Expose maxIters in findEssentialMat

Lets the user choose the maximum number of iterations the robust
estimator runs for, similary to findFundamentalMat
and findHomography functions.

diff --git a/modules/calib3d/include/opencv2/calib3d.hpp b/modules/calib3d/include/opencv2/calib3d.hpp
index b48c928d827452097fb45b07eacca60f414d5550..6df79fa7b5e52f3489bcd4f585af41b13f96e79e 100644 (file)
--- a/modules/calib3d/include/opencv2/calib3d.hpp
+++ b/modules/calib3d/include/opencv2/calib3d.hpp
@@ -2241,6 +2241,7 @@ final fundamental matrix. It can be set to something like 1-3, depending on the
 point localization, image resolution, and the image noise.
 @param mask Output array of N elements, every element of which is set to 0 for outliers and to 1
 for the other points. The array is computed only in the RANSAC and LMedS methods.
+@param maxIters The maximum number of robust method iterations.
 
 This function estimates essential matrix based on the five-point algorithm solver in @cite Nister03 .
 @cite SteweniusCFS is also a related. The epipolar geometry is described by the following equation:
@@ -2251,6 +2252,12 @@ where \f$E\f$ is an essential matrix, \f$p_1\f$ and \f$p_2\f$ are corresponding
 second images, respectively. The result of this function may be passed further to
 decomposeEssentialMat or recoverPose to recover the relative pose between cameras.
  */
+CV_EXPORTS_W Mat findEssentialMat( InputArray points1, InputArray points2,
+                                 InputArray cameraMatrix, int method,
+                                 double prob, double threshold,
+                                 int maxIters, OutputArray mask = noArray() );
+
+/** @overload */
 CV_EXPORTS_W Mat findEssentialMat( InputArray points1, InputArray points2,
                                  InputArray cameraMatrix, int method = RANSAC,
                                  double prob = 0.999, double threshold = 1.0,
@@ -2274,6 +2281,7 @@ point localization, image resolution, and the image noise.
 confidence (probability) that the estimated matrix is correct.
 @param mask Output array of N elements, every element of which is set to 0 for outliers and to 1
 for the other points. The array is computed only in the RANSAC and LMedS methods.
+@param maxIters The maximum number of robust method iterations.
 
 This function differs from the one above that it computes camera intrinsic matrix from focal length and
 principal point:
@@ -2285,6 +2293,13 @@ f & 0 & x_{pp}  \\
 0 & 0 & 1
 \end{bmatrix}\f]
  */
+CV_EXPORTS_W Mat findEssentialMat( InputArray points1, InputArray points2,
+                                 double focal, Point2d pp,
+                                 int method, double prob,
+                                 double threshold, int maxIters,
+                                 OutputArray mask = noArray() );
+
+/** @overload */
 CV_EXPORTS_W Mat findEssentialMat( InputArray points1, InputArray points2,
                                  double focal = 1.0, Point2d pp = Point2d(0, 0),
                                  int method = RANSAC, double prob = 0.999,

diff --git a/modules/calib3d/src/five-point.cpp b/modules/calib3d/src/five-point.cpp
index 5909c2e2e31b86a83226a628c6d1127aa7023611..dbdd294c7e97e2d31cf62b8a1e84b990df5b36fa 100644 (file)
--- a/modules/calib3d/src/five-point.cpp
+++ b/modules/calib3d/src/five-point.cpp
@@ -403,7 +403,8 @@ protected:
 
 // Input should be a vector of n 2D points or a Nx2 matrix
 cv::Mat cv::findEssentialMat( InputArray _points1, InputArray _points2, InputArray _cameraMatrix,
-                              int method, double prob, double threshold, OutputArray _mask)
+                              int method, double prob, double threshold,
+                              int maxIters, OutputArray _mask)
 {
     CV_INSTRUMENT_REGION();
 
@@ -442,20 +443,36 @@ cv::Mat cv::findEssentialMat( InputArray _points1, InputArray _points2, InputArr
 
     Mat E;
     if( method == RANSAC )
-        createRANSACPointSetRegistrator(makePtr<EMEstimatorCallback>(), 5, threshold, prob)->run(points1, points2, E, _mask);
+        createRANSACPointSetRegistrator(makePtr<EMEstimatorCallback>(), 5, threshold, prob, maxIters)->run(points1, points2, E, _mask);
     else
-        createLMeDSPointSetRegistrator(makePtr<EMEstimatorCallback>(), 5, prob)->run(points1, points2, E, _mask);
+        createLMeDSPointSetRegistrator(makePtr<EMEstimatorCallback>(), 5, prob, maxIters)->run(points1, points2, E, _mask);
 
     return E;
 }
 
+cv::Mat cv::findEssentialMat( InputArray _points1, InputArray _points2, InputArray _cameraMatrix,
+                              int method, double prob, double threshold,
+                              OutputArray _mask)
+{
+    return cv::findEssentialMat(_points1, _points2, _cameraMatrix, method, prob, threshold, 1000, _mask);
+}
+
+cv::Mat cv::findEssentialMat( InputArray _points1, InputArray _points2, double focal, Point2d pp,
+                              int method, double prob, double threshold, int maxIters, OutputArray _mask)
+{
+    CV_INSTRUMENT_REGION();
+
+    Mat cameraMatrix = (Mat_<double>(3,3) << focal, 0, pp.x, 0, focal, pp.y, 0, 0, 1);
+    return cv::findEssentialMat(_points1, _points2, cameraMatrix, method, prob, threshold, maxIters, _mask);
+}
+
 cv::Mat cv::findEssentialMat( InputArray _points1, InputArray _points2, double focal, Point2d pp,
                               int method, double prob, double threshold, OutputArray _mask)
 {
     CV_INSTRUMENT_REGION();
 
     Mat cameraMatrix = (Mat_<double>(3,3) << focal, 0, pp.x, 0, focal, pp.y, 0, 0, 1);
-    return cv::findEssentialMat(_points1, _points2, cameraMatrix, method, prob, threshold, _mask);
+    return cv::findEssentialMat(_points1, _points2, cameraMatrix, method, prob, threshold, 1000, _mask);
 }
 
 int cv::recoverPose( InputArray E, InputArray _points1, InputArray _points2,