@endcode
*/
CV_EXPORTS_W Mat findFundamentalMat( InputArray points1, InputArray points2,
int method, double ransacReprojThreshold, double confidence,
int maxIters, OutputArray mask = noArray() );
/** @overload */
CV_EXPORTS_W Mat findFundamentalMat( InputArray points1, InputArray points2,
int method = FM_RANSAC,
double ransacReprojThreshold = 3., double confidence = 0.99,

18
modules/calib3d/src/fundam.cpp
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@ -809,7 +809,7 @@ public:
cv::Mat cv::findFundamentalMat( InputArray _points1, InputArray _points2,
int method, double ransacReprojThreshold, double confidence,
OutputArray _mask )
int maxIters, OutputArray _mask )
{
CV_INSTRUMENT_REGION();
@ -861,7 +861,7 @@ cv::Mat cv::findFundamentalMat( InputArray _points1, InputArray _points2,
confidence = 0.99;
if( (method & ~3) == FM_RANSAC && npoints >= 15 )
result = createRANSACPointSetRegistrator(cb, 7, ransacReprojThreshold, confidence)->run(m1, m2, F, _mask);
result = createRANSACPointSetRegistrator(cb, 7, ransacReprojThreshold, confidence, maxIters)->run(m1, m2, F, _mask);
else
result = createLMeDSPointSetRegistrator(cb, 7, confidence)->run(m1, m2, F, _mask);
}
@ -872,11 +872,17 @@ cv::Mat cv::findFundamentalMat( InputArray _points1, InputArray _points2,
return F;
}
cv::Mat cv::findFundamentalMat( InputArray _points1, InputArray _points2,
OutputArray _mask, int method,
double ransacReprojThreshold , double confidence)
cv::Mat cv::findFundamentalMat( cv::InputArray points1, cv::InputArray points2,
int method, double ransacReprojThreshold, double confidence,
cv::OutputArray mask )
{
return cv::findFundamentalMat(_points1, _points2, method, ransacReprojThreshold, confidence, _mask);
return cv::findFundamentalMat(points1, points2, method, ransacReprojThreshold, confidence, 1000, mask);
}
cv::Mat cv::findFundamentalMat( cv::InputArray points1, cv::InputArray points2, cv::OutputArray mask,
int method, double ransacReprojThreshold, double confidence )
{
return cv::findFundamentalMat(points1, points2, method, ransacReprojThreshold, confidence, 1000, mask);
}