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Merge pull request #24005 from ivashmak:merge_usac_5.x

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Merge usac to 5.x #24005

### 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
- [x] 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


Base branch is PR #23979. Merging PR #23078, 23900 and PR #23806  to 5.x
This commit is contained in:
Maksym Ivashechkin
2023-07-27 15:51:16 +01:00
committed by GitHub
parent 4d695cd2f4
commit 0e8748746f
26 changed files with 4758 additions and 2586 deletions
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modules/3d/include/opencv2/3d.hpp
+9 -6
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@@ -419,12 +419,13 @@ enum { FM_7POINT = 1, //!< 7-point algorithm
FM_RANSAC = 8 //!< RANSAC algorithm. It needs at least 15 points. 7-point algorithm is used.
};
enum SamplingMethod { SAMPLING_UNIFORM, SAMPLING_PROGRESSIVE_NAPSAC, SAMPLING_NAPSAC,
SAMPLING_PROSAC };
enum LocalOptimMethod {LOCAL_OPTIM_NULL, LOCAL_OPTIM_INNER_LO, LOCAL_OPTIM_INNER_AND_ITER_LO,
LOCAL_OPTIM_GC, LOCAL_OPTIM_SIGMA};
enum ScoreMethod {SCORE_METHOD_RANSAC, SCORE_METHOD_MSAC, SCORE_METHOD_MAGSAC, SCORE_METHOD_LMEDS};
enum NeighborSearchMethod { NEIGH_FLANN_KNN, NEIGH_GRID, NEIGH_FLANN_RADIUS };
enum SamplingMethod { SAMPLING_UNIFORM=0, SAMPLING_PROGRESSIVE_NAPSAC=1, SAMPLING_NAPSAC=2,
SAMPLING_PROSAC=3 };
enum LocalOptimMethod {LOCAL_OPTIM_NULL=0, LOCAL_OPTIM_INNER_LO=1, LOCAL_OPTIM_INNER_AND_ITER_LO=2,
LOCAL_OPTIM_GC=3, LOCAL_OPTIM_SIGMA=4};
enum ScoreMethod {SCORE_METHOD_RANSAC=0, SCORE_METHOD_MSAC=1, SCORE_METHOD_MAGSAC=2, SCORE_METHOD_LMEDS=3};
enum NeighborSearchMethod { NEIGH_FLANN_KNN=0, NEIGH_GRID=1, NEIGH_FLANN_RADIUS=2 };
enum PolishingMethod { NONE_POLISHER=0, LSQ_POLISHER=1, MAGSAC=2, COV_POLISHER=3 };
struct CV_EXPORTS_W_SIMPLE UsacParams
{ // in alphabetical order
@@ -440,6 +441,8 @@ struct CV_EXPORTS_W_SIMPLE UsacParams
CV_PROP_RW SamplingMethod sampler;
CV_PROP_RW ScoreMethod score;
CV_PROP_RW double threshold;
CV_PROP_RW PolishingMethod final_polisher;
CV_PROP_RW int final_polisher_iterations;
};
/** @brief Converts a rotation matrix to a rotation vector or vice versa.