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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/test/test_solvepnp_ransac.cpp
+326
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@@ -589,4 +589,330 @@ TEST(Calib3d_SolvePnP, iterativeInitialGuess3pts)
}
}
TEST(Calib3d_SolvePnP, refine3pts)
{
{
Matx33d intrinsics(605.4, 0.0, 317.35,
0.0, 601.2, 242.63,
0.0, 0.0, 1.0);
double L = 0.1;
vector<Point3d> p3d;
p3d.push_back(Point3d(-L, -L, 0.0));
p3d.push_back(Point3d(L, -L, 0.0));
p3d.push_back(Point3d(L, L, 0.0));
Mat rvec_ground_truth = (Mat_<double>(3,1) << 0.3, -0.2, 0.75);
Mat tvec_ground_truth = (Mat_<double>(3,1) << 0.15, -0.2, 1.5);
vector<Point2d> p2d;
projectPoints(p3d, rvec_ground_truth, tvec_ground_truth, intrinsics, noArray(), p2d);
{
Mat rvec_est = (Mat_<double>(3,1) << 0.2, -0.1, 0.6);
Mat tvec_est = (Mat_<double>(3,1) << 0.05, -0.05, 1.0);
solvePnPRefineLM(p3d, p2d, intrinsics, noArray(), rvec_est, tvec_est);
cout << "\nmethod: Levenberg-Marquardt" << endl;
cout << "rvec_ground_truth: " << rvec_ground_truth.t() << std::endl;
cout << "rvec_est: " << rvec_est.t() << std::endl;
cout << "tvec_ground_truth: " << tvec_ground_truth.t() << std::endl;
cout << "tvec_est: " << tvec_est.t() << std::endl;
EXPECT_LE(cvtest::norm(rvec_ground_truth, rvec_est, NORM_INF), 1e-6);
EXPECT_LE(cvtest::norm(tvec_ground_truth, tvec_est, NORM_INF), 1e-6);
}
{
Mat rvec_est = (Mat_<double>(3,1) << 0.2, -0.1, 0.6);
Mat tvec_est = (Mat_<double>(3,1) << 0.05, -0.05, 1.0);
solvePnPRefineVVS(p3d, p2d, intrinsics, noArray(), rvec_est, tvec_est);
cout << "\nmethod: Virtual Visual Servoing" << endl;
cout << "rvec_ground_truth: " << rvec_ground_truth.t() << std::endl;
cout << "rvec_est: " << rvec_est.t() << std::endl;
cout << "tvec_ground_truth: " << tvec_ground_truth.t() << std::endl;
cout << "tvec_est: " << tvec_est.t() << std::endl;
EXPECT_LE(cvtest::norm(rvec_ground_truth, rvec_est, NORM_INF), 1e-6);
EXPECT_LE(cvtest::norm(tvec_ground_truth, tvec_est, NORM_INF), 1e-6);
}
}
{
Matx33f intrinsics(605.4f, 0.0f, 317.35f,
0.0f, 601.2f, 242.63f,
0.0f, 0.0f, 1.0f);
float L = 0.1f;
vector<Point3f> p3d;
p3d.push_back(Point3f(-L, -L, 0.0f));
p3d.push_back(Point3f(L, -L, 0.0f));
p3d.push_back(Point3f(L, L, 0.0f));
Mat rvec_ground_truth = (Mat_<float>(3,1) << -0.75f, 0.4f, 0.34f);
Mat tvec_ground_truth = (Mat_<float>(3,1) << -0.15f, 0.35f, 1.58f);
vector<Point2f> p2d;
projectPoints(p3d, rvec_ground_truth, tvec_ground_truth, intrinsics, noArray(), p2d);
{
Mat rvec_est = (Mat_<float>(3,1) << -0.5f, 0.2f, 0.2f);
Mat tvec_est = (Mat_<float>(3,1) << 0.0f, 0.2f, 1.0f);
solvePnPRefineLM(p3d, p2d, intrinsics, noArray(), rvec_est, tvec_est);
cout << "\nmethod: Levenberg-Marquardt" << endl;
cout << "rvec_ground_truth: " << rvec_ground_truth.t() << std::endl;
cout << "rvec_est: " << rvec_est.t() << std::endl;
cout << "tvec_ground_truth: " << tvec_ground_truth.t() << std::endl;
cout << "tvec_est: " << tvec_est.t() << std::endl;
EXPECT_LE(cvtest::norm(rvec_ground_truth, rvec_est, NORM_INF), 1e-6);
EXPECT_LE(cvtest::norm(tvec_ground_truth, tvec_est, NORM_INF), 1e-6);
}
{
