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Add a function that draws frame axes. Useful for debugging purpose and to check the correctness of the output of a pose estimation method.

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This commit is contained in:
catree
2018-10-25 17:57:18 +02:00
parent 7e2c65ce3c
commit 644846c702
7 changed files with 50 additions and 45 deletions
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modules/calib3d/include/opencv2/calib3d.hpp
+20
View File
@@ -859,6 +859,26 @@ found, or as colored corners connected with lines if the board was found.
CV_EXPORTS_W void drawChessboardCorners( InputOutputArray image, Size patternSize,
InputArray corners, bool patternWasFound );
/** @brief Draw axes of the world/object coordinate system from pose estimation. @sa solvePnP
@param image Input/output image. It must have 1 or 3 channels. The number of channels is not altered.
@param cameraMatrix Input 3x3 floating-point matrix of camera intrinsic parameters.
\f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
@param distCoeffs Input vector of distortion coefficients
\f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6 [, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\f$ of
4, 5, 8, 12 or 14 elements. If the vector is empty, the zero distortion coefficients are assumed.
@param rvec Rotation vector (see @ref Rodrigues ) that, together with tvec , brings points from
the model coordinate system to the camera coordinate system.
@param tvec Translation vector.
@param length Length of the painted axes in the same unit than tvec (usually in meters).
@param thickness Line thickness of the painted axes.
This function draws the axes of the world/object coordinate system w.r.t. to the camera frame.
OX is drawn in red, OY in green and OZ in blue.
*/
CV_EXPORTS_W void drawFrameAxes(InputOutputArray image, InputArray cameraMatrix, InputArray distCoeffs,
InputArray rvec, InputArray tvec, float length, int thickness=3);
struct CV_EXPORTS_W_SIMPLE CirclesGridFinderParameters
{
CV_WRAP CirclesGridFinderParameters();
modules/calib3d/src/solvepnp.cpp
+27
View File
@@ -52,6 +52,33 @@
namespace cv
{
void drawFrameAxes(InputOutputArray image, InputArray cameraMatrix, InputArray distCoeffs,
InputArray rvec, InputArray tvec, float length, int thickness)
{
CV_INSTRUMENT_REGION();
int type = image.type();
int cn = CV_MAT_CN(type);
CV_CheckType(type, cn == 1 || cn == 3 || cn == 4,
"Number of channels must be 1, 3 or 4" );
CV_Assert(image.getMat().total() > 0);
CV_Assert(length > 0);
// project axes points
vector<Point3f> axesPoints;
axesPoints.push_back(Point3f(0, 0, 0));
axesPoints.push_back(Point3f(length, 0, 0));
axesPoints.push_back(Point3f(0, length, 0));
axesPoints.push_back(Point3f(0, 0, length));
vector<Point2f> imagePoints;
projectPoints(axesPoints, rvec, tvec, cameraMatrix, distCoeffs, imagePoints);
// draw axes lines
line(image, imagePoints[0], imagePoints[1], Scalar(0, 0, 255), thickness);
line(image, imagePoints[0], imagePoints[2], Scalar(0, 255, 0), thickness);
line(image, imagePoints[0], imagePoints[3], Scalar(255, 0, 0), thickness);
}
bool solvePnP( InputArray _opoints, InputArray _ipoints,
InputArray _cameraMatrix, InputArray _distCoeffs,