Commit3132507

ivashmak

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JSpencerPittman

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Merge pull requestopencv#26742 from ivashmak:fix_homography_inliers

Bug fix foropencv#25546 - Updating inliers for homography estimationopencv#26742Fixesopencv#25546### Pull Request Readiness ChecklistSee details athttps://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request- [x] I agree to contribute to the project under Apache 2 License.- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV- [x] The PR is proposed to the proper branch- [x] There is a reference to the original bug report and related work- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name.- [x] The feature is well documented and sample code can be built with the project CMake

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modules/calib3d/src
- fundam.cpp

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`‎modules/calib3d/src/fundam.cpp‎`

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Original file line number	Diff line number	Diff line change
`@@ -414,6 +414,11 @@ cv::Mat cv::findHomography( InputArray _points1, InputArray _points2,`
`414`	`414`
`415`	`415`	`if( result && npoints >4 && method != RHO)`
`416`	`416`	`{`
	`417`	`+// save the original points before compressing`
	`418`	`+constint npoints_input = npoints;`
	`419`	`+const Mat src_input = src.clone();`
	`420`	`+const Mat dst_input = dst.clone();`
	`421`	`+`
`417`	`422`	`compressElems( src.ptr<Point2f>(), tempMask.ptr<uchar>(),1, npoints );`
`418`	`423`	`npoints =compressElems( dst.ptr<Point2f>(), tempMask.ptr<uchar>(),1, npoints );`
`419`	`424`	`if( npoints >0 )`
`@@ -427,6 +432,16 @@ cv::Mat cv::findHomography( InputArray _points1, InputArray _points2,`
`427`	`432`	`MatH8(9,1, CV_64F, H.ptr<double>());`
`428`	`433`	`LMSolver::create(makePtr<HomographyRefineCallback>(src, dst),10)->run(H8);`
`429`	`434`	`H.convertTo(H, H.type(),scaleFor(H.at<double>(2,2)));`
	`435`	`+`
	`436`	`+// find new inliers`
	`437`	`+constfloat thr_sqr =static_cast<float>(ransacReprojThreshold * ransacReprojThreshold);`
	`438`	`+ cv::Mat errors;`
	`439`	`+ cb->computeError(src_input, dst_input, H, errors);`
	`440`	`+ uchar* maskptr = tempMask.ptr<uchar>();`
	`441`	`+constfloat *const errors_ptr = errors.ptr<float>();`
	`442`	`+for (int i =0; i < npoints_input; i++) {`
	`443`	`+ maskptr[i] =static_cast<uchar>(errors_ptr[i] <= thr_sqr);`
	`444`	`+ }`
`430`	`445`	`}`
`431`	`446`	`}`
`432`	`447`

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`‎modules/calib3d/src/fundam.cpp‎`

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