Hessian+ cayley2rotbar

2014-07-22 17:56:25 +02:00
parent b1b9a29e48
commit 730fe9e582
3 changed files with 229 additions and 72 deletions
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -100,10 +100,17 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
    	cv::Mat undistortedPoints;
    	cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);

+    	cv::Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
+
    	//dls PnP(opoints, undistortedPoints);
    	dls PnP(opoints, ipoints); // FOR TESTING

+    	PnP.compute_pose(R, tvec);
+
+    	cout << "after dls compute pose" << endl;
+
    	//TODO: DO SOMETHING WITH R and t
+        //cv::Rodrigues(R, rvec);

    	return true;
    }