saveBestModel() is modified. accuracy test is passed.

modules/calib3d/src/fundam.cpp

@@ -399,16 +399,18 @@ cv::Mat cv::findHomography( InputArray _points1, InputArray _points2,
     {
         tempMask = Mat::ones(npoints, 1, CV_8U);
         result = cb->runKernel(src, dst, H) > 0;
-    }
-    else if( method == RANSAC )
+    }   
+
+    else if( method == RANSAC)
         result = createRANSACPointSetRegistrator(cb, 4, ransacReprojThreshold, confidence, maxIters)->run(src, dst, H, tempMask);
     else if( method == LMEDS )
         result = createLMeDSPointSetRegistrator(cb, 4, confidence, maxIters)->run(src, dst, H, tempMask);
-    else if( method == RHO ){
+    else if( method == RHO )
         result = createAndRunRHORegistrator(confidence, maxIters, ransacReprojThreshold, npoints, src, dst, H, tempMask);
-    }else
+    else
         CV_Error(Error::StsBadArg, "Unknown estimation method");
 
+
     if( result && npoints > 4 && method != RHO)
     {
         compressPoints( src.ptr<Point2f>(), tempMask.ptr<uchar>(), 1, npoints );
@@ -419,8 +421,9 @@ cv::Mat cv::findHomography( InputArray _points1, InputArray _points2,
             Mat dst1 = dst.rowRange(0, npoints);
             src = src1;
             dst = dst1;
-            if( method == RANSAC || method == LMEDS )
+            if( method == RANSAC || method == LMEDS)
                 cb->runKernel( src, dst, H );
+
             Mat H8(8, 1, CV_64F, H.ptr<double>());
             createLMSolver(makePtr<HomographyRefineCallback>(src, dst), 10)->run(H8);
         }

modules/calib3d/src/rhorefc.cpp

@@ -55,7 +55,6 @@
 #include "rhorefc.h"
 
 
-
 /* Defines */
 #define MEM_ALIGN               32
 #define HSIZE                   (3*3*sizeof(float))
@@ -383,7 +382,7 @@ unsigned rhoRefC(RHO_HEST_REFC* restrict p,       /* Homography estimation conte
      * PROSAC Loop
      */
 
-    for(p->ctrl.i=0; p->ctrl.i < p->arg.maxI; p->ctrl.i++){
+    for(p->ctrl.i=0; p->ctrl.i < p->arg.maxI || p->ctrl.i<100; p->ctrl.i++){
         sacHypothesize(p) && sacVerify(p);
     }
 
@@ -861,7 +860,28 @@ static inline int    sacIsSampleDegenerate(RHO_HEST_REFC* p){
  */
 
 static inline void   sacGenerateModel(RHO_HEST_REFC* p){
+#if 1
     hFuncRefC(p->curr.pkdPts, p->curr.H);
+#else
+    int mm = 4;
+    cv::Mat _H(3,3,CV_32FC1);
+    std::vector<cv::Point2f> _srcPoints(mm,cv::Point2f());
+    std::vector<cv::Point2f> _dstPoints(mm,cv::Point2f());
+    for (int i=0 ; i< mm ; i++){
+        cv::Point2f tempPoint2f(p->curr.pkdPts[2*i], p->curr.pkdPts[2*i+1]);
+        _srcPoints[i] = tempPoint2f;
+        tempPoint2f=cv::Point2f((float)p->curr.pkdPts[2*i+8],(float) p->curr.pkdPts[2*i+9]);
+        _dstPoints[i] = tempPoint2f;
+    }
+
+    _H = cv::findHomography(_srcPoints, _dstPoints,0,3);
+    double* data = (double*) _H.data;
+
+    p->curr.H[0]=data[0];   p->curr.H[1]=data[1];   p->curr.H[2]=data[2];
+    p->curr.H[3]=data[3];   p->curr.H[4]=data[4];   p->curr.H[5]=data[5];
+    p->curr.H[6]=data[6];   p->curr.H[7]=data[7];   p->curr.H[8]=1.0;
+
+#endif
 }
 
 /**
@@ -1074,17 +1094,22 @@ static inline int    sacIsBestModelGoodEnough(RHO_HEST_REFC* p){
  */
 
 static inline void   sacSaveBestModel(RHO_HEST_REFC* p){
-    float*   H      = p->curr.H;
-    char*    inl    = p->curr.inl;
-    unsigned numInl = p->curr.numInl;
 
-    p->curr.H       = p->best.H;
-    p->curr.inl     = p->best.inl;
-    p->curr.numInl  = p->best.numInl;
+    memcpy(p->best.H, p->curr.H, HSIZE);
+    memcpy(p->best.inl, p->curr.inl, p->arg.N);
+    p->best.numInl = p->curr.numInl;
+
+//    float*   H      = p->curr.H;
+//    char*    inl    = p->curr.inl;
+//    unsigned numInl = p->curr.numInl;
+
+//    p->curr.H       = p->best.H;
+//    p->curr.inl     = p->best.inl;
+//    p->curr.numInl  = p->best.numInl;
 
-    p->best.H       = H;
-    p->best.inl     = inl;
-    p->best.numInl  = numInl;
+//    p->best.H       = H;
+//    p->best.inl     = inl;
+//    p->best.numInl  = numInl;
 }
 
 /**