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Improve the documentation for affine transform estimation.

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This commit is contained in:
Fangjun Kuang
2018-01-18 12:40:59 +01:00
parent ec353dbdda
commit 67842df9e2
4 changed files with 129 additions and 31 deletions
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modules/calib3d/src/ptsetreg.cpp
+41 -4
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@@ -396,6 +396,19 @@ Ptr<PointSetRegistrator> createLMeDSPointSetRegistrator(const Ptr<PointSetRegist
}
/*
* Compute
* x a b c X t1
* y = d e f * Y + t2
* z g h i Z t3
*
* - every element in _m1 contains (X,Y,Z), which are called source points
* - every element in _m2 contains (x,y,z), which are called destination points
* - _model is of size 3x4, which contains
* a b c t1
* d e f t2
* g h i t3
*/
class Affine3DEstimatorCallback : public PointSetRegistrator::Callback
{
public:
@@ -499,6 +512,18 @@ public:
}
};
/*
* Compute
* x a b X c
* = * +
* y d e Y f
*
* - every element in _m1 contains (X,Y), which are called source points
* - every element in _m2 contains (x,y), which are called destination points
* - _model is of size 2x3, which contains
* a b c
* d e f
*/
class Affine2DEstimatorCallback : public PointSetRegistrator::Callback
{
public:
@@ -600,6 +625,18 @@ public:
}
};
/*
* Compute
* x c -s X t1
* = * +
* y s c Y t2
*
* - every element in _m1 contains (X,Y), which are called source points
* - every element in _m2 contains (x,y), which are called destination points
* - _model is of size 2x3, which contains
* c -s t1
* s c t2
*/
class AffinePartial2DEstimatorCallback : public Affine2DEstimatorCallback
{
public:
@@ -766,7 +803,7 @@ public:
int estimateAffine3D(InputArray _from, InputArray _to,
OutputArray _out, OutputArray _inliers,
double param1, double param2)
double ransacThreshold, double confidence)
{
CV_INSTRUMENT_REGION()
@@ -782,10 +819,10 @@ int estimateAffine3D(InputArray _from, InputArray _to,
dTo = dTo.reshape(3, count);
const double epsilon = DBL_EPSILON;
param1 = param1 <= 0 ? 3 : param1;
param2 = (param2 < epsilon) ? 0.99 : (param2 > 1 - epsilon) ? 0.99 : param2;
ransacThreshold = ransacThreshold <= 0 ? 3 : ransacThreshold;
confidence = (confidence < epsilon) ? 0.99 : (confidence > 1 - epsilon) ? 0.99 : confidence;
return createRANSACPointSetRegistrator(makePtr<Affine3DEstimatorCallback>(), 4, param1, param2)->run(dFrom, dTo, _out, _inliers);
return createRANSACPointSetRegistrator(makePtr<Affine3DEstimatorCallback>(), 4, ransacThreshold, confidence)->run(dFrom, dTo, _out, _inliers);
}
Mat estimateAffine2D(InputArray _from, InputArray _to, OutputArray _inliers,