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Test Run OK

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This commit is contained in:
edgarriba 2014-07-09 17:27:08 +02:00
parent 89246e1a45
commit a5d40d7674
1 changed files with 23 additions and 15 deletions
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38
modules/calib3d/src/solvepnp.cpp
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@ -340,7 +340,9 @@ bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
{ {
Mat opoints = _opoints.getMat(), ipoints = _ipoints.getMat(); Mat opoints = _opoints.getMat(), ipoints = _ipoints.getMat();
Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat();
int npoints = std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F));
CV_Assert( npoints >= 0 && npoints == std::max(ipoints.checkVector(2, CV_32F), ipoints.checkVector(2, CV_64F)) );
CV_Assert(opoints.isContinuous()); CV_Assert(opoints.isContinuous());
CV_Assert(opoints.depth() == CV_32F || opoints.depth() == CV_64F); CV_Assert(opoints.depth() == CV_32F || opoints.depth() == CV_64F);
@ -354,26 +356,30 @@ bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
Mat rvec = useExtrinsicGuess ? _rvec.getMat() : Mat(3, 1, CV_64FC1); Mat rvec = useExtrinsicGuess ? _rvec.getMat() : Mat(3, 1, CV_64FC1);
Mat tvec = useExtrinsicGuess ? _tvec.getMat() : Mat(3, 1, CV_64FC1); Mat tvec = useExtrinsicGuess ? _tvec.getMat() : Mat(3, 1, CV_64FC1);
Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat();
Ptr<PointSetRegistrator::Callback> cb; // pointer to callback Ptr<PointSetRegistrator::Callback> cb; // pointer to callback
cb = makePtr<PnPRansacCallback>( cameraMatrix, distCoeffs, flags, useExtrinsicGuess, rvec, tvec); cb = makePtr<PnPRansacCallback>( cameraMatrix, distCoeffs, flags, useExtrinsicGuess, rvec, tvec);
int model_points = 6; // minimum of number of model points int model_points = flags == cv::P3P ? 4 : 6; // minimum of number of model points
double param1 = reprojectionError ; // reprojection error double param1 = reprojectionError; // reprojection error
double param2 = confidence; // confidence double param2 = confidence; // confidence
int param3 = iterationsCount; // number maximum iterations int param3 = iterationsCount; // number maximum iterations
cv::Mat _local_model(3, 2, CV_64FC1); cv::Mat _local_model(3, 2, CV_64FC1);
cv::Mat _mask_local_inliers(1, opoints.rows, CV_8UC1); cv::Mat _mask_local_inliers(1, opoints.rows, CV_8UC1);
// call Ransac // call Ransac
int result = createRANSACPointSetRegistrator(cb, model_points, param1, param2, param3)->run(_opoints, _ipoints, _local_model, _mask_local_inliers); int result = createRANSACPointSetRegistrator(cb, model_points, param1, param2, param3)->run(opoints, ipoints, _local_model, _mask_local_inliers);
if( result <= 0 || _local_model.rows <= 0) if( result <= 0 || _local_model.rows <= 0)
{ {
_rvec.assign(rvec); // output rotation vector _rvec.assign(rvec); // output rotation vector
_tvec.assign(tvec); // output translation vector _tvec.assign(tvec); // output translation vector
if( _inliers.needed() )
_inliers.release();
return false; return false;
} }
else else
@ -382,18 +388,20 @@ bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
_tvec.assign(_local_model.col(1)); // output translation vector _tvec.assign(_local_model.col(1)); // output translation vector
} }
Mat _local_inliers; if(_inliers.needed())
int count = 0; {
for (int i = 0; i < _mask_local_inliers.rows; ++i) Mat _local_inliers;
{ int count = 0;
if((int)_mask_local_inliers.at<uchar>(i) == 1) // inliers mask for (int i = 0; i < _mask_local_inliers.rows; ++i)
{ {
_local_inliers.push_back(count); // output inliers vector if((int)_mask_local_inliers.at<uchar>(i) == 1) // inliers mask
count++; {
_local_inliers.push_back(count); // output inliers vector
count++;
}
} }
_local_inliers.copyTo(_inliers);
} }
_local_inliers.copyTo(_inliers);
// OLD IMPLEMENTATION // OLD IMPLEMENTATION