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Merge pull request #8301 from tonyke1993:p3p_alg
New p3p algorithm (accepted by CVPR 2017) (#8301) * add p3p source code * indent 4 * update publication info * fix filename * interface done * plug in done, test needed * debugging * for test * a working version * clean p3p code * test * test * fix warning, blank line * apply patch from @catree * add reference info * namespace, indent 4 * static solveQuartic * put small functions to anonymous namespace
This commit is contained in:
Tong Ke
Alexander Alekhin
parent
2561c59698
commit
0a63ab36bb
@ -897,3 +897,10 @@
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year={2010},
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publisher={Springer}
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}
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@INPROCEEDINGS{Ke17,
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author = {Ke, Tong and Roumeliotis, Stergios},
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title = {An Efficient Algebraic Solution to the Perspective-Three-Point Problem},
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booktitle = {Computer Vision and Pattern Recognition (CVPR), 2017 IEEE Conference on},
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year = {2017},
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organization = {IEEE}
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}
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@ -236,8 +236,8 @@ enum { SOLVEPNP_ITERATIVE = 0,
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SOLVEPNP_EPNP = 1, //!< EPnP: Efficient Perspective-n-Point Camera Pose Estimation @cite lepetit2009epnp
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SOLVEPNP_P3P = 2, //!< Complete Solution Classification for the Perspective-Three-Point Problem @cite gao2003complete
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SOLVEPNP_DLS = 3, //!< A Direct Least-Squares (DLS) Method for PnP @cite hesch2011direct
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SOLVEPNP_UPNP = 4 //!< Exhaustive Linearization for Robust Camera Pose and Focal Length Estimation @cite penate2013exhaustive
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SOLVEPNP_UPNP = 4, //!< Exhaustive Linearization for Robust Camera Pose and Focal Length Estimation @cite penate2013exhaustive
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SOLVEPNP_AP3P = 5 //!< An Efficient Algebraic Solution to the Perspective-Three-Point Problem @cite Ke17
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};
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enum { CALIB_CB_ADAPTIVE_THRESH = 1,
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383
modules/calib3d/src/ap3p.cpp
Normal file
383
modules/calib3d/src/ap3p.cpp
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@ -0,0 +1,383 @@
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#include "ap3p.h"
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#include <cmath>
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#include <complex>
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using namespace std;
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namespace {
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void solveQuartic(const double *factors, double *realRoots) {
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const double &a4 = factors[0];
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const double &a3 = factors[1];
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const double &a2 = factors[2];
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const double &a1 = factors[3];
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const double &a0 = factors[4];
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double a4_2 = a4 * a4;
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double a3_2 = a3 * a3;
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double a4_3 = a4_2 * a4;
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double a2a4 = a2 * a4;
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double p4 = (8 * a2a4 - 3 * a3_2) / (8 * a4_2);
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double q4 = (a3_2 * a3 - 4 * a2a4 * a3 + 8 * a1 * a4_2) / (8 * a4_3);
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double r4 = (256 * a0 * a4_3 - 3 * (a3_2 * a3_2) - 64 * a1 * a3 * a4_2 + 16 * a2a4 * a3_2) / (256 * (a4_3 * a4));
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double p3 = ((p4 * p4) / 12 + r4) / 3; // /=-3
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double q3 = (72 * r4 * p4 - 2 * p4 * p4 * p4 - 27 * q4 * q4) / 432; // /=2
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double t; // *=2
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complex<double> w;
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if (q3 >= 0)
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w = -sqrt(static_cast<complex<double> >(q3 * q3 - p3 * p3 * p3)) - q3;
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else
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w = sqrt(static_cast<complex<double> >(q3 * q3 - p3 * p3 * p3)) - q3;
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if (w.imag() == 0.0) {
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w.real(cbrt(w.real()));
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t = 2.0 * (w.real() + p3 / w.real());
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} else {
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w = pow(w, 1.0 / 3);
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t = 4.0 * w.real();
