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Update USAC #23078

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merged 15 commits into from
Jun 16, 2023
Merged

Update USAC #23078

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725f6d2
update usac
ivashmak Jan 2, 2023
2ad7faa
fix warnings
ivashmak Jan 2, 2023
cc77de0
fix warnings
ivashmak Jan 2, 2023
adc8e87
fix warnings
ivashmak Jan 2, 2023
d34c7cb
fix warnings
ivashmak Jan 4, 2023
a60b392
remove unused variable
ivashmak Jan 5, 2023
539fc72
fix PR #22849 regarding final polishing
ivashmak Jan 17, 2023
273147d
fix enum
ivashmak Mar 3, 2023
4804ed9
override virtual functions, possible memory leak fix
ivashmak Apr 21, 2023
ff1ce4c
add comments and fix names
ivashmak Jun 14, 2023
eddc7f7
bug fix
ivashmak Jun 15, 2023
8e1254e
Restored USAC parameters.
asmorkalov Jun 15, 2023
8890818
resolve merge conflict
ivashmak Jun 15, 2023
71236b6
Merge branch 'update_vsac' of https://github.com/ivashmak/opencv into…
ivashmak Jun 15, 2023
a3cb1e6
remove trailing whitespace
ivashmak Jun 15, 2023
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31 changes: 24 additions & 7 deletions modules/calib3d/include/opencv2/calib3d.hpp
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Expand Up @@ -548,16 +548,31 @@ enum RobotWorldHandEyeCalibrationMethod
CALIB_ROBOT_WORLD_HAND_EYE_LI = 1 //!< Simultaneous robot-world and hand-eye calibration using dual-quaternions and kronecker product @cite Li2010SimultaneousRA
};

enum SamplingMethod { SAMPLING_UNIFORM, SAMPLING_PROGRESSIVE_NAPSAC, SAMPLING_NAPSAC,
SAMPLING_PROSAC };
enum LocalOptimMethod {LOCAL_OPTIM_NULL, LOCAL_OPTIM_INNER_LO, LOCAL_OPTIM_INNER_AND_ITER_LO,
LOCAL_OPTIM_GC, LOCAL_OPTIM_SIGMA};
enum ScoreMethod {SCORE_METHOD_RANSAC, SCORE_METHOD_MSAC, SCORE_METHOD_MAGSAC, SCORE_METHOD_LMEDS};
enum NeighborSearchMethod { NEIGH_FLANN_KNN, NEIGH_GRID, NEIGH_FLANN_RADIUS };
enum SamplingMethod { SAMPLING_UNIFORM=0, SAMPLING_PROGRESSIVE_NAPSAC=1, SAMPLING_NAPSAC=2,
SAMPLING_PROSAC=3 };
enum LocalOptimMethod {LOCAL_OPTIM_NULL=0, LOCAL_OPTIM_INNER_LO=1, LOCAL_OPTIM_INNER_AND_ITER_LO=2,
LOCAL_OPTIM_GC=3, LOCAL_OPTIM_SIGMA=4};
enum ScoreMethod {SCORE_METHOD_RANSAC=0, SCORE_METHOD_MSAC=1, SCORE_METHOD_MAGSAC=2, SCORE_METHOD_LMEDS=3};
enum NeighborSearchMethod { NEIGH_FLANN_KNN=0, NEIGH_GRID=1, NEIGH_FLANN_RADIUS=2 };
enum PolishingMethod { NONE_POLISHER=0, LSQ_POLISHER=1, MAGSAC=2, COV_POLISHER=3 };
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struct CV_EXPORTS_W_SIMPLE UsacParams
{ // in alphabetical order
CV_WRAP UsacParams();
CV_WRAP UsacParams() {
confidence=0.99;
isParallel=false;
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loIterations=5;
loMethod=LOCAL_OPTIM_INNER_LO;
loSampleSize=14;
maxIterations=5000;
neighborsSearch=NEIGH_GRID;
randomGeneratorState=0;
sampler=SAMPLING_UNIFORM;
score=SCORE_METHOD_MSAC;
threshold=1.5;
final_polisher=COV_POLISHER;
final_polisher_iterations=3;
};
CV_PROP_RW double confidence;
CV_PROP_RW bool isParallel;
CV_PROP_RW int loIterations;
Expand All @@ -569,6 +584,8 @@ struct CV_EXPORTS_W_SIMPLE UsacParams
CV_PROP_RW SamplingMethod sampler;
CV_PROP_RW ScoreMethod score;
CV_PROP_RW double threshold;
CV_PROP_RW PolishingMethod final_polisher;
CV_PROP_RW int final_polisher_iterations;
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};