Mat rvec_est = (Mat_<float>(3,1) << -0.5f, 0.2f, 0.2f);
Mat tvec_est = (Mat_<float>(3,1) << 0.0f, 0.2f, 1.0f);
solvePnPRefineVVS(p3d, p2d, intrinsics, noArray(), rvec_est, tvec_est);
cout << "\nmethod: Virtual Visual Servoing" << endl;
cout << "rvec_ground_truth: " << rvec_ground_truth.t() << std::endl;
cout << "rvec_est: " << rvec_est.t() << std::endl;
cout << "tvec_ground_truth: " << tvec_ground_truth.t() << std::endl;
cout << "tvec_est: " << tvec_est.t() << std::endl;
EXPECT_LE(cvtest::norm(rvec_ground_truth, rvec_est, NORM_INF), 1e-6);
EXPECT_LE(cvtest::norm(tvec_ground_truth, tvec_est, NORM_INF), 1e-6);
}
}
}
TEST(Calib3d_SolvePnP, refine)
{
//double
{
Matx33d intrinsics(605.4, 0.0, 317.35,
0.0, 601.2, 242.63,
0.0, 0.0, 1.0);
double L = 0.1;
vector<Point3d> p3d;
p3d.push_back(Point3d(-L, -L, 0.0));
p3d.push_back(Point3d(L, -L, 0.0));
p3d.push_back(Point3d(L, L, 0.0));
p3d.push_back(Point3d(-L, L, L/2));
p3d.push_back(Point3d(0, 0, -L/2));
Mat rvec_ground_truth = (Mat_<double>(3,1) << 0.3, -0.2, 0.75);
Mat tvec_ground_truth = (Mat_<double>(3,1) << 0.15, -0.2, 1.5);
vector<Point2d> p2d;
projectPoints(p3d, rvec_ground_truth, tvec_ground_truth, intrinsics, noArray(), p2d);
{
Mat rvec_est = (Mat_<double>(3,1) << 0.1, -0.1, 0.1);
Mat tvec_est = (Mat_<double>(3,1) << 0.0, -0.5, 1.0);
solvePnP(p3d, p2d, intrinsics, noArray(), rvec_est, tvec_est, true, SOLVEPNP_ITERATIVE);
cout << "\nmethod: Levenberg-Marquardt (C API)" << endl;
cout << "rvec_ground_truth: " << rvec_ground_truth.t() << std::endl;
cout << "rvec_est: " << rvec_est.t() << std::endl;
cout << "tvec_ground_truth: " << tvec_ground_truth.t() << std::endl;
cout << "tvec_est: " << tvec_est.t() << std::endl;
EXPECT_LE(cvtest::norm(rvec_ground_truth, rvec_est, NORM_INF), 1e-6);
EXPECT_LE(cvtest::norm(tvec_ground_truth, tvec_est, NORM_INF), 1e-6);
}
{
Mat rvec_est = (Mat_<double>(3,1) << 0.1, -0.1, 0.1);
Mat tvec_est = (Mat_<double>(3,1) << 0.0, -0.5, 1.0);
solvePnPRefineLM(p3d, p2d, intrinsics, noArray(), rvec_est, tvec_est);
cout << "\nmethod: Levenberg-Marquardt (C++ API)" << endl;
cout << "rvec_ground_truth: " << rvec_ground_truth.t() << std::endl;
cout << "rvec_est: " << rvec_est.t() << std::endl;
cout << "tvec_ground_truth: " << tvec_ground_truth.t() << std::endl;
cout << "tvec_est: " << tvec_est.t() << std::endl;
EXPECT_LE(cvtest::norm(rvec_ground_truth, rvec_est, NORM_INF), 1e-6);
EXPECT_LE(cvtest::norm(tvec_ground_truth, tvec_est, NORM_INF), 1e-6);
}
{
Mat rvec_est = (Mat_<double>(3,1) << 0.1, -0.1, 0.1);
Mat tvec_est = (Mat_<double>(3,1) << 0.0, -0.5, 1.0);
solvePnPRefineVVS(p3d, p2d, intrinsics, noArray(), rvec_est, tvec_est);
cout << "\nmethod: Virtual Visual Servoing" << endl;
cout << "rvec_ground_truth: " << rvec_ground_truth.t() << std::endl;
cout << "rvec_est: " << rvec_est.t() << std::endl;
cout << "tvec_ground_truth: " << tvec_ground_truth.t() << std::endl;
cout << "tvec_est: " << tvec_est.t() << std::endl;
EXPECT_LE(cvtest::norm(rvec_ground_truth, rvec_est, NORM_INF), 1e-6);
EXPECT_LE(cvtest::norm(tvec_ground_truth, tvec_est, NORM_INF), 1e-6);
}
}
//float
{
Matx33f intrinsics(605.4f, 0.0f, 317.35f,
