Merge pull request #313 from amroamroamro/cv310

Fixes
kyamagu · Jan 29, 2017 · ec751cf · ec751cf
2 parents 678ced7 + 6f98f9a
commit ec751cf
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Showing 7 changed files with 34 additions and 23 deletions.
diff --git a/+cv/BOWImgDescriptorExtractor.m b/+cv/BOWImgDescriptorExtractor.m
@@ -19,7 +19,7 @@
     %
     %    % Compute histogram of visual word occurrences of an image
     %    extractor = cv.BOWImgDescriptorExtractor('SIFT','BruteForce');
-    %    extractor.setVocabulary(dictionary);
+    %    extractor.Vocabulary = dictionary;
     %    descs = extractor.compute(im, keypoints);
     %
     % See also: cv.BOWImgDescriptorExtractor.BOWImgDescriptorExtractor,

diff --git a/+cv/BOWKMeansTrainer.m b/+cv/BOWKMeansTrainer.m
@@ -12,7 +12,7 @@
     %
     %    % Compute histogram of visual word occurrences of an image
     %    extractor = cv.BOWImgDescriptorExtractor('SIFT','BruteForce');
-    %    extractor.setVocabulary(dictionary);
+    %    extractor.Vocabulary = dictionary;
     %    descs = extractor.compute(im, keypoints);
     %
     % ## References

diff --git a/+cv/solvePnPRansac.m b/+cv/solvePnPRansac.m
@@ -1,6 +1,6 @@
 %SOLVEPNPRANSAC  Finds an object pose from 3D-2D point correspondences using the RANSAC scheme
 %
-%    [rvec, tvec, inliers] = cv.solvePnPRansac(objectPoints, imagePoints, cameraMatrix)
+%    [rvec, tvec, success, inliers] = cv.solvePnPRansac(objectPoints, imagePoints, cameraMatrix)
 %    [...] = cv.solvePnPRansac(..., 'OptionName', optionValue, ...)
 %
 % ## Input
@@ -19,7 +19,8 @@
 %       `tvec`, brings points from the model coordinate system to the
 %       camera coordinate system.
 % * __tvec__ Output translation vector.
-% * __inliers__ Output vector that contains indices of inliers in
+% * __success__ success logical flag.
+% * __inliers__ Output vector that contains indices (zero-based) of inliers in
 %       `objectPoints` and `imagePoints`.
 %
 % ## Options

diff --git a/README.markdown b/README.markdown
@@ -10,7 +10,7 @@ The package provides MATLAB MEX functions that interface with hundreds of
 OpenCV APIs. Also the package contains C++ class that converts between
 MATLAB's native data type and OpenCV data types. The package is suitable for
 fast prototyping of OpenCV application in MATLAB, use of OpenCV as an external
-toolbox in MATLAB, and development of a custom MEX function.
+toolbox in MATLAB, and development of custom MEX functions.
 
 The current version of mexopencv (master branch) is compatible with OpenCV 3.1.
 For older OpenCV versions, please checkout the corresponding branches
@@ -170,8 +170,14 @@ Replace the path above with the location where OpenCV binaries are installed
 
 Contrib modules are enabled as:
 
+    >> addpath('C:\path\to\mexopencv')
     >> addpath('C:\path\to\mexopencv\opencv_contrib')
-    >> mexopencv.make(..., 'opencv_contrib',true)
+    >> mexopencv.make('opencv_path','C:\OpenCV\build', 'opencv_contrib',true)
+
+If you have previously compiled mexopencv with a different configuration,
+don't forget to clean old artifacts build before building:
+
+    >> mexopencv.make(..., 'clean',true)
 