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}
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complex<double> sqrt_2m = sqrt(static_cast<complex<double> >(-2 * p4 / 3 + t));
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double B_4A = -a3 / (4 * a4);
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double complex1 = 4 * p4 / 3 + t;
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complex<double> complex2 = 2 * q4 / sqrt_2m;
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double sqrt_2m_rh = sqrt_2m.real() / 2;
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double sqrt1 = sqrt(-(complex1 + complex2)).real() / 2;
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realRoots[0] = B_4A + sqrt_2m_rh + sqrt1;
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realRoots[1] = B_4A + sqrt_2m_rh - sqrt1;
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double sqrt2 = sqrt(-(complex1 - complex2)).real() / 2;
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realRoots[2] = B_4A - sqrt_2m_rh + sqrt2;
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realRoots[3] = B_4A - sqrt_2m_rh - sqrt2;
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}
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void polishQuarticRoots(const double *coeffs, double *roots) {
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const int iterations = 2;
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for (int i = 0; i < iterations; ++i) {
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for (int j = 0; j < 4; ++j) {
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double error =
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(((coeffs[0] * roots[j] + coeffs[1]) * roots[j] + coeffs[2]) * roots[j] + coeffs[3]) * roots[j] +
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coeffs[4];
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double
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derivative =
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((4 * coeffs[0] * roots[j] + 3 * coeffs[1]) * roots[j] + 2 * coeffs[2]) * roots[j] + coeffs[3];
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roots[j] -= error / derivative;
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}
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}
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}
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inline void vect_cross(const double *a, const double *b, double *result) {
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result[0] = a[1] * b[2] - a[2] * b[1];
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result[1] = -(a[0] * b[2] - a[2] * b[0]);
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result[2] = a[0] * b[1] - a[1] * b[0];
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}
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inline double vect_dot(const double *a, const double *b) {
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return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
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}
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inline double vect_norm(const double *a) {
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return sqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]);
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}
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inline void vect_scale(const double s, const double *a, double *result) {
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result[0] = a[0] * s;
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result[1] = a[1] * s;
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result[2] = a[2] * s;
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}
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inline void vect_sub(const double *a, const double *b, double *result) {
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result[0] = a[0] - b[0];
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result[1] = a[1] - b[1];
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result[2] = a[2] - b[2];
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}
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inline void vect_divide(const double *a, const double d, double *result) {
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result[0] = a[0] / d;
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result[1] = a[1] / d;
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result[2] = a[2] / d;
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}
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inline void mat_mult(const double a[3][3], const double b[3][3], double result[3][3]) {
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result[0][0] = a[0][0] * b[0][0] + a[0][1] * b[1][0] + a[0][2] * b[2][0];
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result[0][1] = a[0][0] * b[0][1] + a[0][1] * b[1][1] + a[0][2] * b[2][1];
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result[0][2] = a[0][0] * b[0][2] + a[0][1] * b[1][2] + a[0][2] * b[2][2];
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result[1][0] = a[1][0] * b[0][0] + a[1][1] * b[1][0] + a[1][2] * b[2][0];
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result[1][1] = a[1][0] * b[0][1] + a[1][1] * b[1][1] + a[1][2] * b[2][1];
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result[1][2] = a[1][0] * b[0][2] + a[1][1] * b[1][2] + a[1][2] * b[2][2];
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result[2][0] = a[2][0] * b[0][0] + a[2][1] * b[1][0] + a[2][2] * b[2][0];
