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Merge pull request #5949 from akarsakov:fixed_solvePnPRansac_input_handling

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This commit is contained in:
Alexander Alekhin 2016-01-12 17:58:07 +00:00
commit e3690db4bd
4 changed files with 52 additions and 13 deletions
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8
modules/calib3d/include/opencv2/calib3d.hpp
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@ -515,9 +515,9 @@ CV_EXPORTS_W void projectPoints( InputArray objectPoints,
/** @brief Finds an object pose from 3D-2D point correspondences. /** @brief Finds an object pose from 3D-2D point correspondences.
@param objectPoints Array of object points in the object coordinate space, 3xN/Nx3 1-channel or @param objectPoints Array of object points in the object coordinate space, Nx3 1-channel or
1xN/Nx1 3-channel, where N is the number of points. vector\<Point3f\> can be also passed here. 1xN/Nx1 3-channel, where N is the number of points. vector\<Point3f\> can be also passed here.
@param imagePoints Array of corresponding image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel, @param imagePoints Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
where N is the number of points. vector\<Point2f\> can be also passed here. where N is the number of points. vector\<Point2f\> can be also passed here.
@param cameraMatrix Input camera matrix \f$A = \vecthreethree{fx}{0}{cx}{0}{fy}{cy}{0}{0}{1}\f$ . @param cameraMatrix Input camera matrix \f$A = \vecthreethree{fx}{0}{cx}{0}{fy}{cy}{0}{0}{1}\f$ .
@param distCoeffs Input vector of distortion coefficients @param distCoeffs Input vector of distortion coefficients
@ -572,9 +572,9 @@ CV_EXPORTS_W bool solvePnP( InputArray objectPoints, InputArray imagePoints,
/** @brief Finds an object pose from 3D-2D point correspondences using the RANSAC scheme. /** @brief Finds an object pose from 3D-2D point correspondences using the RANSAC scheme.
@param objectPoints Array of object points in the object coordinate space, 3xN/Nx3 1-channel or @param objectPoints Array of object points in the object coordinate space, Nx3 1-channel or
1xN/Nx1 3-channel, where N is the number of points. vector\<Point3f\> can be also passed here. 1xN/Nx1 3-channel, where N is the number of points. vector\<Point3f\> can be also passed here.
@param imagePoints Array of corresponding image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel, @param imagePoints Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
where N is the number of points. vector\<Point2f\> can be also passed here. where N is the number of points. vector\<Point2f\> can be also passed here.
@param cameraMatrix Input camera matrix \f$A = \vecthreethree{fx}{0}{cx}{0}{fy}{cy}{0}{0}{1}\f$ . @param cameraMatrix Input camera matrix \f$A = \vecthreethree{fx}{0}{cx}{0}{fy}{cy}{0}{0}{1}\f$ .
@param distCoeffs Input vector of distortion coefficients @param distCoeffs Input vector of distortion coefficients

2
modules/calib3d/src/ptsetreg.cpp
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@ -109,9 +109,9 @@ public:
cv::AutoBuffer<int> _idx(modelPoints); cv::AutoBuffer<int> _idx(modelPoints);
int* idx = _idx; int* idx = _idx;
int i = 0, j, k, iters = 0; int i = 0, j, k, iters = 0;
int esz1 = (int)m1.elemSize(), esz2 = (int)m2.elemSize();
int d1 = m1.channels() > 1 ? m1.channels() : m1.cols; int d1 = m1.channels() > 1 ? m1.channels() : m1.cols;
int d2 = m2.channels() > 1 ? m2.channels() : m2.cols; int d2 = m2.channels() > 1 ? m2.channels() : m2.cols;
int esz1 = (int)m1.elemSize1()*d1, esz2 = (int)m2.elemSize1()*d2;
int count = m1.checkVector(d1), count2 = m2.checkVector(d2); int count = m1.checkVector(d1), count2 = m2.checkVector(d2);
const int *m1ptr = m1.ptr<int>(), *m2ptr = m2.ptr<int>(); const int *m1ptr = m1.ptr<int>(), *m2ptr = m2.ptr<int>();

2
modules/calib3d/src/solvepnp.cpp
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@ -270,6 +270,8 @@ bool solvePnPRansac(InputArray _opoints, InputArray _ipoints,
{ {
vector<Point3d> opoints_inliers; vector<Point3d> opoints_inliers;
vector<Point2d> ipoints_inliers; vector<Point2d> ipoints_inliers;
opoints = opoints.reshape(3);
ipoints = ipoints.reshape(2);
opoints.convertTo(opoints_inliers, CV_64F); opoints.convertTo(opoints_inliers, CV_64F);
ipoints.convertTo(ipoints_inliers, CV_64F); ipoints.convertTo(ipoints_inliers, CV_64F);

