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Fix issue with solvePnPRansac and Nx3 1-channel input when the number of points is 5. Try to uniform the input shape of projectPoints and undistortPoints.

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This commit is contained in:
catree
2019-04-29 17:23:23 +02:00
parent a433394870
commit 7ed858e38e
9 changed files with 763 additions and 12 deletions
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modules/calib3d/src/calibration.cpp
+7
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@@ -1094,6 +1094,7 @@ CV_IMPL void cvFindExtrinsicCameraParams2( const CvMat* objectPoints,
else
{
// non-planar structure. Use DLT method
CV_CheckGE(count, 6, "DLT algorithm needs at least 6 points for pose estimation from 3D-2D point correspondences.");
double* L;
double LL[12*12], LW[12], LV[12*12], sc;
CvMat _LL = cvMat( 12, 12, CV_64F, LL );
@@ -3314,8 +3315,14 @@ void cv::projectPoints( InputArray _opoints,
{
Mat opoints = _opoints.getMat();
int npoints = opoints.checkVector(3), depth = opoints.depth();
if (npoints < 0)
opoints = opoints.t();
npoints = opoints.checkVector(3);
CV_Assert(npoints >= 0 && (depth == CV_32F || depth == CV_64F));
if (opoints.cols == 3)
opoints = opoints.reshape(3);
CvMat dpdrot, dpdt, dpdf, dpdc, dpddist;
CvMat *pdpdrot=0, *pdpdt=0, *pdpdf=0, *pdpdc=0, *pdpddist=0;
modules/calib3d/src/solvepnp.cpp
+13
View File
@@ -245,6 +245,9 @@ bool solvePnPRansac(InputArray _opoints, InputArray _ipoints,
if( model_points == npoints )
{
opoints = opoints.reshape(3);
ipoints = ipoints.reshape(2);
bool result = solvePnP(opoints, ipoints, cameraMatrix, distCoeffs, _rvec, _tvec, useExtrinsicGuess, ransac_kernel_method);
if(!result)
@@ -350,6 +353,11 @@ int solveP3P( InputArray _opoints, InputArray _ipoints,
CV_Assert( npoints == 3 || npoints == 4 );
CV_Assert( flags == SOLVEPNP_P3P || flags == SOLVEPNP_AP3P );
if (opoints.cols == 3)
opoints = opoints.reshape(3);
if (ipoints.cols == 2)
ipoints = ipoints.reshape(2);
Mat cameraMatrix0 = _cameraMatrix.getMat();
Mat distCoeffs0 = _distCoeffs.getMat();
Mat cameraMatrix = Mat_<double>(cameraMatrix0);
@@ -745,6 +753,11 @@ int solvePnPGeneric( InputArray _opoints, InputArray _ipoints,
CV_Assert( ( (npoints >= 4) || (npoints == 3 && flags == SOLVEPNP_ITERATIVE && useExtrinsicGuess) )
&& npoints == std::max(ipoints.checkVector(2, CV_32F), ipoints.checkVector(2, CV_64F)) );
if (opoints.cols == 3)
opoints = opoints.reshape(3);
if (ipoints.cols == 2)
ipoints = ipoints.reshape(2);
if( flags != SOLVEPNP_ITERATIVE )
useExtrinsicGuess = false;