0.0f, 601.2f, 242.63f,
0.0f, 0.0f, 1.0f);
float L = 0.1f;
vector<Point3f> p3d;
p3d.push_back(Point3f(-L, -L, 0.0f));
p3d.push_back(Point3f(L, -L, 0.0f));
p3d.push_back(Point3f(L, L, 0.0f));
p3d.push_back(Point3f(-L, L, L/2));
p3d.push_back(Point3f(0, 0, -L/2));
Mat rvec_ground_truth = (Mat_<float>(3,1) << -0.75f, 0.4f, 0.34f);
Mat tvec_ground_truth = (Mat_<float>(3,1) << -0.15f, 0.35f, 1.58f);
vector<Point2f> p2d;
projectPoints(p3d, rvec_ground_truth, tvec_ground_truth, intrinsics, noArray(), p2d);
{
Mat rvec_est = (Mat_<float>(3,1) << -0.1f, 0.1f, 0.1f);
Mat tvec_est = (Mat_<float>(3,1) << 0.0f, 0.0f, 1.0f);
solvePnP(p3d, p2d, intrinsics, noArray(), rvec_est, tvec_est, true, SOLVEPNP_ITERATIVE);
cout << "\nmethod: Levenberg-Marquardt (C API)" << endl;
cout << "rvec_ground_truth: " << rvec_ground_truth.t() << std::endl;
cout << "rvec_est: " << rvec_est.t() << std::endl;
cout << "tvec_ground_truth: " << tvec_ground_truth.t() << std::endl;
cout << "tvec_est: " << tvec_est.t() << std::endl;
EXPECT_LE(cvtest::norm(rvec_ground_truth, rvec_est, NORM_INF), 1e-6);
EXPECT_LE(cvtest::norm(tvec_ground_truth, tvec_est, NORM_INF), 1e-6);
}
{
Mat rvec_est = (Mat_<float>(3,1) << -0.1f, 0.1f, 0.1f);
Mat tvec_est = (Mat_<float>(3,1) << 0.0f, 0.0f, 1.0f);
solvePnPRefineLM(p3d, p2d, intrinsics, noArray(), rvec_est, tvec_est);
cout << "\nmethod: Levenberg-Marquardt (C++ API)" << endl;
cout << "rvec_ground_truth: " << rvec_ground_truth.t() << std::endl;
cout << "rvec_est: " << rvec_est.t() << std::endl;
cout << "tvec_ground_truth: " << tvec_ground_truth.t() << std::endl;
cout << "tvec_est: " << tvec_est.t() << std::endl;
EXPECT_LE(cvtest::norm(rvec_ground_truth, rvec_est, NORM_INF), 1e-6);
EXPECT_LE(cvtest::norm(tvec_ground_truth, tvec_est, NORM_INF), 1e-6);
}
{
Mat rvec_est = (Mat_<float>(3,1) << -0.1f, 0.1f, 0.1f);
Mat tvec_est = (Mat_<float>(3,1) << 0.0f, 0.0f, 1.0f);
solvePnPRefineVVS(p3d, p2d, intrinsics, noArray(), rvec_est, tvec_est);
cout << "\nmethod: Virtual Visual Servoing" << endl;
cout << "rvec_ground_truth: " << rvec_ground_truth.t() << std::endl;
cout << "rvec_est: " << rvec_est.t() << std::endl;
cout << "tvec_ground_truth: " << tvec_ground_truth.t() << std::endl;
cout << "tvec_est: " << tvec_est.t() << std::endl;
EXPECT_LE(cvtest::norm(rvec_ground_truth, rvec_est, NORM_INF), 1e-6);
EXPECT_LE(cvtest::norm(tvec_ground_truth, tvec_est, NORM_INF), 1e-6);
}
}
//refine after solvePnP
{
Matx33d intrinsics(605.4, 0.0, 317.35,
0.0, 601.2, 242.63,
0.0, 0.0, 1.0);
double L = 0.1;
vector<Point3d> p3d;
p3d.push_back(Point3d(-L, -L, 0.0));
p3d.push_back(Point3d(L, -L, 0.0));
p3d.push_back(Point3d(L, L, 0.0));
p3d.push_back(Point3d(-L, L, L/2));
p3d.push_back(Point3d(0, 0, -L/2));
Mat rvec_ground_truth = (Mat_<double>(3,1) << 0.3, -0.2, 0.75);
Mat tvec_ground_truth = (Mat_<double>(3,1) << 0.15, -0.2, 1.5);
vector<Point2d> p2d;
projectPoints(p3d, rvec_ground_truth, tvec_ground_truth, intrinsics, noArray(), p2d);
//add small Gaussian noise
RNG& rng = theRNG();
for (size_t i = 0; i < p2d.size(); i++)
{
p2d[i].x += rng.gaussian(5e-2);
p2d[i].y += rng.gaussian(5e-2);
