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Allow to use 3 points in SolvePnP if SOLVEPNP_ITERATIVE and useExtrinsicGuess==true. Add bibtex citations for P3P. Update SolvPnP tests.

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catree
2017-11-28 15:04:59 +01:00
parent abad8977b6
commit 2e56a47f8c
3 changed files with 80 additions and 14 deletions
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modules/calib3d/include/opencv2/calib3d.hpp
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@@ -563,7 +563,7 @@ Estimation" (@cite penate2013exhaustive). In this case the function also estimat
assuming that both have the same value. Then the cameraMatrix is updated with the estimated
focal length.
- **SOLVEPNP_AP3P** Method is based on the paper of Tong Ke and Stergios I. Roumeliotis.
"An Efficient Algebraic Solution to the Perspective-Three-Point Problem". In this case the
"An Efficient Algebraic Solution to the Perspective-Three-Point Problem" (@cite Ke17). In this case the
function requires exactly four object and image points.
The function estimates the object pose given a set of object points, their corresponding image
@@ -585,9 +585,12 @@ projections, as well as the camera matrix and the distortion coefficients.
- The methods **SOLVEPNP_DLS** and **SOLVEPNP_UPNP** cannot be used as the current implementations are
unstable and sometimes give completely wrong results. If you pass one of these two
flags, **SOLVEPNP_EPNP** method will be used instead.
- The minimum number of points is 4. In the case of **SOLVEPNP_P3P** and **SOLVEPNP_AP3P**
- The minimum number of points is 4 in the general case. In the case of **SOLVEPNP_P3P** and **SOLVEPNP_AP3P**
methods, it is required to use exactly 4 points (the first 3 points are used to estimate all the solutions
of the P3P problem, the last one is used to retain the best solution that minimizes the reprojection error).
- With **SOLVEPNP_ITERATIVE** method and `useExtrinsicGuess=true`, the minimum number of points is 3 (3 points
are sufficient to compute a pose but there are up to 4 solutions). The initial solution should be close to the
global solution to converge.
*/
CV_EXPORTS_W bool solvePnP( InputArray objectPoints, InputArray imagePoints,
InputArray cameraMatrix, InputArray distCoeffs,
@@ -658,9 +661,9 @@ the model coordinate system to the camera coordinate system. A P3P problem has u
@param tvecs Output translation vectors.
@param flags Method for solving a P3P problem:
- **SOLVEPNP_P3P** Method is based on the paper of X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang
"Complete Solution Classification for the Perspective-Three-Point Problem".
"Complete Solution Classification for the Perspective-Three-Point Problem" (@cite gao2003complete).
- **SOLVEPNP_AP3P** Method is based on the paper of Tong Ke and Stergios I. Roumeliotis.
"An Efficient Algebraic Solution to the Perspective-Three-Point Problem".
"An Efficient Algebraic Solution to the Perspective-Three-Point Problem" (@cite Ke17).
The function estimates the object pose given 3 object points, their corresponding image
projections, as well as the camera matrix and the distortion coefficients.