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Add solvePnPRefineLM to refine a pose according to a Levenberg-Marquardt iterative minimization process. Add solvePnPRefineVVS to refine a pose using a virtual visual servoing scheme.

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catree
2019-04-26 19:43:42 +02:00
parent d17699363c
commit dac31e84fb
6 changed files with 711 additions and 6 deletions
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modules/calib3d/include/opencv2/calib3d.hpp
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@@ -777,6 +777,65 @@ CV_EXPORTS_W int solveP3P( InputArray objectPoints, InputArray imagePoints,
OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
int flags );
/** @brief Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame
to the camera coordinate frame) from a 3D-2D point correspondences and starting from an initial solution.
@param objectPoints Array of object points in the object coordinate space, Nx3 1-channel or 1xN/Nx1 3-channel,
where N is the number of points. vector\<Point3f\> can also be passed here.
@param imagePoints Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
where N is the number of points. vector\<Point2f\> can also be 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 rvec Input/Output rotation vector (see @ref Rodrigues ) that, together with tvec , brings points from
the model coordinate system to the camera coordinate system. Input values are used as an initial solution.
@param tvec Input/Output translation vector. Input values are used as an initial solution.
@param criteria Criteria when to stop the Levenberg-Marquard iterative algorithm.
The function refines the object pose given at least 3 object points, their corresponding image
projections, an initial solution for the rotation and translation vector,
as well as the camera matrix and the distortion coefficients.
The function minimizes the projection error with respect to the rotation and the translation vectors, according
to a Levenberg-Marquardt iterative minimization @cite Madsen04 @cite Eade13 process.
*/
CV_EXPORTS_W void solvePnPRefineLM( InputArray objectPoints, InputArray imagePoints,
InputArray cameraMatrix, InputArray distCoeffs,
InputOutputArray rvec, InputOutputArray tvec,
TermCriteria criteria = TermCriteria(TermCriteria::EPS + TermCriteria::COUNT, 20, FLT_EPSILON));
/** @brief Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame
to the camera coordinate frame) from a 3D-2D point correspondences and starting from an initial solution.
@param objectPoints Array of object points in the object coordinate space, Nx3 1-channel or 1xN/Nx1 3-channel,
where N is the number of points. vector\<Point3f\> can also be passed here.
@param imagePoints Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
where N is the number of points. vector\<Point2f\> can also be 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 rvec Input/Output rotation vector (see @ref Rodrigues ) that, together with tvec , brings points from
the model coordinate system to the camera coordinate system. Input values are used as an initial solution.
@param tvec Input/Output translation vector. Input values are used as an initial solution.
@param criteria Criteria when to stop the Levenberg-Marquard iterative algorithm.
@param VVSlambda Gain for the virtual visual servoing control law, equivalent to the \f$\alpha\f$
gain in the Gauss-Newton formulation.
The function refines the object pose given at least 3 object points, their corresponding image
projections, an initial solution for the rotation and translation vector,
as well as the camera matrix and the distortion coefficients.
The function minimizes the projection error with respect to the rotation and the translation vectors, using a
virtual visual servoing (VVS) @cite Chaumette06 @cite Marchand16 scheme.
*/
CV_EXPORTS_W void solvePnPRefineVVS( InputArray objectPoints, InputArray imagePoints,
InputArray cameraMatrix, InputArray distCoeffs,
InputOutputArray rvec, InputOutputArray tvec,
TermCriteria criteria = TermCriteria(TermCriteria::EPS + TermCriteria::COUNT, 20, FLT_EPSILON),
double VVSlambda = 1);
/** @brief Finds an initial camera matrix from 3D-2D point correspondences.
@param objectPoints Vector of vectors of the calibration pattern points in the calibration pattern