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added P3P method

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added test for solvePnP
changed test for solvePnPRansac
fixed bug with mutex solvePnPRansac
This commit is contained in:
Alexander Shishkov
2011-12-26 12:59:07 +00:00
parent 6d8f4c6b82
commit c11551a510
8 changed files with 941 additions and 127 deletions
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26
modules/calib3d/include/opencv2/calib3d/calib3d.hpp
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@@ -86,6 +86,13 @@ CVAPI(void) cvConvertPointsHomogeneous( const CvMat* src, CvMat* dst );
#define CV_FM_RANSAC_ONLY CV_RANSAC
#define CV_FM_LMEDS CV_LMEDS
#define CV_FM_RANSAC CV_RANSAC
enum
{
CV_ITERATIVE = 0,
CV_EPNP = 1, // F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation"
CV_P3P = 2 // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem"
};
CVAPI(int) cvFindFundamentalMat( const CvMat* points1, const CvMat* points2,
CvMat* fundamental_matrix,
@@ -431,10 +438,6 @@ public:
namespace cv
{
CV_EXPORTS_W double ePnP( InputArray _opoints, InputArray _ipoints,
InputArray _cameraMatrix, InputArray _distCoeffs,
OutputArray _rvec, OutputArray _tvec);
//! converts rotation vector to rotation matrix or vice versa using Rodrigues transformation
CV_EXPORTS_W void Rodrigues(InputArray src, OutputArray dst, OutputArray jacobian=noArray());
@@ -491,10 +494,16 @@ CV_EXPORTS_W void projectPoints( InputArray objectPoints,
double aspectRatio=0 );
//! computes the camera pose from a few 3D points and the corresponding projections. The outliers are not handled.
CV_EXPORTS_W void solvePnP( InputArray objectPoints, InputArray imagePoints,
enum
{
ITERATIVE=CV_ITERATIVE,
EPNP=CV_EPNP,
P3P=CV_P3P
};
CV_EXPORTS_W bool solvePnP( InputArray objectPoints, InputArray imagePoints,
InputArray cameraMatrix, InputArray distCoeffs,
OutputArray rvec, OutputArray tvec,
bool useExtrinsicGuess=false );
bool useExtrinsicGuess=false, int flags=0);
//! computes the camera pose from a few 3D points and the corresponding projections. The outliers are possible.
CV_EXPORTS_W void solvePnPRansac( InputArray objectPoints,
@@ -503,11 +512,12 @@ CV_EXPORTS_W void solvePnPRansac( InputArray objectPoints,
InputArray distCoeffs,
OutputArray rvec,
OutputArray tvec,
bool useExtrinsicGuess = false,
bool useExtrinsicGuess = false,
int iterationsCount = 100,
float reprojectionError = 8.0,
int minInliersCount = 100,
OutputArray inliers = noArray() );
OutputArray inliers = noArray(),
int flags = 0);
//! initializes camera matrix from a few 3D points and the corresponding projections.
CV_EXPORTS_W Mat initCameraMatrix2D( InputArrayOfArrays objectPoints,