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Merge pull request #8301 from tonyke1993:p3p_alg

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New p3p algorithm (accepted by CVPR 2017) (#8301)

* add p3p source code

* indent 4

* update publication info

* fix filename

* interface done

* plug in done, test needed

* debugging

* for test

* a working version

* clean p3p code

* test

* test

* fix warning, blank line

* apply patch from @catree

* add reference info

* namespace, indent 4

* static solveQuartic

* put small functions to anonymous namespace
This commit is contained in:
Tong Ke
2017-04-07 01:48:34 -05:00
committed by Alexander Alekhin
parent 2561c59698
commit 0a63ab36bb
6 changed files with 477 additions and 6 deletions
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modules/calib3d/include/opencv2/calib3d.hpp
+2 -2
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@@ -236,8 +236,8 @@ enum { SOLVEPNP_ITERATIVE = 0,
SOLVEPNP_EPNP = 1, //!< EPnP: Efficient Perspective-n-Point Camera Pose Estimation @cite lepetit2009epnp
SOLVEPNP_P3P = 2, //!< Complete Solution Classification for the Perspective-Three-Point Problem @cite gao2003complete
SOLVEPNP_DLS = 3, //!< A Direct Least-Squares (DLS) Method for PnP @cite hesch2011direct
SOLVEPNP_UPNP = 4 //!< Exhaustive Linearization for Robust Camera Pose and Focal Length Estimation @cite penate2013exhaustive
SOLVEPNP_UPNP = 4, //!< Exhaustive Linearization for Robust Camera Pose and Focal Length Estimation @cite penate2013exhaustive
SOLVEPNP_AP3P = 5 //!< An Efficient Algebraic Solution to the Perspective-Three-Point Problem @cite Ke17
};
enum { CALIB_CB_ADAPTIVE_THRESH = 1,