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result[2][1] = a[2][0] * b[0][1] + a[2][1] * b[1][1] + a[2][2] * b[2][1];
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result[2][2] = a[2][0] * b[0][2] + a[2][1] * b[1][2] + a[2][2] * b[2][2];
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}
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}
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namespace cv {
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void ap3p::init_inverse_parameters() {
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inv_fx = 1. / fx;
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inv_fy = 1. / fy;
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cx_fx = cx / fx;
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cy_fy = cy / fy;
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}
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ap3p::ap3p(cv::Mat cameraMatrix) {
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if (cameraMatrix.depth() == CV_32F)
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init_camera_parameters<float>(cameraMatrix);
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else
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init_camera_parameters<double>(cameraMatrix);
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init_inverse_parameters();
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}
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ap3p::ap3p(double _fx, double _fy, double _cx, double _cy) {
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fx = _fx;
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fy = _fy;
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cx = _cx;
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cy = _cy;
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init_inverse_parameters();
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}
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// This algorithm is from "Tong Ke, Stergios Roumeliotis, An Efficient Algebraic Solution to the Perspective-Three-Point Problem" (Accepted by CVPR 2017)
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// See https://arxiv.org/pdf/1701.08237.pdf
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// featureVectors: The 3 bearing measurements (normalized) stored as column vectors
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// worldPoints: The positions of the 3 feature points stored as column vectors
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// solutionsR: 4 possible solutions of rotation matrix of the world w.r.t the camera frame
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// solutionsT: 4 possible solutions of translation of the world origin w.r.t the camera frame
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int ap3p::computePoses(const double featureVectors[3][3],
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const double worldPoints[3][3],
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double solutionsR[4][3][3],
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double solutionsT[4][3]) {
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//world point vectors
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double w1[3] = {worldPoints[0][0], worldPoints[1][0], worldPoints[2][0]};
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double w2[3] = {worldPoints[0][1], worldPoints[1][1], worldPoints[2][1]};
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double w3[3] = {worldPoints[0][2], worldPoints[1][2], worldPoints[2][2]};
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// k1
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double u0[3];
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vect_sub(w1, w2, u0);
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double nu0 = vect_norm(u0);
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double k1[3];
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vect_divide(u0, nu0, k1);
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// bi
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double b1[3] = {featureVectors[0][0], featureVectors[1][0], featureVectors[2][0]};
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double b2[3] = {featureVectors[0][1], featureVectors[1][1], featureVectors[2][1]};
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double b3[3] = {featureVectors[0][2], featureVectors[1][2], featureVectors[2][2]};
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// k3,tz
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double k3[3];
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vect_cross(b1, b2, k3);
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double nk3 = vect_norm(k3);
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vect_divide(k3, nk3, k3);
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double tz[3];
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vect_cross(b1, k3, tz);
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// ui,vi
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double v1[3];
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vect_cross(b1, b3, v1);
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double v2[3];
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vect_cross(b2, b3, v2);
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double u1[3];
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vect_sub(w1, w3, u1);
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// coefficients related terms
