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DLS working

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This commit is contained in:
edgarriba
2014-07-25 11:01:47 +02:00
parent 48c4a79d2e
commit a3f065c409
3 changed files with 279 additions and 397 deletions
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26
modules/calib3d/src/solvepnp.cpp
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@@ -49,6 +49,11 @@
#include <iostream>
using namespace cv;
void MatrixSize(const cv::Mat& mat)
{
cout << mat.rows << "x" << mat.cols << endl;
}
bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
InputArray _cameraMatrix, InputArray _distCoeffs,
OutputArray _rvec, OutputArray _tvec, bool useExtrinsicGuess, int flags )
@@ -96,23 +101,16 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
}
else if (flags == DLS)
{
std::cout << "DLS" << std::endl;
cv::Mat undistortedPoints;
//cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
dls PnP(opoints, undistortedPoints);
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;
bool result = PnP.compute_pose(R, tvec);
if (result)
cv::Rodrigues(R, rvec);
return result;
}
else
CV_Error(CV_StsBadArg, "The flags argument must be one of CV_ITERATIVE, CV_P3P or CV_EPNP");