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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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4
modules/calib3d/perf/perf_pnp.cpp
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@ -64,7 +64,7 @@ PERF_TEST_P(PointsNum_Algo, solvePnP,
PERF_TEST_P(PointsNum_Algo, solvePnPSmallPoints, PERF_TEST_P(PointsNum_Algo, solvePnPSmallPoints,
testing::Combine( testing::Combine(
testing::Values(4), //TODO: find why results on 4 points are too unstable testing::Values(4),
testing::Values((int)SOLVEPNP_P3P, (int)SOLVEPNP_DLS, (int)SOLVEPNP_UPNP) testing::Values((int)SOLVEPNP_P3P, (int)SOLVEPNP_DLS, (int)SOLVEPNP_UPNP)
) )
) )
@ -92,7 +92,7 @@ PERF_TEST_P(PointsNum_Algo, solvePnPSmallPoints,
//add noise //add noise
Mat noise(1, (int)points2d.size(), CV_32FC2); Mat noise(1, (int)points2d.size(), CV_32FC2);
randu(noise, 0, 0.001); randu(noise, -0.001, 0.001);
add(points2d, noise, points2d); add(points2d, noise, points2d);
declare.in(points3d, points2d); declare.in(points3d, points2d);

8
modules/calib3d/src/solvepnp.cpp
View File

@ -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)) ); CV_Assert( npoints >= 0 && npoints == std::max(ipoints.checkVector(2, CV_32F), ipoints.checkVector(2, CV_64F)) );
_rvec.create(3, 1, CV_64F); _rvec.create(3, 1, CV_64F);
_tvec.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::Mat undistortedPoints;
cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs); cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
@ -95,7 +95,7 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
&c_rvec, &c_tvec, useExtrinsicGuess ); &c_rvec, &c_tvec, useExtrinsicGuess );
return true; return true;
} }
else if (flags == SOLVEPNP_DLS) /*else if (flags == SOLVEPNP_DLS)
{ {
cv::Mat undistortedPoints; cv::Mat undistortedPoints;
cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs); cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
@ -120,7 +120,7 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
else else
cameraMatrix.at<double>(0,0) = cameraMatrix.at<double>(1,1) = f; cameraMatrix.at<double>(0,0) = cameraMatrix.at<double>(1,1) = f;
return true; return true;
} }*/
else else
CV_Error(CV_StsBadArg, "The flags argument must be one of SOLVEPNP_ITERATIVE, SOLVEPNP_P3P, SOLVEPNP_EPNP or SOLVEPNP_DLS"); CV_Error(CV_StsBadArg, "The flags argument must be one of SOLVEPNP_ITERATIVE, SOLVEPNP_P3P, SOLVEPNP_EPNP or SOLVEPNP_DLS");
return false; return false;