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double u1k1 = vect_dot(u1, k1);
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double k3b3 = vect_dot(k3, b3);
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// f1i
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double f11 = k3b3;
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double f13 = vect_dot(k3, v1);
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double f15 = -u1k1 * f11;
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//delta
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double nl[3];
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vect_cross(u1, k1, nl);
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double delta = vect_norm(nl);
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vect_divide(nl, delta, nl);
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f11 *= delta;
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f13 *= delta;
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// f2i
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double u2k1 = u1k1 - nu0;
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double f21 = vect_dot(tz, v2);
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double f22 = nk3 * k3b3;
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double f23 = vect_dot(k3, v2);
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double f24 = u2k1 * f22;
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double f25 = -u2k1 * f21;
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f21 *= delta;
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f22 *= delta;
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f23 *= delta;
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double g1 = f13 * f22;
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double g2 = f13 * f25 - f15 * f23;
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double g3 = f11 * f23 - f13 * f21;
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double g4 = -f13 * f24;
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double g5 = f11 * f22;
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double g6 = f11 * f25 - f15 * f21;
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double g7 = -f15 * f24;
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double coeffs[5] = {g5 * g5 + g1 * g1 + g3 * g3,
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2 * (g5 * g6 + g1 * g2 + g3 * g4),
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g6 * g6 + 2 * g5 * g7 + g2 * g2 + g4 * g4 - g1 * g1 - g3 * g3,
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2 * (g6 * g7 - g1 * g2 - g3 * g4),
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g7 * g7 - g2 * g2 - g4 * g4};
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double s[4];
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solveQuartic(coeffs, s);
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polishQuarticRoots(coeffs, s);
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double temp[3];
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vect_cross(k1, nl, temp);
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double Ck1nl[3][3] =
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{{k1[0], nl[0], temp[0]},
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{k1[1], nl[1], temp[1]},
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{k1[2], nl[2], temp[2]}};
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double Cb1k3tzT[3][3] =
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{{b1[0], b1[1], b1[2]},
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{k3[0], k3[1], k3[2]},
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{tz[0], tz[1], tz[2]}};
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double b3p[3];
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vect_scale((delta / k3b3), b3, b3p);
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int nb_solutions = 0;
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for (int i = 0; i < 4; ++i) {
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double ctheta1p = s[i];
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if (abs(ctheta1p) > 1)
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continue;
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double stheta1p = sqrt(1 - ctheta1p * ctheta1p);
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stheta1p = (k3b3 > 0) ? stheta1p : -stheta1p;
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double ctheta3 = g1 * ctheta1p + g2;
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double stheta3 = g3 * ctheta1p + g4;
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double ntheta3 = stheta1p / ((g5 * ctheta1p + g6) * ctheta1p + g7);
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ctheta3 *= ntheta3;
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stheta3 *= ntheta3;
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double C13[3][3] =
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{{ctheta3, 0, -stheta3},
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{stheta1p * stheta3, ctheta1p, stheta1p * ctheta3},
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{ctheta1p * stheta3, -stheta1p, ctheta1p * ctheta3}};
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double temp_matrix[3][3];
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double R[3][3];
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mat_mult(Ck1nl, C13, temp_matrix);
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mat_mult(temp_matrix, Cb1k3tzT, R);
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// R' * p3
