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Merge pull request #26742 from ivashmak:fix_homography_inliers

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Bug fix for #25546 - Updating inliers for homography estimation #26742

Fixes #25546

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake
This commit is contained in:
Maksym Ivashechkin 2025-01-11 15:08:58 +00:00 committed by GitHub
parent 2c2866a7a6
commit e29a70c17f
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1 changed files with 15 additions and 0 deletions
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15
modules/calib3d/src/fundam.cpp
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@ -414,6 +414,11 @@ cv::Mat cv::findHomography( InputArray _points1, InputArray _points2,
if( result && npoints > 4 && method != RHO) if( result && npoints > 4 && method != RHO)
{ {
// save the original points before compressing
const int npoints_input = npoints;
const Mat src_input = src.clone();
const Mat dst_input = dst.clone();
compressElems( src.ptr<Point2f>(), tempMask.ptr<uchar>(), 1, npoints ); compressElems( src.ptr<Point2f>(), tempMask.ptr<uchar>(), 1, npoints );
npoints = compressElems( dst.ptr<Point2f>(), tempMask.ptr<uchar>(), 1, npoints ); npoints = compressElems( dst.ptr<Point2f>(), tempMask.ptr<uchar>(), 1, npoints );
if( npoints > 0 ) if( npoints > 0 )
@ -427,6 +432,16 @@ cv::Mat cv::findHomography( InputArray _points1, InputArray _points2,
Mat H8(9, 1, CV_64F, H.ptr<double>()); Mat H8(9, 1, CV_64F, H.ptr<double>());
LMSolver::create(makePtr<HomographyRefineCallback>(src, dst), 10)->run(H8); LMSolver::create(makePtr<HomographyRefineCallback>(src, dst), 10)->run(H8);
H.convertTo(H, H.type(), scaleFor(H.at<double>(2,2))); H.convertTo(H, H.type(), scaleFor(H.at<double>(2,2)));
// find new inliers
const float thr_sqr = static_cast<float>(ransacReprojThreshold * ransacReprojThreshold);
cv::Mat errors;
cb->computeError(src_input, dst_input, H, errors);
uchar* maskptr = tempMask.ptr<uchar>();
const float * const errors_ptr = errors.ptr<float>();
for (int i = 0; i < npoints_input; i++) {
maskptr[i] = static_cast<uchar>(errors_ptr[i] <= thr_sqr);
}
} }
} }