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体验新版 GitCode,发现更多精彩内容 >>
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a5d40d76
编写于
7月 09, 2014
作者:
E
edgarriba
浏览文件
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差异文件
Test Run OK
上级
89246e1a
变更
1
隐藏空白更改
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Showing
1 changed file
with
23 addition
and
15 deletion
+23
-15
modules/calib3d/src/solvepnp.cpp
modules/calib3d/src/solvepnp.cpp
+23
-15
未找到文件。
modules/calib3d/src/solvepnp.cpp
浏览文件 @
a5d40d76
...
...
@@ -340,7 +340,9 @@ bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
{
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
.
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
tvec
=
useExtrinsicGuess
?
_tvec
.
getMat
()
:
Mat
(
3
,
1
,
CV_64FC1
);
Mat
cameraMatrix
=
_cameraMatrix
.
getMat
(),
distCoeffs
=
_distCoeffs
.
getMat
();
Ptr
<
PointSetRegistrator
::
Callback
>
cb
;
// pointer to callback
cb
=
makePtr
<
PnPRansacCallback
>
(
cameraMatrix
,
distCoeffs
,
flags
,
useExtrinsicGuess
,
rvec
,
tvec
);
int
model_points
=
6
;
// minimum of number of model points
double
param1
=
reprojectionError
;
// reprojection error
double
param2
=
confidence
;
// confidence
int
param3
=
iterationsCount
;
// number maximum iterations
int
model_points
=
flags
==
cv
::
P3P
?
4
:
6
;
// minimum of number of model points
double
param1
=
reprojectionError
;
// reprojection error
double
param2
=
confidence
;
// confidence
int
param3
=
iterationsCount
;
// number maximum iterations
cv
::
Mat
_local_model
(
3
,
2
,
CV_64FC1
);
cv
::
Mat
_mask_local_inliers
(
1
,
opoints
.
rows
,
CV_8UC1
);
// 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
)
{
_rvec
.
assign
(
rvec
);
// output rotation vector
_tvec
.
assign
(
tvec
);
// output translation vector
if
(
_inliers
.
needed
()
)
_inliers
.
release
();
return
false
;
}
else
...
...
@@ -382,18 +388,20 @@ bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
_tvec
.
assign
(
_local_model
.
col
(
1
));
// output translation vector
}
Mat
_local_inliers
;
int
count
=
0
;
for
(
int
i
=
0
;
i
<
_mask_local_inliers
.
rows
;
++
i
)
{
if
((
int
)
_mask_local_inliers
.
at
<
uchar
>
(
i
)
==
1
)
// inliers mask
if
(
_inliers
.
needed
())
{
Mat
_local_inliers
;
int
count
=
0
;
for
(
int
i
=
0
;
i
<
_mask_local_inliers
.
rows
;
++
i
)
{
_local_inliers
.
push_back
(
count
);
// output inliers vector
count
++
;
if
((
int
)
_mask_local_inliers
.
at
<
uchar
>
(
i
)
==
1
)
// inliers mask
{
_local_inliers
.
push_back
(
count
);
// output inliers vector
count
++
;
}
}
_local_inliers
.
copyTo
(
_inliers
);
}
_local_inliers
.
copyTo
(
_inliers
);
// OLD IMPLEMENTATION
...
...
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