}
Mat rvec_est, tvec_est;
solvePnP(p3d, p2d, intrinsics, noArray(), rvec_est, tvec_est, false, SOLVEPNP_EPNP);
{
Mat rvec_est_refine = rvec_est.clone(), tvec_est_refine = tvec_est.clone();
solvePnP(p3d, p2d, intrinsics, noArray(), rvec_est_refine, tvec_est_refine, true, SOLVEPNP_ITERATIVE);
cout << "\nmethod: Levenberg-Marquardt (C API)" << endl;
cout << "rvec_ground_truth: " << rvec_ground_truth.t() << std::endl;
cout << "rvec_est (EPnP): " << rvec_est.t() << std::endl;
cout << "rvec_est_refine: " << rvec_est_refine.t() << std::endl;
cout << "tvec_ground_truth: " << tvec_ground_truth.t() << std::endl;
cout << "tvec_est (EPnP): " << tvec_est.t() << std::endl;
cout << "tvec_est_refine: " << tvec_est_refine.t() << std::endl;
EXPECT_LE(cvtest::norm(rvec_ground_truth, rvec_est, NORM_INF), 1e-2);
EXPECT_LE(cvtest::norm(tvec_ground_truth, tvec_est, NORM_INF), 1e-3);
EXPECT_LT(cvtest::norm(rvec_ground_truth, rvec_est_refine, NORM_INF), cvtest::norm(rvec_ground_truth, rvec_est, NORM_INF));
EXPECT_LT(cvtest::norm(tvec_ground_truth, tvec_est_refine, NORM_INF), cvtest::norm(tvec_ground_truth, tvec_est, NORM_INF));
}
{
Mat rvec_est_refine = rvec_est.clone(), tvec_est_refine = tvec_est.clone();
solvePnPRefineLM(p3d, p2d, intrinsics, noArray(), rvec_est_refine, tvec_est_refine);
cout << "\nmethod: Levenberg-Marquardt (C++ API)" << endl;
cout << "rvec_ground_truth: " << rvec_ground_truth.t() << std::endl;
cout << "rvec_est: " << rvec_est.t() << std::endl;
cout << "rvec_est_refine: " << rvec_est_refine.t() << std::endl;
cout << "tvec_ground_truth: " << tvec_ground_truth.t() << std::endl;
cout << "tvec_est: " << tvec_est.t() << std::endl;
cout << "tvec_est_refine: " << tvec_est_refine.t() << std::endl;
EXPECT_LE(cvtest::norm(rvec_ground_truth, rvec_est, NORM_INF), 1e-2);
EXPECT_LE(cvtest::norm(tvec_ground_truth, tvec_est, NORM_INF), 1e-3);
EXPECT_LT(cvtest::norm(rvec_ground_truth, rvec_est_refine, NORM_INF), cvtest::norm(rvec_ground_truth, rvec_est, NORM_INF));
EXPECT_LT(cvtest::norm(tvec_ground_truth, tvec_est_refine, NORM_INF), cvtest::norm(tvec_ground_truth, tvec_est, NORM_INF));
}
{
Mat rvec_est_refine = rvec_est.clone(), tvec_est_refine = tvec_est.clone();
solvePnPRefineVVS(p3d, p2d, intrinsics, noArray(), rvec_est_refine, tvec_est_refine);
cout << "\nmethod: Virtual Visual Servoing" << endl;
cout << "rvec_ground_truth: " << rvec_ground_truth.t() << std::endl;
cout << "rvec_est: " << rvec_est.t() << std::endl;
cout << "rvec_est_refine: " << rvec_est_refine.t() << std::endl;
cout << "tvec_ground_truth: " << tvec_ground_truth.t() << std::endl;
cout << "tvec_est: " << tvec_est.t() << std::endl;
cout << "tvec_est_refine: " << tvec_est_refine.t() << std::endl;
EXPECT_LE(cvtest::norm(rvec_ground_truth, rvec_est, NORM_INF), 1e-2);
EXPECT_LE(cvtest::norm(tvec_ground_truth, tvec_est, NORM_INF), 1e-3);
EXPECT_LT(cvtest::norm(rvec_ground_truth, rvec_est_refine, NORM_INF), cvtest::norm(rvec_ground_truth, rvec_est, NORM_INF));
EXPECT_LT(cvtest::norm(tvec_ground_truth, tvec_est_refine, NORM_INF), cvtest::norm(tvec_ground_truth, tvec_est, NORM_INF));
}
}
}
}} // namespace