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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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This commit is contained in:
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/src/levmarq.cpp
+7 -2
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@@ -81,11 +81,11 @@ class LMSolverImpl CV_FINAL : public LMSolver
{
public:
LMSolverImpl() : maxIters(100) { init(); }
LMSolverImpl(const Ptr<LMSolver::Callback>& _cb, int _maxIters) : cb(_cb), maxIters(_maxIters) { init(); }
LMSolverImpl(const Ptr<LMSolver::Callback>& _cb, int _maxIters) : cb(_cb), epsx(FLT_EPSILON), epsf(FLT_EPSILON), maxIters(_maxIters) { init(); }
LMSolverImpl(const Ptr<LMSolver::Callback>& _cb, int _maxIters, double _eps) : cb(_cb), epsx(_eps), epsf(_eps), maxIters(_maxIters) { init(); }
void init()
{
epsx = epsf = FLT_EPSILON;
printInterval = 0;
}
@@ -214,4 +214,9 @@ Ptr<LMSolver> createLMSolver(const Ptr<LMSolver::Callback>& cb, int maxIters)
return makePtr<LMSolverImpl>(cb, maxIters);
}
Ptr<LMSolver> createLMSolver(const Ptr<LMSolver::Callback>& cb, int maxIters, double eps)
{
return makePtr<LMSolverImpl>(cb, maxIters, eps);
}
}