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Merge remote-tracking branch 'upstream/3.4' into merge-3.4

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Alexander Alekhin
2021-04-08 10:48:51 +00:00
parent 6e8daaec0f 76860933f0
commit 68d15fc62e
11 changed files with 111 additions and 23 deletions
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modules/calib3d/include/opencv2/calib3d.hpp
+35 -8
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@@ -2690,6 +2690,7 @@ 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:
@@ -2700,10 +2701,22 @@ 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 = RANSAC,
double prob = 0.999, double threshold = 1.0,
OutputArray mask = noArray() );
CV_EXPORTS_W
Mat findEssentialMat(
InputArray points1, InputArray points2,
InputArray cameraMatrix, int method = RANSAC,
double prob = 0.999, double threshold = 1.0,
int maxIters = 1000, OutputArray mask = noArray()
);
/** @overload */
CV_EXPORTS
Mat findEssentialMat(
InputArray points1, InputArray points2,
InputArray cameraMatrix, int method,
double prob, double threshold,
OutputArray mask
); // TODO remove from OpenCV 5.0
/** @overload
@param points1 Array of N (N \>= 5) 2D points from the first image. The point coordinates should
@@ -2723,6 +2736,7 @@ 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:
@@ -2734,10 +2748,23 @@ f & 0 & x_{pp} \\
0 & 0 & 1
\end{bmatrix}\f]
*/
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,
double threshold = 1.0, OutputArray mask = noArray() );
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,
double threshold = 1.0, int maxIters = 1000,
OutputArray mask = noArray()
);
/** @overload */
CV_EXPORTS
Mat findEssentialMat(
InputArray points1, InputArray points2,
double focal, Point2d pp,
int method, double prob,
double threshold, OutputArray mask
); // TODO remove from OpenCV 5.0
/** @brief Calculates an essential matrix from the corresponding points in two images from potentially two different cameras.