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Merge pull request #18356 from ivashmak:update_ransac

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* update new RANSAC

* fix warning

* change gamma values table

* resolve conflict

* resolve conflict

* GammaValues as singleton
This commit is contained in:
Maksym Ivashechkin
2020-10-06 22:37:49 +02:00
committed by GitHub
parent 01981ed290
commit d5dce63254
16 changed files with 673 additions and 813 deletions
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modules/calib3d/src/usac/utils.cpp
+17 -10
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@@ -168,7 +168,7 @@ Vec3d Math::rotMat2RotVec (const Matx33d &R) {
/*
* Eliminate matrix of m rows and n columns to be upper triangular.
*/
void Math::eliminateUpperTriangular (std::vector<double> &a, int m, int n) {
bool Math::eliminateUpperTriangular (std::vector<double> &a, int m, int n) {
for (int r = 0; r < m; r++){
double pivot = a[r*n+r];
int row_with_pivot = r;
@@ -182,7 +182,7 @@ void Math::eliminateUpperTriangular (std::vector<double> &a, int m, int n) {
// if pivot value is 0 continue
if (fabs(pivot) < DBL_EPSILON)
continue;
return false; // matrix is not full rank -> terminate
// swap row with maximum pivot value with current row
for (int c = r; c < n; c++)
@@ -190,11 +190,14 @@ void Math::eliminateUpperTriangular (std::vector<double> &a, int m, int n) {
// eliminate other rows
for (int j = r+1; j < m; j++){
const auto fac = a[j*n+r] / pivot;
for (int c = r; c < n; c++)
a[j*n+c] -= fac * a[r*n+c];
const int row_idx1 = j*n, row_idx2 = r*n;
const auto fac = a[row_idx1+r] / pivot;
a[row_idx1+r] = 0; // zero eliminated element
for (int c = r+1; c < n; c++)
a[row_idx1+c] -= fac * a[row_idx2+c];
}
}
return true;
}
//////////////////////////////////////// RANDOM GENERATOR /////////////////////////////
@@ -467,7 +470,8 @@ private:
std::vector<std::vector<int>> graph;
public:
GridNeighborhoodGraphImpl (const Mat &container_, int points_size,
int cell_size_x_img1, int cell_size_y_img1, int cell_size_x_img2, int cell_size_y_img2) {
int cell_size_x_img1, int cell_size_y_img1, int cell_size_x_img2, int cell_size_y_img2,
int max_neighbors) {
const auto * const container = (float *) container_.data;
// <int, int, int, int> -> {neighbors set}
@@ -501,11 +505,14 @@ public:
for (int v_in_cell : neighbors) {
// there is always at least one neighbor
auto &graph_row = graph[v_in_cell];
graph_row = std::vector<int>(neighbors_in_cell-1);
graph_row = std::vector<int>(std::min(max_neighbors, neighbors_in_cell-1));
int j = 0;
for (int n : neighbors)
if (n != v_in_cell)
if (n != v_in_cell){
graph_row[j++] = n;
if (j >= max_neighbors)
break;
}
}
}
}
@@ -519,8 +526,8 @@ public:
Ptr<GridNeighborhoodGraph> GridNeighborhoodGraph::create(const Mat &points,
int points_size, int cell_size_x_img1_, int cell_size_y_img1_,
int cell_size_x_img2_, int cell_size_y_img2_) {
int cell_size_x_img2_, int cell_size_y_img2_, int max_neighbors) {
return makePtr<GridNeighborhoodGraphImpl>(points, points_size,
cell_size_x_img1_, cell_size_y_img1_, cell_size_x_img2_, cell_size_y_img2_);
cell_size_x_img1_, cell_size_y_img1_, cell_size_x_img2_, cell_size_y_img2_, max_neighbors);
}
}}