Allow setting the features on the RandomPatternCornerFinder (from previous run)

modules/ccalib/include/opencv2/ccalib/randpattern.hpp

@@ -86,7 +86,14 @@ public:
     /* @brief Load pattern image and compute features for pattern
     @param patternImage image for "random" pattern generated by RandomPatternGenerator, run it first.
     */
-    void loadPattern(cv::Mat patternImage);
+    void loadPattern(const cv::Mat &patternImage);
+
+    /* @brief Load pattern and features
+	@param patternImage image for "random" pattern generated by RandomPatternGenerator, run it first.
+	@param patternKeyPoints keyPoints created from a FeatureDetector.
+	@param patternDescriptors descriptors created from a DescriptorExtractor.
+	*/
+    void loadPattern(const cv::Mat &patternImage, const std::vector<cv::KeyPoint> &patternKeyPoints, const cv::Mat &patternDescriptors);
 
     /* @brief Compute matched object points and image points which are used for calibration
     The objectPoints (3D) and imagePoints (2D) are stored inside the class. Run getObjectPoints()
@@ -108,11 +115,11 @@ public:
 
     /* @brief Get object(3D) points
     */
-    std::vector<cv::Mat> getObjectPoints();
+    const std::vector<cv::Mat> &getObjectPoints();
 
     /* @brief and image(2D) points
     */
-    std::vector<cv::Mat> getImagePoints();
+    const std::vector<cv::Mat> &getImagePoints();
 
 private:
 

modules/ccalib/src/randpattern.cpp

@@ -228,17 +228,17 @@ void RandomPatternCornerFinder::drawCorrespondence(const Mat& image1, const std:
     waitKey(0);
 }
 
-std::vector<cv::Mat> RandomPatternCornerFinder::getObjectPoints()
+const std::vector<cv::Mat> &RandomPatternCornerFinder::getObjectPoints()
 {
     return _objectPonits;
 }
 
-std::vector<cv::Mat> RandomPatternCornerFinder::getImagePoints()
+const std::vector<cv::Mat> &RandomPatternCornerFinder::getImagePoints()
 {
     return _imagePoints;
 }
 
-void RandomPatternCornerFinder::loadPattern(cv::Mat patternImage)
+void RandomPatternCornerFinder::loadPattern(const cv::Mat &patternImage)
 {
     _patternImage = patternImage.clone();
     if (_patternImage.type()!= CV_8U)
@@ -249,6 +249,21 @@ void RandomPatternCornerFinder::loadPattern(cv::Mat patternImage)
     _descriptorPattern.convertTo(_descriptorPattern, CV_32F);
 }
 
+void RandomPatternCornerFinder::loadPattern(const cv::Mat &patternImage, const std::vector<cv::KeyPoint> &patternKeyPoints, const cv::Mat &patternDescriptors)
+{
+    CV_Assert((int)patternKeyPoints.size()==patternDescriptors.rows);
+    CV_Assert(patternDescriptors.cols==_descriptor->descriptorSize());
+    CV_Assert(patternDescriptors.type()==_descriptor->descriptorType());
+
+    _patternImage=patternImage.clone();
+    if(_patternImage.type()!=CV_8U)
+        _patternImage.convertTo(_patternImage, CV_8U);
+    _patternImageSize=patternImage.size();
+    _keypointsPattern=patternKeyPoints;
+    _descriptorPattern=patternDescriptors.clone();
+    _descriptorPattern.convertTo(_descriptorPattern, CV_32F);
+}
+
 std::vector<cv::Mat> RandomPatternCornerFinder::computeObjectImagePointsForSingle(cv::Mat inputImage)
 {
     CV_Assert(!_patternImage.empty());