Merge pull request #3116 from shubhra:master

modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst

@@ -843,11 +843,11 @@ findHomography
 ------------------
 Finds a perspective transformation between two planes.
 
-.. ocv:function:: Mat findHomography( InputArray srcPoints, InputArray dstPoints, int method=0, double ransacReprojThreshold=3, OutputArray mask=noArray() )
+.. ocv:function:: Mat findHomography( InputArray srcPoints, InputArray dstPoints, int method=0, double ransacReprojThreshold=3, OutputArray mask=noArray(), const int maxIters = 2000, const double confidence = 0.995)
 
 .. ocv:pyfunction:: cv2.findHomography(srcPoints, dstPoints[, method[, ransacReprojThreshold[, mask]]]) -> retval, mask
 
-.. ocv:cfunction:: int cvFindHomography( const CvMat* src_points, const CvMat* dst_points, CvMat* homography, int method=0, double ransacReprojThreshold=3, CvMat* mask=0 )
+.. ocv:cfunction:: int cvFindHomography( const CvMat* src_points, const CvMat* dst_points, CvMat* homography, int method=0, double ransacReprojThreshold=3, CvMat* mask=0, int maxIters = 2000, double confidence = 0.995)
 
     :param srcPoints: Coordinates of the points in the original plane, a matrix of the type  ``CV_32FC2``  or ``vector<Point2f>`` .
 
@@ -871,6 +871,10 @@ Finds a perspective transformation between two planes.
 
     :param mask: Optional output mask set by a robust method ( ``RANSAC``  or  ``LMEDS`` ).  Note that the input mask values are ignored.
 
+    :param maxIters: The maximum number of RANSAC iterations, 2000 is the maximum it can be.
+
+    :param confidence: Confidence level, between 0 and 1.
+
 The functions find and return the perspective transformation :math:`H` between the source and the destination planes:
 
 .. math::

modules/calib3d/include/opencv2/calib3d.hpp

@@ -109,7 +109,8 @@ CV_EXPORTS_W void Rodrigues( InputArray src, OutputArray dst, OutputArray jacobi
 //! computes the best-fit perspective transformation mapping srcPoints to dstPoints.
 CV_EXPORTS_W Mat findHomography( InputArray srcPoints, InputArray dstPoints,
                                  int method = 0, double ransacReprojThreshold = 3,
-                                 OutputArray mask=noArray());
+                                 OutputArray mask=noArray(), const int maxIters = 2000,
+                                 const double confidence = 0.995);
 
 //! variant of findHomography for backward compatibility
 CV_EXPORTS Mat findHomography( InputArray srcPoints, InputArray dstPoints,

modules/calib3d/include/opencv2/calib3d/calib3d_c.h

@@ -141,7 +141,9 @@ CVAPI(int) cvFindHomography( const CvMat* src_points,
                              CvMat* homography,
                              int method CV_DEFAULT(0),
                              double ransacReprojThreshold CV_DEFAULT(3),
-                             CvMat* mask CV_DEFAULT(0));
+                             CvMat* mask CV_DEFAULT(0),
+                             int maxIters CV_DEFAULT(2000),
+                             double confidence CV_DEFAULT(0.995));
 
 /* Computes RQ decomposition for 3x3 matrices */
 CVAPI(void) cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,

modules/calib3d/src/compat_ptsetreg.cpp

@@ -299,7 +299,8 @@ CV_IMPL int cvRANSACUpdateNumIters( double p, double ep, int modelPoints, int ma
 
 
 CV_IMPL int cvFindHomography( const CvMat* _src, const CvMat* _dst, CvMat* __H, int method,
-                              double ransacReprojThreshold, CvMat* _mask )
+                              double ransacReprojThreshold, CvMat* _mask, int maxIters,
+                              double confidence)
 {
     cv::Mat src = cv::cvarrToMat(_src), dst = cv::cvarrToMat(_dst);
 
@@ -308,9 +309,20 @@ CV_IMPL int cvFindHomography( const CvMat* _src, const CvMat* _dst, CvMat* __H,
     if( dst.channels() == 1 && (dst.rows == 2 || dst.rows == 3) && dst.cols > 3 )
         cv::transpose(dst, dst);
 
+    if ( maxIters < 0 )
+        maxIters = 0;
+    if ( maxIters > 2000 )
+        maxIters = 2000;
+
+    if ( confidence < 0 )
+        confidence = 0;
+    if ( confidence > 1 )
+        confidence = 1;
+
     const cv::Mat H = cv::cvarrToMat(__H), mask = cv::cvarrToMat(_mask);
     cv::Mat H0 = cv::findHomography(src, dst, method, ransacReprojThreshold,
-                                    _mask ? cv::_OutputArray(mask) : cv::_OutputArray());
+                                    _mask ? cv::_OutputArray(mask) : cv::_OutputArray(), maxIters,
+                                    confidence);
 
     if( H0.empty() )
     {

modules/calib3d/src/fundam.cpp

@@ -274,10 +274,9 @@ public:
 
 
 cv::Mat cv::findHomography( InputArray _points1, InputArray _points2,
-                            int method, double ransacReprojThreshold, OutputArray _mask )
+                            int method, double ransacReprojThreshold, OutputArray _mask,
+                            const int maxIters, const double confidence)
 {
-    const double confidence = 0.995;
-    const int maxIters = 2000;
     const double defaultRANSACReprojThreshold = 3;
     bool result = false;