[opencv] 09/71: Fix useExtrinsicGuess in solvePnP
Nobuhiro Iwamatsu
iwamatsu at moszumanska.debian.org
Mon Oct 17 20:16:22 UTC 2016
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iwamatsu pushed a commit to annotated tag 2.4.13.1
in repository opencv.
commit e5d12502c594c90aec0212b9b98b195ff3be21af
Author: S. Garrido <sergarrido at users.noreply.github.com>
Date: Thu Jun 9 17:34:00 2016 +0100
Fix useExtrinsicGuess in solvePnP
---
modules/calib3d/src/solvepnp.cpp | 56 +++++++++++++++++++++++++++++++++-------
1 file changed, 46 insertions(+), 10 deletions(-)
diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index 3c1e50e..ae28eb5 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -53,17 +53,36 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
Mat opoints = _opoints.getMat(), ipoints = _ipoints.getMat();
int npoints = std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F));
CV_Assert( npoints >= 0 && npoints == std::max(ipoints.checkVector(2, CV_32F), ipoints.checkVector(2, CV_64F)) );
- _rvec.create(3, 1, CV_64F);
- _tvec.create(3, 1, CV_64F);
Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat();
+ Mat rvec, tvec;
+ if( flags != CV_ITERATIVE )
+ useExtrinsicGuess = false;
+
+ if( useExtrinsicGuess )
+ {
+ int rtype = _rvec.type(), ttype = _tvec.type();
+ Size rsize = _rvec.size(), tsize = _tvec.size();
+ CV_Assert( (rtype == CV_32F || rtype == CV_64F) &&
+ (ttype == CV_32F || ttype == CV_64F) );
+ CV_Assert( (rsize == Size(1, 3) || rsize == Size(3, 1)) &&
+ (tsize == Size(1, 3) || tsize == Size(3, 1)) );
+ }
+ else
+ {
+ _rvec.create(3, 1, CV_64F);
+ _tvec.create(3, 1, CV_64F);
+ }
+ rvec = _rvec.getMat();
+ tvec = _tvec.getMat();
+
if (flags == CV_EPNP)
{
cv::Mat undistortedPoints;
cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
epnp PnP(cameraMatrix, opoints, undistortedPoints);
- cv::Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
+ cv::Mat R;
PnP.compute_pose(R, tvec);
cv::Rodrigues(R, rvec);
return true;
@@ -75,7 +94,7 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
p3p P3Psolver(cameraMatrix);
- cv::Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
+ cv::Mat R;
bool result = P3Psolver.solve(R, tvec, opoints, undistortedPoints);
if (result)
cv::Rodrigues(R, rvec);
@@ -85,7 +104,7 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
{
CvMat c_objectPoints = opoints, c_imagePoints = ipoints;
CvMat c_cameraMatrix = cameraMatrix, c_distCoeffs = distCoeffs;
- CvMat c_rvec = _rvec.getMat(), c_tvec = _tvec.getMat();
+ CvMat c_rvec = rvec, c_tvec = tvec;
cvFindExtrinsicCameraParams2(&c_objectPoints, &c_imagePoints, &c_cameraMatrix,
c_distCoeffs.rows*c_distCoeffs.cols ? &c_distCoeffs : 0,
&c_rvec, &c_tvec, useExtrinsicGuess );
@@ -316,10 +335,26 @@ void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
CV_Assert(ipoints.depth() == CV_32F || ipoints.depth() == CV_64F);
CV_Assert((ipoints.rows == 1 && ipoints.channels() == 2) || ipoints.cols*ipoints.channels() == 2);
- _rvec.create(3, 1, CV_64FC1);
- _tvec.create(3, 1, CV_64FC1);
- Mat rvec = _rvec.getMat();
- Mat tvec = _tvec.getMat();
+ Mat rvec, tvec;
+ if( flags != CV_ITERATIVE )
+ useExtrinsicGuess = false;
+
+ if( useExtrinsicGuess )
+ {
+ int rtype = _rvec.type(), ttype = _tvec.type();
+ Size rsize = _rvec.size(), tsize = _tvec.size();
+ CV_Assert( (rtype == CV_32F || rtype == CV_64F) &&
+ (ttype == CV_32F || ttype == CV_64F) );
+ CV_Assert( (rsize == Size(1, 3) || rsize == Size(3, 1)) &&
+ (tsize == Size(1, 3) || tsize == Size(3, 1)) );
+ }
+ else
+ {
+ _rvec.create(3, 1, CV_64F);
+ _tvec.create(3, 1, CV_64F);
+ }
+ rvec = _rvec.getMat();
+ tvec = _tvec.getMat();
Mat objectPoints = opoints.reshape(3, 1), imagePoints = ipoints.reshape(2, 1);
@@ -360,7 +395,8 @@ void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
Mat colInlierObjectPoints = inlierObjectPoints(Rect(i, 0, 1, 1));
objectPoints.col(index).copyTo(colInlierObjectPoints);
}
- solvePnP(inlierObjectPoints, inlierImagePoints, params.camera.intrinsics, params.camera.distortion, localRvec, localTvec, false, flags);
+ solvePnP(inlierObjectPoints, inlierImagePoints, params.camera.intrinsics, params.camera.distortion,
+ localRvec, localTvec, params.useExtrinsicGuess, flags);
}
localRvec.copyTo(rvec);
localTvec.copyTo(tvec);
--
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