tested CvMat.find_fundamental_mat_lmeds

ext/opencv/cvmat.cpp

@@ -5079,14 +5079,11 @@ rb_find_fundamental_mat_ransac(int argc, VALUE *argv, VALUE klass)
  *   CvMat.find_fundamental_mat_lmeds(<i>points1, points2[,options = {}]</i>) -> fundamental_matrix(cvmat) or nil
  *
  * Calculates fundamental matrix from corresponding points, use for LMedS algorism.
- * <i>points1</i> and <i>points2</i> should be 2x7 or 3x7 single-channel, or 1x7 multi-channel matrix.
+ * <i>points1</i> and <i>points2</i> should be 2xN, Nx2, 3xN or Nx3 1-channel, or 1xN or Nx1 multi-channel matrix (N >= 8).
  * <i>option</i> should be Hash include these keys.
  *   :with_status (true or false)
  *      If set true, return fundamental_matrix and status. [fundamental_matrix, status]
  *      Otherwise return fundamental matrix only(default).
- *   :maximum_distance
- *      The maximum distance from point to epipolar line in pixels, beyond which the point is considered an outlier
- *      and is not used for computing the final fundamental matrix. Usually it is set to 0.5 or 1.0.
  *   :desirable_level
  *      It denotes the desirable level of confidence that the matrix is correct.
  *
@@ -5099,13 +5096,17 @@ rb_find_fundamental_mat_lmeds(int argc, VALUE *argv, VALUE klass)
   int num = 0;
   rb_scan_args(argc, argv, "21", &points1, &points2, &option);
   option = FIND_FUNDAMENTAL_MAT_OPTION(option);
-  fundamental_matrix = cCvMat::new_object(3, 3, CV_32FC1);
+  fundamental_matrix = cCvMat::new_object(3, 3, CVMAT(points1)->type);
   if(FFM_WITH_STATUS(option)){
-    status = cCvMat::new_object(cvGetSize(CVARR(points1)), CV_8UC1);
+    CvMat *points1_ptr = CVMAT(points1);
-    num = cvFindFundamentalMat(CVMAT(points1), CVMAT(points2), CVMAT(fundamental_matrix), CV_FM_LMEDS, FFM_MAXIMUM_DISTANCE(option), FFM_DESIRABLE_LEVEL(option), CVMAT(status));
+    int status_len = (points1_ptr->rows > points1_ptr->cols) ? points1_ptr->rows : points1_ptr->cols;
+    status = cCvMat::new_object(1, status_len, CV_8UC1);
+    num = cvFindFundamentalMat(CVMAT(points1), CVMAT(points2), CVMAT(fundamental_matrix), CV_FM_LMEDS,
+			       0, FFM_DESIRABLE_LEVEL(option), CVMAT(status));
     return num == 0 ? Qnil : rb_ary_new3(2, fundamental_matrix, status);
   }else{
-    num = cvFindFundamentalMat(CVMAT(points1), CVMAT(points2), CVMAT(fundamental_matrix), CV_FM_LMEDS, FFM_MAXIMUM_DISTANCE(option), FFM_DESIRABLE_LEVEL(option), NULL);
+    num = cvFindFundamentalMat(CVMAT(points1), CVMAT(points2), CVMAT(fundamental_matrix), CV_FM_LMEDS,
+			       0, FFM_DESIRABLE_LEVEL(option), NULL);
     return num == 0 ? Qnil : fundamental_matrix;
   }
 }

test/test_cvmat.rb

@@ -2014,6 +2014,79 @@ class TestCvMat < OpenCVTestCase
       assert_in_delta(val, status[i][0], 1.0e-5)
     }
   end
+
+  def test_find_fundamental_mat_lmeds
+    points1 = [[488.362, 169.911],
+               [449.488, 174.44],
+               [408.565, 179.669],
+               [364.512, 184.56],
+               [491.483, 122.366],
+               [451.512, 126.56],
+               [409.502, 130.342],
+               [365.5, 134.0],
+               [494.335, 74.544],
+               [453.5, 76.5],
+               [411.646, 79.5901],
+               [366.498, 81.6577]]
+    points2 =  [[526.605, 213.332],
+                [470.485, 207.632],
+                [417.5, 201.0],
+                [367.485, 195.632],
+                [530.673, 156.417],
+                [473.749, 151.39],
+                [419.503, 146.656],
+                [368.669, 142.565],
+                [534.632, 97.5152],
+                [475.84, 94.6777],
+                [421.16, 90.3223],
+                [368.5, 87.5]]
+
+    mat1 = CvMat.new(points1.size, 2, :cv64f, 1)
+    mat2 = CvMat.new(points2.size, 2, :cv64f, 1)
+
+    points1.each_with_index { |pt, i|
+      mat1[i, 0] = CvScalar.new(pt[0])
+      mat1[i, 1] = CvScalar.new(pt[1])
+    }
+    points2.each_with_index { |pt, i|
+      mat2[i, 0] = CvScalar.new(pt[0])
+      mat2[i, 1] = CvScalar.new(pt[1])
+    }
+
+    # default
+    [CvMat.find_fundamental_mat_lmeds(mat1, mat2, :with_status => false,
+                                       :maximum_distance => 1.0, :desirable_level => 0.99),
+     CvMat.find_fundamental_mat_lmeds(mat1, mat2)].each { |f_mat|
+      assert_equal(3, f_mat.rows)
+      assert_equal(3, f_mat.cols)
+      expected = [0.000009, -0.000129, -0.008502,
+                  0.000183, -0.000004, -0.106088,
+                  0.002575, 0.090291, 1.000000]
+      expected.each_with_index { |val, i|
+        assert_in_delta(val, f_mat[i][0], 1.0e-5)
+      }
+    }
+    
+    # with options
+    f_mat, status = CvMat.find_fundamental_mat_lmeds(mat1, mat2, :with_status => true,
+                                                     :desirable_level => 0.8)
+    assert_equal(3, f_mat.rows)
+    assert_equal(3, f_mat.cols)
+    assert_equal(1, status.rows)
+    assert_equal(points1.size, status.cols)
+
+    expected_f_mat = [0.000009, -0.000129, -0.008502, 
+                      0.000183, -0.000004, -0.106088, 
+                      0.002575, 0.090291, 1.000000]
+    expected_f_mat.each_with_index { |val, i|
+      assert_in_delta(val, f_mat[i][0], 1.0e-5)
+    }
+    expected_status = [0, 1, 0, 1, 0, 1, 0, 1, 1, 0, 1, 1]
+
+    expected_status.each_with_index { |val, i|
+      assert_in_delta(val, status[i][0], 1.0e-5)
+    }
+  end
 end