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double rp3[3] =
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{w3[0] * R[0][0] + w3[1] * R[1][0] + w3[2] * R[2][0],
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w3[0] * R[0][1] + w3[1] * R[1][1] + w3[2] * R[2][1],
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w3[0] * R[0][2] + w3[1] * R[1][2] + w3[2] * R[2][2]};
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double pxstheta1p[3];
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vect_scale(stheta1p, b3p, pxstheta1p);
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vect_sub(pxstheta1p, rp3, solutionsT[nb_solutions]);
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solutionsR[nb_solutions][0][0] = R[0][0];
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solutionsR[nb_solutions][1][0] = R[0][1];
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solutionsR[nb_solutions][2][0] = R[0][2];
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solutionsR[nb_solutions][0][1] = R[1][0];
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solutionsR[nb_solutions][1][1] = R[1][1];
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solutionsR[nb_solutions][2][1] = R[1][2];
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solutionsR[nb_solutions][0][2] = R[2][0];
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solutionsR[nb_solutions][1][2] = R[2][1];
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solutionsR[nb_solutions][2][2] = R[2][2];
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nb_solutions++;
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}
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return nb_solutions;
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}
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bool ap3p::solve(cv::Mat &R, cv::Mat &tvec, const cv::Mat &opoints, const cv::Mat &ipoints) {
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CV_INSTRUMENT_REGION()
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double rotation_matrix[3][3], translation[3];
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std::vector<double> points;
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if (opoints.depth() == ipoints.depth()) {
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if (opoints.depth() == CV_32F)
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extract_points<cv::Point3f, cv::Point2f>(opoints, ipoints, points);
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else
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extract_points<cv::Point3d, cv::Point2d>(opoints, ipoints, points);
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} else if (opoints.depth() == CV_32F)
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extract_points<cv::Point3f, cv::Point2d>(opoints, ipoints, points);
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else
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extract_points<cv::Point3d, cv::Point2f>(opoints, ipoints, points);
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bool result = solve(rotation_matrix, translation, points[0], points[1], points[2], points[3], points[4], points[5],
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points[6], points[7], points[8], points[9], points[10], points[11], points[12], points[13],
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points[14],
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points[15], points[16], points[17], points[18], points[19]);
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cv::Mat(3, 1, CV_64F, translation).copyTo(tvec);
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cv::Mat(3, 3, CV_64F, rotation_matrix).copyTo(R);
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return result;
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}
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bool
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ap3p::solve(double R[3][3], double t[3], double mu0, double mv0, double X0, double Y0, double Z0, double mu1,
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double mv1,
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double X1, double Y1, double Z1, double mu2, double mv2, double X2, double Y2, double Z2, double mu3,
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double mv3, double X3, double Y3, double Z3) {
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double Rs[4][3][3], ts[4][3];
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int n = solve(Rs, ts, mu0, mv0, X0, Y0, Z0, mu1, mv1, X1, Y1, Z1, mu2, mv2, X2, Y2, Z2);
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if (n == 0)
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return false;
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int ns = 0;
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double min_reproj = 0;
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for (int i = 0; i < n; i++) {
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double X3p = Rs[i][0][0] * X3 + Rs[i][0][1] * Y3 + Rs[i][0][2] * Z3 + ts[i][0];
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double Y3p = Rs[i][1][0] * X3 + Rs[i][1][1] * Y3 + Rs[i][1][2] * Z3 + ts[i][1];
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double Z3p = Rs[i][2][0] * X3 + Rs[i][2][1] * Y3 + Rs[i][2][2] * Z3 + ts[i][2];
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||||
double mu3p = cx + fx * X3p / Z3p;
|
||||
double mv3p = cy + fy * Y3p / Z3p;
|
||||
double reproj = (mu3p - mu3) * (mu3p - mu3) + (mv3p - mv3) * (mv3p - mv3);
|
||||
if (i == 0 || min_reproj > reproj) {
