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temporarily use EPNP in SolvePnP instead of UPNP or DLS algorithms, since the latter two are not quite stable

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This commit is contained in:
Vadim Pisarevsky
2015-03-16 12:46:24 +03:00
parent 1760078f67
commit 5c352c9146
2 changed files with 6 additions and 6 deletions
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8
modules/calib3d/src/solvepnp.cpp
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@@ -59,9 +59,9 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
CV_Assert( npoints >= 0 && npoints == std::max(ipoints.checkVector(2, CV_32F), ipoints.checkVector(2, CV_64F)) );
_rvec.create(3, 1, CV_64F);
_tvec.create(3, 1, CV_64F);
Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat();
Mat cameraMatrix = Mat_<double>(_cameraMatrix.getMat()), distCoeffs = Mat_<double>(_distCoeffs.getMat());
if (flags == SOLVEPNP_EPNP)
if (flags == SOLVEPNP_EPNP || flags == SOLVEPNP_DLS || flags == SOLVEPNP_UPNP)
{
cv::Mat undistortedPoints;
cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
@@ -95,7 +95,7 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
&c_rvec, &c_tvec, useExtrinsicGuess );
return true;
}
else if (flags == SOLVEPNP_DLS)
/*else if (flags == SOLVEPNP_DLS)
{
cv::Mat undistortedPoints;
cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
@@ -120,7 +120,7 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
else
cameraMatrix.at<double>(0,0) = cameraMatrix.at<double>(1,1) = f;
return true;
}
}*/
else
CV_Error(CV_StsBadArg, "The flags argument must be one of SOLVEPNP_ITERATIVE, SOLVEPNP_P3P, SOLVEPNP_EPNP or SOLVEPNP_DLS");
return false;