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Merge pull request #8585 from tonyke1993:ap3p

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Enable p3p and ap3p in solvePnPRansac (#8585)

* add paper info

* allow p3p and ap3p being RANSAC kernel

* keep previous code

* apply catrees comment

* fix getMat

* add comment

* add solvep3p test

* test return value

* fix warnings
This commit is contained in:
Tong Ke
2017-06-28 05:27:30 -07:00
committed by Alexander Alekhin
parent dcf3d988d5
commit 8088d6785a
7 changed files with 260 additions and 7 deletions
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modules/calib3d/include/opencv2/calib3d.hpp
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@@ -561,6 +561,9 @@ F.Moreno-Noguer. "Exhaustive Linearization for Robust Camera Pose and Focal Leng
Estimation" (@cite penate2013exhaustive). In this case the function also estimates the parameters \f$f_x\f$ and \f$f_y\f$
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
function requires exactly four object and image points.
The function estimates the object pose given a set of object points, their corresponding image
projections, as well as the camera matrix and the distortion coefficients.
@@ -631,6 +634,33 @@ CV_EXPORTS_W bool solvePnPRansac( InputArray objectPoints, InputArray imagePoint
bool useExtrinsicGuess = false, int iterationsCount = 100,
float reprojectionError = 8.0, double confidence = 0.99,
OutputArray inliers = noArray(), int flags = SOLVEPNP_ITERATIVE );
/** @brief Finds an object pose from 3 3D-2D point correspondences.
@param objectPoints Array of object points in the object coordinate space, 3x3 1-channel or
1x3/3x1 3-channel. vector\<Point3f\> can be also passed here.
@param imagePoints Array of corresponding image points, 3x2 1-channel or 1x3/3x1 2-channel.
vector\<Point2f\> can be also passed here.
@param cameraMatrix Input camera matrix \f$A = \vecthreethree{fx}{0}{cx}{0}{fy}{cy}{0}{0}{1}\f$ .
@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 NULL/empty, the zero distortion coefficients are
assumed.
@param rvecs Output rotation vectors (see Rodrigues ) that, together with tvecs , brings points from
the model coordinate system to the camera coordinate system. A P3P problem has up to 4 solutions.
@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".
- **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".
The function estimates the object pose given 3 object points, their corresponding image
projections, as well as the camera matrix and the distortion coefficients.
*/
CV_EXPORTS_W int solveP3P( InputArray objectPoints, InputArray imagePoints,
InputArray cameraMatrix, InputArray distCoeffs,
OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
int flags );
/** @brief Finds an initial camera matrix from 3D-2D point correspondences.