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in solvePnPRansac call the solvePnP in the end with all the inliers to get more precise estimate

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This commit is contained in:
Vadim Pisarevsky
2015-03-16 16:56:26 +03:00
parent 5c352c9146
commit ca19ae8b5a
6 changed files with 97 additions and 61 deletions
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modules/calib3d/src/fundam.cpp
+2 -16
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@@ -69,20 +69,6 @@ static bool haveCollinearPoints( const Mat& m, int count )
}
template<typename T> int compressPoints( T* ptr, const uchar* mask, int mstep, int count )
{
int i, j;
for( i = j = 0; i < count; i++ )
if( mask[i*mstep] )
{
if( i > j )
ptr[j] = ptr[i];
j++;
}
return j;
}
class HomographyEstimatorCallback : public PointSetRegistrator::Callback
{
public:
@@ -322,8 +308,8 @@ cv::Mat cv::findHomography( InputArray _points1, InputArray _points2,
if( result && npoints > 4 )
{
compressPoints( src.ptr<Point2f>(), tempMask.ptr<uchar>(), 1, npoints );
npoints = compressPoints( dst.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 );
if( npoints > 0 )
{
Mat src1 = src.rowRange(0, npoints);