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edgarriba 2014-07-21 09:31:45 +02:00
parent 42ab7fd876
commit 40f6d320c2
3 changed files with 388 additions and 189 deletions
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525
modules/calib3d/src/dls.cpp
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45
modules/calib3d/src/dls.h
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@ -1,29 +1,44 @@
#ifndef DLS_H #ifndef DLS_H_
#define DLS_H #define DLS_H_
#include "precomp.hpp" #include "precomp.hpp"
using namespace std;
class dls class dls
{ {
public: public:
dls(const cv::Mat& opoints, const cv::Mat& ipoints); dls(const cv::Mat& opoints, const cv::Mat& ipoints);
~dls(); virtual ~dls();
void init_vectors(const cv::Mat& opoints, const cv::Mat& ipoints); template <typename OpointType, typename O, typename IpointType, typename I>
void build_coeff_mattrix(); void init_points(const cv::Mat& opoints, const cv::Mat& ipoints)
{
for(int i = 0; i < N; i++)
{
p.at<O>(0,i) = opoints.at<OpointType>(0,i).x;
p.at<O>(1,i) = opoints.at<OpointType>(0,i).y;
p.at<O>(2,i) = opoints.at<OpointType>(0,i).z;
z.at<I>(0,i) = ipoints.at<IpointType>(0,i).x;
z.at<I>(1,i) = ipoints.at<IpointType>(0,i).y;
z.at<I>(2,i) = (I)1;
}
}
void norm_z_vector();
void build_coeff_matrix();
cv::Mat LeftMultVec(const cv::Mat& v); cv::Mat LeftMultVec(const cv::Mat& v);
cv::Mat cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b, const std::vector<double>& c, const std::vector<double>& u); cv::Mat cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b,
const std::vector<double>& c, const std::vector<double>& u);
private: private:
cv::Mat H; // coeff matrix cv::Mat H, A, D_mat; // coeff matrix
cv::Mat A; cv::Mat p; // object points
cv::Mat D_mat; cv::Mat z; // image points
std::vector<double> f1coeff; int N; // number of input points
std::vector<double> f2coeff; std::vector<double> f1coeff, f2coeff, f3coeff;
std::vector<double> f3coeff;
cv::Mat p; // object points
cv::Mat z; // image points
int N; // number of input points
}; };

7
modules/calib3d/src/solvepnp.cpp
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@ -100,11 +100,10 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
cv::Mat undistortedPoints; cv::Mat undistortedPoints;
cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs); cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
//dls PnP(opoints, undistortedPoints);
dls PnP(opoints, ipoints); // FOR TESTING
dls PnP(opoints, undistortedPoints); //TODO: DO SOMETHING WITH R and t
// DO SOMETHING
cv::Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
return true; return true;
} }