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Modify the code of Lesson3 to support the OpenCV 3.x #4

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Modify the code of Lesson3 to support the OpenCV 3.x #4

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268041e
Update detectFeatures.cpp
zhkmxx9302013 Jul 18, 2018
148ae6f
Add the support of the c++ 11
zhkmxx9302013 Jul 19, 2018
595a90e
Change the confidence range for OpenCV3.x
zhkmxx9302013 Jul 19, 2018
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2 changes: 1 addition & 1 deletion part III/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
CMAKE_MINIMUM_REQUIRED( VERSION 2.8 )
PROJECT( slam )

add_definitions(-std=c++11)
SET(CMAKE_CXX_COMPILER "g++")
SET( CMAKE_BUILD_TYPE Debug )
SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
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9 changes: 5 additions & 4 deletions part III/src/detectFeatures.cpp
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Expand Up @@ -4,6 +4,7 @@
> Mail: [email protected]
> 特征提取与匹配
> Created Time: 2015年07月18日 星期六 16时00分21秒
> Modify: To support OpenCV v3.4.1
************************************************************************/

#include<iostream>
Expand Down Expand Up @@ -34,8 +35,8 @@ int main( int argc, char** argv )
// _detector = cv::FeatureDetector::create( "SIFT" );
// _descriptor = cv::DescriptorExtractor::create( "SIFT" );

detector = cv::FeatureDetector::create("ORB");
descriptor = cv::DescriptorExtractor::create("ORB");
detector = cv::ORB::create();
descriptor = cv::ORB::create();

vector< cv::KeyPoint > kp1, kp2; //关键点
detector->detect( rgb1, kp1 ); //提取关键点
Expand Down Expand Up @@ -134,8 +135,8 @@ int main( int argc, char** argv )
// 构建相机矩阵
cv::Mat cameraMatrix( 3, 3, CV_64F, camera_matrix_data );
cv::Mat rvec, tvec, inliers;
// 求解pnp
cv::solvePnPRansac( pts_obj, pts_img, cameraMatrix, cv::Mat(), rvec, tvec, false, 100, 1.0, 100, inliers );
// 求解pnp the confidence should be in (0, 1) in Opencv 3.x
cv::solvePnPRansac( pts_obj, pts_img, cameraMatrix, cv::Mat(), rvec, tvec, false, 100, 1.0, 0.99, inliers );

cout<<"inliers: "<<inliers.rows<<endl;
cout<<"R="<<rvec<<endl;
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