 Usage
 =====

diff --git a/src/+cv/solvePnPRansac.cpp b/src/+cv/solvePnPRansac.cpp
@@ -39,7 +39,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
     bool useExtrinsicGuess = false;
     int iterationsCount = 100;
     float reprojectionError = 8.0f;
-    double confidence  = 0.99;
+    double confidence = 0.99;
     int flags = cv::SOLVEPNP_ITERATIVE;
     for (int i=3; i<nrhs; i+=2) {
         string key(rhs[i].toString());
@@ -71,26 +71,26 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
     bool success = false;
     Mat cameraMatrix(rhs[2].toMat(CV_64F));
     if (rhs[0].isNumeric() && rhs[1].isNumeric()) {
-        Mat objectPoints(rhs[0].toMat(CV_64F).reshape(3,0)),
-            imagePoints(rhs[1].toMat(CV_64F).reshape(2,0));
+        Mat objectPoints(rhs[0].toMat(CV_32F).reshape(3,0)),
+            imagePoints(rhs[1].toMat(CV_32F).reshape(2,0));
         success = solvePnPRansac(objectPoints, imagePoints, cameraMatrix, distCoeffs,
             rvec, tvec, useExtrinsicGuess, iterationsCount, reprojectionError,
-            confidence, (nlhs>2 ? inliers : noArray()), flags);
+            confidence, (nlhs>3 ? inliers : noArray()), flags);
     }
     else if (rhs[0].isCell() && rhs[1].isCell()) {
-        vector<Point3d> objectPoints(rhs[0].toVector<Point3d>());
-        vector<Point2d> imagePoints(rhs[1].toVector<Point2d>());
+        vector<Point3f> objectPoints(rhs[0].toVector<Point3f>());
+        vector<Point2f> imagePoints(rhs[1].toVector<Point2f>());
         success = solvePnPRansac(objectPoints, imagePoints, cameraMatrix, distCoeffs,
             rvec, tvec, useExtrinsicGuess, iterationsCount, reprojectionError,
-            confidence, (nlhs>2 ? inliers : noArray()), flags);
+            confidence, (nlhs>3 ? inliers : noArray()), flags);
     }
     else
         mexErrMsgIdAndTxt("mexopencv:error", "Invalid points argument");
-    plhs[0] = MxArray(rvec);
+    plhs[0] = MxArray(rvec.clone());      //HACK, see #309
     if (nlhs>1)
-        plhs[1] = MxArray(tvec);
+        plhs[1] = MxArray(tvec.clone());  //HACK, see #309
     if (nlhs>2)
-        plhs[2] = MxArray(inliers);
+        plhs[2] = MxArray(success);
     if (nlhs>3)
-        plhs[3] = MxArray(success);
+        plhs[3] = MxArray(inliers);
 }
diff --git a/test/unit_tests/TestSolvePnP.m b/test/unit_tests/TestSolvePnP.m
@@ -3,7 +3,7 @@
 
     methods (Static)
         function test_numeric_Nxd
-            N = 10;
+            N = 10;  % minimum is 4 or 5 points depending on method used
             objPoints = rand(N,3);
             imgPoints = rand(N,2);
             camMatrix = eye(3);

diff --git a/test/unit_tests/TestSolvePnPRansac.m b/test/unit_tests/TestSolvePnPRansac.m
@@ -15,7 +15,7 @@
                 else
                     n = N;
                 end
-                [rvec,tvec,inliers,success] = cv.solvePnPRansac(...
+                [rvec,tvec,success,inliers] = cv.solvePnPRansac(...
                     objPoints(1:n,:), imgPoints(1:n,:), camMatrix, ...
                     'DistCoeffs',distCoeffs, 'Method',methodsPNP{i});
                 validateattributes(rvec, {'double'}, {'vector', 'numel',3});
@@ -32,7 +32,8 @@
             objPoints = rand(10,1,3);
             imgPoints = rand(10,1,2);
             camMatrix = eye(3);
-            [rvec,tvec,inliers,success] = cv.solvePnPRansac(objPoints, imgPoints, camMatrix);
+            [rvec,tvec,success,inliers] = cv.solvePnPRansac(...
+                objPoints, imgPoints, camMatrix);
             validateattributes(rvec, {'double'}, {'vector', 'numel',3});
             validateattributes(tvec, {'double'}, {'vector', 'numel',3});
             validateattributes(success, {'logical'}, {'scalar'});
@@ -46,7 +47,8 @@
             objPoints = rand(1,10,3);
             imgPoints = rand(1,10,2);
             camMatrix = eye(3);
-            [rvec,tvec,inliers,success] = cv.solvePnPRansac(objPoints, imgPoints, camMatrix);
+            [rvec,tvec,success,inliers] = cv.solvePnPRansac(...
+                objPoints, imgPoints, camMatrix);
             validateattributes(rvec, {'double'}, {'vector', 'numel',3});
             validateattributes(tvec, {'double'}, {'vector', 'numel',3});
             validateattributes(success, {'logical'}, {'scalar'});
@@ -60,7 +62,8 @@
             objPoints = num2cell(rand(10,3),2);
             imgPoints = num2cell(rand(10,2),2);
             camMatrix = eye(3);
-            [rvec,tvec,inliers,success] = cv.solvePnPRansac(objPoints, imgPoints, camMatrix);
+            [rvec,tvec,success,inliers] = cv.solvePnPRansac(...
+                objPoints, imgPoints, camMatrix);
             validateattributes(rvec, {'double'}, {'vector', 'numel',3});
             validateattributes(tvec, {'double'}, {'vector', 'numel',3});
             validateattributes(success, {'logical'}, {'scalar'});
@@ -76,7 +79,8 @@
             camMatrix = eye(3);
             rvec = rand(3,1);
             tvec = rand(3,1);
-            [rvec,tvec,inliers,success] = cv.solvePnPRansac(objPoints, imgPoints, camMatrix, ...
+            [rvec,tvec,success,inliers] = cv.solvePnPRansac(...
+                objPoints, imgPoints, camMatrix, ...
                 'Rvec',rvec, 'Tvec',tvec, ...
                 'UseExtrinsicGuess',true, 'Method','Iterative');
             validateattributes(rvec, {'double'}, {'vector', 'numel',3});