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Merge pull request #19847 from gasparitiago:expose-max-iters

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Alexander Alekhin 2021-04-08 10:31:36 +00:00
commit be17fce657
2 changed files with 36 additions and 4 deletions
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15
modules/calib3d/include/opencv2/calib3d.hpp
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@ -2241,6 +2241,7 @@ final fundamental matrix. It can be set to something like 1-3, depending on the
point localization, image resolution, and the image noise.
@param mask Output array of N elements, every element of which is set to 0 for outliers and to 1
for the other points. The array is computed only in the RANSAC and LMedS methods.
@param maxIters The maximum number of robust method iterations.
This function estimates essential matrix based on the five-point algorithm solver in @cite Nister03 .
@cite SteweniusCFS is also a related. The epipolar geometry is described by the following equation:
@ -2251,6 +2252,12 @@ where \f$E\f$ is an essential matrix, \f$p_1\f$ and \f$p_2\f$ are corresponding
second images, respectively. The result of this function may be passed further to
decomposeEssentialMat or recoverPose to recover the relative pose between cameras.
*/
CV_EXPORTS_W Mat findEssentialMat( InputArray points1, InputArray points2,
InputArray cameraMatrix, int method,
double prob, double threshold,
int maxIters, OutputArray mask = noArray() );
/** @overload */
CV_EXPORTS_W Mat findEssentialMat( InputArray points1, InputArray points2,
InputArray cameraMatrix, int method = RANSAC,
double prob = 0.999, double threshold = 1.0,
@ -2274,6 +2281,7 @@ point localization, image resolution, and the image noise.
confidence (probability) that the estimated matrix is correct.
@param mask Output array of N elements, every element of which is set to 0 for outliers and to 1
for the other points. The array is computed only in the RANSAC and LMedS methods.
@param maxIters The maximum number of robust method iterations.
This function differs from the one above that it computes camera intrinsic matrix from focal length and
principal point:
@ -2285,6 +2293,13 @@ f & 0 & x_{pp} \\
0 & 0 & 1
\end{bmatrix}\f]
*/
CV_EXPORTS_W Mat findEssentialMat( InputArray points1, InputArray points2,
double focal, Point2d pp,
int method, double prob,
double threshold, int maxIters,
OutputArray mask = noArray() );
/** @overload */
CV_EXPORTS_W Mat findEssentialMat( InputArray points1, InputArray points2,
double focal = 1.0, Point2d pp = Point2d(0, 0),
int method = RANSAC, double prob = 0.999,

25
modules/calib3d/src/five-point.cpp
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@ -403,7 +403,8 @@ protected:
// Input should be a vector of n 2D points or a Nx2 matrix
cv::Mat cv::findEssentialMat( InputArray _points1, InputArray _points2, InputArray _cameraMatrix,
int method, double prob, double threshold, OutputArray _mask)
int method, double prob, double threshold,
int maxIters, OutputArray _mask)
{
CV_INSTRUMENT_REGION();
@ -442,20 +443,36 @@ cv::Mat cv::findEssentialMat( InputArray _points1, InputArray _points2, InputArr
Mat E;
if( method == RANSAC )
createRANSACPointSetRegistrator(makePtr<EMEstimatorCallback>(), 5, threshold, prob)->run(points1, points2, E, _mask);
createRANSACPointSetRegistrator(makePtr<EMEstimatorCallback>(), 5, threshold, prob, maxIters)->run(points1, points2, E, _mask);
else
createLMeDSPointSetRegistrator(makePtr<EMEstimatorCallback>(), 5, prob)->run(points1, points2, E, _mask);
createLMeDSPointSetRegistrator(makePtr<EMEstimatorCallback>(), 5, prob, maxIters)->run(points1, points2, E, _mask);
return E;
}
cv::Mat cv::findEssentialMat( InputArray _points1, InputArray _points2, InputArray _cameraMatrix,
int method, double prob, double threshold,
OutputArray _mask)
{
return cv::findEssentialMat(_points1, _points2, _cameraMatrix, method, prob, threshold, 1000, _mask);
}
cv::Mat cv::findEssentialMat( InputArray _points1, InputArray _points2, double focal, Point2d pp,
int method, double prob, double threshold, int maxIters, OutputArray _mask)
{
CV_INSTRUMENT_REGION();
Mat cameraMatrix = (Mat_<double>(3,3) << focal, 0, pp.x, 0, focal, pp.y, 0, 0, 1);
return cv::findEssentialMat(_points1, _points2, cameraMatrix, method, prob, threshold, maxIters, _mask);
}
cv::Mat cv::findEssentialMat( InputArray _points1, InputArray _points2, double focal, Point2d pp,
int method, double prob, double threshold, OutputArray _mask)
{
CV_INSTRUMENT_REGION();
Mat cameraMatrix = (Mat_<double>(3,3) << focal, 0, pp.x, 0, focal, pp.y, 0, 0, 1);
return cv::findEssentialMat(_points1, _points2, cameraMatrix, method, prob, threshold, _mask);
return cv::findEssentialMat(_points1, _points2, cameraMatrix, method, prob, threshold, 1000, _mask);
}
int cv::recoverPose( InputArray E, InputArray _points1, InputArray _points2,