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Merge pull request #14828 from armenpoghosov:parmen_RANSACPointSetRegistrator_getSubset_disaster_cleanup

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Parmen ransac point set registrator get subset disaster cleanup (#14828)
This commit is contained in:
armenpoghosov
2019-07-01 20:57:28 +02:00
committed by Alexander Alekhin
parent b00e19a8da
commit edf2cbd5f7
1 changed files with 39 additions and 34 deletions
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modules/calib3d/src/ptsetreg.cpp
+39 -34
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@@ -99,55 +99,60 @@ public:
return nz;
}
bool getSubset( const Mat& m1, const Mat& m2,
Mat& ms1, Mat& ms2, RNG& rng,
int maxAttempts=1000 ) const
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.data();
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>();
const int d1 = m1.channels() > 1 ? m1.channels() : m1.cols;
const int d2 = m2.channels() > 1 ? m2.channels() : m2.cols;
int esz1 = (int)m1.elemSize1() * d1;
int esz2 = (int)m2.elemSize1() * d2;
CV_Assert((esz1 % sizeof(int)) == 0 && (esz2 % sizeof(int)) == 0);
esz1 /= sizeof(int);
esz2 /= sizeof(int);
const int count = m1.checkVector(d1);
const int count2 = m2.checkVector(d2);
CV_Assert(count >= modelPoints && count == count2);
const int *m1ptr = m1.ptr<int>();
const int *m2ptr = m2.ptr<int>();
ms1.create(modelPoints, 1, CV_MAKETYPE(m1.depth(), d1));
ms2.create(modelPoints, 1, CV_MAKETYPE(m2.depth(), d2));
int *ms1ptr = ms1.ptr<int>(), *ms2ptr = ms2.ptr<int>();
int *ms1ptr = ms1.ptr<int>();
int *ms2ptr = ms2.ptr<int>();
CV_Assert( count >= modelPoints && count == count2 );
CV_Assert( (esz1 % sizeof(int)) == 0 && (esz2 % sizeof(int)) == 0 );
esz1 /= sizeof(int);
esz2 /= sizeof(int);
for(; iters < maxAttempts; iters++)
for( int iters = 0; iters < maxAttempts; ++iters )
{
for( i = 0; i < modelPoints && iters < maxAttempts; )
int i;
for( i = 0; i < modelPoints; ++i )
{
int idx_i = 0;
for(;;)
{
idx_i = idx[i] = rng.uniform(0, count);
for( j = 0; j < i; j++ )
if( idx_i == idx[j] )
break;
if( j == i )
break;
}
for( k = 0; k < esz1; k++ )
int idx_i;
for ( idx_i = rng.uniform(0, count);
std::find(idx, idx + i, idx_i) != idx + i;
idx_i = rng.uniform(0, count) )
{}
idx[i] = idx_i;
for( int k = 0; k < esz1; ++k )
ms1ptr[i*esz1 + k] = m1ptr[idx_i*esz1 + k];
for( k = 0; k < esz2; k++ )
for( int k = 0; k < esz2; ++k )
ms2ptr[i*esz2 + k] = m2ptr[idx_i*esz2 + k];
i++;
}
if( i == modelPoints && !cb->checkSubset(ms1, ms2, i) )
continue;
break;
if( cb->checkSubset(ms1, ms2, i) )
return true;
}
return i == modelPoints && iters < maxAttempts;
return false;
}
bool run(InputArray _m1, InputArray _m2, OutputArray _model, OutputArray _mask) const CV_OVERRIDE