/** @brief Converts a rotation matrix to a rotation vector or vice versa.
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4 changes: 2 additions & 2 deletions modules/calib3d/src/five-point.cpp
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Expand Up @@ -522,9 +522,9 @@ cv::Mat cv::findEssentialMat( InputArray points1, InputArray points2,
InputArray cameraMatrix1, InputArray cameraMatrix2,
InputArray dist_coeff1, InputArray dist_coeff2, OutputArray mask, const UsacParams &params) {
Ptr<usac::Model> model;
usac::setParameters(model, usac::EstimationMethod::Essential, params, mask.needed());
usac::setParameters(model, usac::EstimationMethod::ESSENTIAL, params, mask.needed());
Ptr<usac::RansacOutput> ransac_output;
if (usac::run(model, points1, points2, model->getRandomGeneratorState(),
if (usac::run(model, points1, points2,
ransac_output, cameraMatrix1, cameraMatrix2, dist_coeff1, dist_coeff2)) {
usac::saveMask(mask, ransac_output->getInliersMask());
return ransac_output->getModel();
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8 changes: 4 additions & 4 deletions modules/calib3d/src/fundam.cpp
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Expand Up @@ -451,9 +451,9 @@ cv::Mat cv::findHomography( InputArray _points1, InputArray _points2,
cv::Mat cv::findHomography(InputArray srcPoints, InputArray dstPoints, OutputArray mask,
const UsacParams &params) {
Ptr<usac::Model> model;
usac::setParameters(model, usac::EstimationMethod::Homography, params, mask.needed());
usac::setParameters(model, usac::EstimationMethod::HOMOGRAPHY, params, mask.needed());
Ptr<usac::RansacOutput> ransac_output;
if (usac::run(model, srcPoints, dstPoints, model->getRandomGeneratorState(),
if (usac::run(model, srcPoints, dstPoints,
ransac_output, noArray(), noArray(), noArray(), noArray())) {
usac::saveMask(mask, ransac_output->getInliersMask());
return ransac_output->getModel() / ransac_output->getModel().at<double>(2,2);
Expand Down Expand Up @@ -913,10 +913,10 @@ cv::Mat cv::findFundamentalMat( cv::InputArray points1, cv::InputArray points2,
cv::Mat cv::findFundamentalMat( InputArray points1, InputArray points2,
OutputArray mask, const UsacParams &params) {
Ptr<usac::Model> model;
setParameters(model, usac::EstimationMethod::Fundamental, params, mask.needed());
setParameters(model, usac::EstimationMethod::FUNDAMENTAL, params, mask.needed());
CV_Assert(model);
Ptr<usac::RansacOutput> ransac_output;
if (usac::run(model, points1, points2, model->getRandomGeneratorState(),
if (usac::run(model, points1, points2,
ransac_output, noArray(), noArray(), noArray(), noArray())) {
usac::saveMask(mask, ransac_output->getInliersMask());
return ransac_output->getModel();
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4 changes: 2 additions & 2 deletions modules/calib3d/src/ptsetreg.cpp
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Expand Up @@ -1086,9 +1086,9 @@ Mat estimateAffine2D(InputArray _from, InputArray _to, OutputArray _inliers,
Mat estimateAffine2D(InputArray _from, InputArray _to, OutputArray inliers,
const UsacParams &params) {
Ptr<usac::Model> model;
usac::setParameters(model, usac::EstimationMethod::Affine, params, inliers.needed());
usac::setParameters(model, usac::EstimationMethod::AFFINE, params, inliers.needed());
Ptr<usac::RansacOutput> ransac_output;
if (usac::run(model, _from, _to, model->getRandomGeneratorState(),
if (usac::run(model, _from, _to,
ransac_output, noArray(), noArray(), noArray(), noArray())) {
usac::saveMask(inliers, ransac_output->getInliersMask());
return ransac_output->getModel().rowRange(0,2);
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17 changes: 1 addition & 16 deletions modules/calib3d/src/solvepnp.cpp
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Expand Up @@ -199,21 +199,6 @@ class PnPRansacCallback CV_FINAL : public PointSetRegistrator::Callback
Mat tvec;
};

UsacParams::UsacParams()
{
confidence = 0.99;
isParallel = false;
loIterations = 5;
loMethod = LocalOptimMethod::LOCAL_OPTIM_INNER_LO;
loSampleSize = 14;
maxIterations = 5000;
neighborsSearch = NeighborSearchMethod::NEIGH_GRID;
randomGeneratorState = 0;
sampler = SamplingMethod::SAMPLING_UNIFORM;
score = ScoreMethod::SCORE_METHOD_MSAC;
threshold = 1.5;
}

bool solvePnPRansac(InputArray _opoints, InputArray _ipoints,
InputArray _cameraMatrix, InputArray _distCoeffs,
OutputArray _rvec, OutputArray _tvec, bool useExtrinsicGuess,
Expand Down Expand Up @@ -407,7 +392,7 @@ bool solvePnPRansac( InputArray objectPoints, InputArray imagePoints,
usac::setParameters(model_params, cameraMatrix.empty() ? usac::EstimationMethod::P6P :
usac::EstimationMethod::P3P, params, inliers.needed());
Ptr<usac::RansacOutput> ransac_output;
if (usac::run(model_params, imagePoints, objectPoints, model_params->getRandomGeneratorState(),
if (usac::run(model_params, imagePoints, objectPoints,
ransac_output, cameraMatrix, noArray(), distCoeffs, noArray())) {
if (inliers.needed()) {
const auto &inliers_mask = ransac_output->getInliersMask();
Expand Down