53
modules/calib3d/test/test_solvepnp_ransac.cpp
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@ -314,6 +314,43 @@ TEST(Calib3d_SolvePnPRansac, concurrency)
EXPECT_LT(tnorm, 1e-6); EXPECT_LT(tnorm, 1e-6);
} }
TEST(Calib3d_SolvePnPRansac, input_type)
{
const int numPoints = 10;
Matx33d intrinsics(5.4794130238156129e+002, 0., 2.9835545700043139e+002, 0.,
5.4817724002728005e+002, 2.3062194051986233e+002, 0., 0., 1.);
std::vector<cv::Point3f> points3d;
std::vector<cv::Point2f> points2d;
for (int i = 0; i < numPoints; i++)
{
points3d.push_back(cv::Point3i(i, 0, 0));
points2d.push_back(cv::Point2i(i, 0));
}
Mat R1, t1, R2, t2, R3, t3, R4, t4;
EXPECT_TRUE(solvePnPRansac(points3d, points2d, intrinsics, cv::Mat(), R1, t1));
Mat points3dMat(points3d);
Mat points2dMat(points2d);
EXPECT_TRUE(solvePnPRansac(points3dMat, points2dMat, intrinsics, cv::Mat(), R2, t2));
points3dMat = points3dMat.reshape(3, 1);
points2dMat = points2dMat.reshape(2, 1);
EXPECT_TRUE(solvePnPRansac(points3dMat, points2dMat, intrinsics, cv::Mat(), R3, t3));
points3dMat = points3dMat.reshape(1, numPoints);
points2dMat = points2dMat.reshape(1, numPoints);
EXPECT_TRUE(solvePnPRansac(points3dMat, points2dMat, intrinsics, cv::Mat(), R4, t4));
EXPECT_LE(norm(R1, R2, NORM_INF), 1e-6);
EXPECT_LE(norm(t1, t2, NORM_INF), 1e-6);
EXPECT_LE(norm(R1, R3, NORM_INF), 1e-6);
EXPECT_LE(norm(t1, t3, NORM_INF), 1e-6);
EXPECT_LE(norm(R1, R4, NORM_INF), 1e-6);
EXPECT_LE(norm(t1, t4, NORM_INF), 1e-6);
}
TEST(Calib3d_SolvePnP, double_support) TEST(Calib3d_SolvePnP, double_support)
{ {
Matx33d intrinsics(5.4794130238156129e+002, 0., 2.9835545700043139e+002, 0., Matx33d intrinsics(5.4794130238156129e+002, 0., 2.9835545700043139e+002, 0.,
@ -335,8 +372,8 @@ TEST(Calib3d_SolvePnP, double_support)
solvePnPRansac(points3dF, points2dF, intrinsics, cv::Mat(), RF, tF, true, 100, 8.f, 0.999, inliers, cv::SOLVEPNP_P3P); solvePnPRansac(points3dF, points2dF, intrinsics, cv::Mat(), RF, tF, true, 100, 8.f, 0.999, inliers, cv::SOLVEPNP_P3P);
solvePnPRansac(points3d, points2d, intrinsics, cv::Mat(), R, t, true, 100, 8.f, 0.999, inliers, cv::SOLVEPNP_P3P); solvePnPRansac(points3d, points2d, intrinsics, cv::Mat(), R, t, true, 100, 8.f, 0.999, inliers, cv::SOLVEPNP_P3P);
ASSERT_LE(norm(R, Mat_<double>(RF), NORM_INF), 1e-3); EXPECT_LE(norm(R, Mat_<double>(RF), NORM_INF), 1e-3);
ASSERT_LE(norm(t, Mat_<double>(tF), NORM_INF), 1e-3); EXPECT_LE(norm(t, Mat_<double>(tF), NORM_INF), 1e-3);
} }
TEST(Calib3d_SolvePnP, translation) TEST(Calib3d_SolvePnP, translation)
@ -365,16 +402,16 @@ TEST(Calib3d_SolvePnP, translation)
tvec = (Mat_<float>(3,1) << 100, 100, 0); tvec = (Mat_<float>(3,1) << 100, 100, 0);
solvePnP(p3d, p2d, cameraIntrinsic, noArray(), rvec, tvec, true); solvePnP(p3d, p2d, cameraIntrinsic, noArray(), rvec, tvec, true);
ASSERT_TRUE(checkRange(rvec)); EXPECT_TRUE(checkRange(rvec));
ASSERT_TRUE(checkRange(tvec)); EXPECT_TRUE(checkRange(tvec));
rvec =(Mat_<double>(3,1) << 0, 0, 0); rvec =(Mat_<double>(3,1) << 0, 0, 0);
tvec = (Mat_<double>(3,1) << 100, 100, 0); tvec = (Mat_<double>(3,1) << 100, 100, 0);
solvePnP(p3d, p2d, cameraIntrinsic, noArray(), rvec, tvec, true); solvePnP(p3d, p2d, cameraIntrinsic, noArray(), rvec, tvec, true);
ASSERT_TRUE(checkRange(rvec)); EXPECT_TRUE(checkRange(rvec));
ASSERT_TRUE(checkRange(tvec)); EXPECT_TRUE(checkRange(tvec));
solvePnP(p3d, p2d, cameraIntrinsic, noArray(), rvec, tvec, false); solvePnP(p3d, p2d, cameraIntrinsic, noArray(), rvec, tvec, false);
ASSERT_TRUE(checkRange(rvec)); EXPECT_TRUE(checkRange(rvec));
ASSERT_TRUE(checkRange(tvec)); EXPECT_TRUE(checkRange(tvec));
} }