opencv源代码 class LMeDSPointSetRegistrator

最新推荐文章于 2020-06-15 19:42:33 发布

ypange

最新推荐文章于 2020-06-15 19:42:33 发布

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class RANSACPointSetRegistrator : public PointSetRegistrator
{
   
public:
    RANSACPointSetRegistrator(const Ptr<PointSetRegistrator::Callback>& _cb=Ptr<PointSetRegistrator::Callback>(),
                              int _modelPoints=0, double _threshold=0, double _confidence=0.99, int _maxIters=1000)
    : cb(_cb), modelPoints(_modelPoints), threshold(_threshold), confidence(_confidence), maxIters(_maxIters)
    {
   
        checkPartialSubsets = false;
    }

    int findInliers( const Mat& m1, const Mat& m2, const Mat& model, Mat& err, Mat& mask, double thresh ) const
    {
   
        cb->computeError( m1, m2, model, err );
        mask.create(err.size(), CV_8U);

        CV_Assert( err.isContinuous() && err.type() == CV_32F && mask.isContinuous() && mask.type() == CV_8U);
        const float* errptr = err.ptr<float>();
        uchar* maskptr = mask.ptr<uchar>();
        float t = (float)(thresh*thresh);
        int i, n = (int)err.total(), nz = 0;
        for( i = 0; i < n; i++ )
        {
   
            int f = errptr[i] <= t;
            maskptr[i] = (uchar)f;
            nz += f;
        }
        return nz;
    }

    bool getSubset( const Mat& m1, const Mat& m2,
                    Mat& ms1, Mat& ms2, RNG& rng,
                    int maxAttempts=1000 ) const
    {
   
        cv::AutoBuffer<int> _idx(modelPoints);
        int* idx = _idx;
        int i = 0, j, k, iters = 0;
        int d1 = m1.channels() > 1 ? m1.channels() : m1.cols;
        int d2 = m2.channels() > 1 ? m2.channels() : m2.cols;
        int esz1 = (int)m1.elemSize1()*d1, esz2 = (int)m2.elemSize1()*d2;
        int count = m1.checkVector(d1), count2 = m2.checkVector(d2);
        const int *m1ptr = m1.ptr<int>(), *m2ptr = m2.ptr<int>();

        ms1.create(modelPoints, 1, CV_MAKETYPE(m1.depth