|
||||
ns = i;
|
||||
min_reproj = reproj;
|
||||
}
|
||||
}
|
||||
|
||||
for (int i = 0; i < 3; i++) {
|
||||
for (int j = 0; j < 3; j++)
|
||||
R[i][j] = Rs[ns][i][j];
|
||||
t[i] = ts[ns][i];
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
int ap3p::solve(double R[4][3][3], double t[4][3], double mu0, double mv0, double X0, double Y0, double Z0, double mu1,
|
||||
double mv1, double X1, double Y1, double Z1, double mu2, double mv2, double X2, double Y2, double Z2) {
|
||||
double mk0, mk1, mk2;
|
||||
double norm;
|
||||
|
||||
mu0 = inv_fx * mu0 - cx_fx;
|
||||
mv0 = inv_fy * mv0 - cy_fy;
|
||||
norm = sqrt(mu0 * mu0 + mv0 * mv0 + 1);
|
||||
mk0 = 1. / norm;
|
||||
mu0 *= mk0;
|
||||
mv0 *= mk0;
|
||||
|
||||
mu1 = inv_fx * mu1 - cx_fx;
|
||||
mv1 = inv_fy * mv1 - cy_fy;
|
||||
norm = sqrt(mu1 * mu1 + mv1 * mv1 + 1);
|
||||
mk1 = 1. / norm;
|
||||
mu1 *= mk1;
|
||||
mv1 *= mk1;
|
||||
|
||||
mu2 = inv_fx * mu2 - cx_fx;
|
||||
mv2 = inv_fy * mv2 - cy_fy;
|
||||
norm = sqrt(mu2 * mu2 + mv2 * mv2 + 1);
|
||||
mk2 = 1. / norm;
|
||||
mu2 *= mk2;
|
||||
mv2 *= mk2;
|
||||
|
||||
double featureVectors[3][3] = {{mu0, mu1, mu2},
|
||||
{mv0, mv1, mv2},
|
||||
{mk0, mk1, mk2}};
|
||||
double worldPoints[3][3] = {{X0, X1, X2},
|
||||
{Y0, Y1, Y2},
|
||||
{Z0, Z1, Z2}};
|
||||
|
||||
return computePoses(featureVectors, worldPoints, R, t);
|
||||
}
|
||||
}
|
||||
65
modules/calib3d/src/ap3p.h
Normal file
65
modules/calib3d/src/ap3p.h
Normal file
@ -0,0 +1,65 @@
|
||||
#ifndef P3P_P3P_H
|
||||
#define P3P_P3P_H
|
||||
|
||||
#include "precomp.hpp"
|
||||
|
||||
namespace cv {
|
||||
class ap3p {
|
||||
private:
|
||||
template<typename T>
|
||||
void init_camera_parameters(const cv::Mat &cameraMatrix) {
|
||||
cx = cameraMatrix.at<T>(0, 2);
|
||||
cy = cameraMatrix.at<T>(1, 2);
|
||||
fx = cameraMatrix.at<T>(0, 0);
|
||||
fy = cameraMatrix.at<T>(1, 1);
|
||||
}
|
||||
|
||||
template<typename OpointType, typename IpointType>
|
||||
void extract_points(const cv::Mat &opoints, const cv::Mat &ipoints, std::vector<double> &points) {
|
||||
points.clear();
|
||||
points.resize(20);
|
||||
for (int i = 0; i < 4; i++) {
|
||||
points[i * 5] = ipoints.at<IpointType>(i).x * fx + cx;
|
||||
points[i * 5 + 1] = ipoints.at<IpointType>(i).y * fy + cy;
|
||||
points[i * 5 + 2] = opoints.at<OpointType>(i).x;
|
||||
points[i * 5 + 3] = opoints.at<OpointType>(i).y;
|
||||
points[i * 5 + 4] = opoints.at<OpointType>(i).z;
|
||||
}
|
||||
}
|
||||
|
||||
void init_inverse_parameters();
|
||||
|
||||
double fx, fy, cx, cy;
|
||||
double inv_fx, inv_fy, cx_fx, cy_fy;
|
||||
public:
|
||||
ap3p() {}
|
||||
|
||||
ap3p(double fx, double fy, double cx, double cy);
|
||||
|
||||
ap3p(cv::Mat cameraMatrix);
|
||||
|
||||
bool solve(cv::Mat &R, cv::Mat &tvec, const cv::Mat &opoints, const cv::Mat &ipoints);
|
||||
|
||||
int solve(double R[4][3][3], double t[4][3],
|
||||
double mu0, double mv0, double X0, double Y0, double Z0,
|
||||
double mu1, double mv1, double X1, double Y1, double Z1,
|
||||
double mu2, double mv2, double X2, double Y2, double Z2);
|
||||
|
||||
bool solve(double R[3][3], double t[3],
|
||||
double mu0, double mv0, double X0, double Y0, double Z0,
|
||||
double mu1, double mv1, double X1, double Y1, double Z1,
|
||||
double mu2, double mv2, double X2, double Y2, double Z2,
|
||||
double mu3, double mv3, double X3, double Y3, double Z3);
|
||||
|
||||
// This algorithm is from "Tong Ke, Stergios Roumeliotis, An Efficient Algebraic Solution to the Perspective-Three-Point Problem" (Accepted by CVPR 2017)
|
||||
// See https://arxiv.org/pdf/1701.08237.pdf
|
||||
// featureVectors: 3 bearing measurements (normalized) stored as column vectors
|
||||
// worldPoints: Positions of the 3 feature points stored as column vectors
|
||||
// solutionsR: 4 possible solutions of rotation matrix of the world w.r.t the camera frame
|
||||
// solutionsT: 4 possible solutions of translation of the world origin w.r.t the camera frame
|
||||
int computePoses(const double featureVectors[3][3], const double worldPoints[3][3], double solutionsR[4][3][3],
|
||||
double solutionsT[4][3]);
|
||||
|
||||
};
|
||||
}
|
||||
#endif //P3P_P3P_H
|
||||
@ -45,6 +45,7 @@
|
||||
#include "dls.h"
|
||||
#include "epnp.h"
|
||||
#include "p3p.h"
|
||||
#include "ap3p.h"
|
||||
#include "opencv2/calib3d/calib3d_c.h"
|
||||
|
||||
#include <iostream>
|
||||
@ -118,6 +119,18 @@ bool solvePnP( InputArray _opoints, InputArray _ipoints,
|
||||
if (result)
|
||||
Rodrigues(R, rvec);
|
||||
}
|
||||
else if (flags == SOLVEPNP_AP3P)
|
||||
{
|
||||
CV_Assert( npoints == 4);
|
||||
Mat undistortedPoints;
|
||||
undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
|
||||
ap3p P3Psolver(cameraMatrix);
|
||||
|
||||
Mat R;
|
||||
result = P3Psolver.solve(R, tvec, opoints, undistortedPoints);
|
||||
if (result)
|
||||
Rodrigues(R, rvec);
|
||||
}
|
||||
else if (flags == SOLVEPNP_ITERATIVE)
|
||||
{
|
||||
CvMat c_objectPoints = opoints, c_imagePoints = ipoints;
|
||||
@ -291,7 +304,8 @@ bool solvePnPRansac(InputArray _opoints, InputArray _ipoints,
|
||||
opoints_inliers.resize(npoints1);
|
||||
ipoints_inliers.resize(npoints1);
|
||||
result = solvePnP(opoints_inliers, ipoints_inliers, cameraMatrix,
|
||||
distCoeffs, rvec, tvec, false, flags == SOLVEPNP_P3P ? SOLVEPNP_EPNP : flags) ? 1 : -1;
|
||||
distCoeffs, rvec, tvec, false,
|
||||
(flags == SOLVEPNP_P3P || flags == SOLVEPNP_AP3P) ? SOLVEPNP_EPNP : flags) ? 1 : -1;
|
||||
}
|
||||
|
||||
if( result <= 0 || _local_model.rows <= 0)
|
||||
|
||||
@ -57,6 +57,7 @@ public:
|
||||
eps[SOLVEPNP_ITERATIVE] = 1.0e-2;
|
||||
eps[SOLVEPNP_EPNP] = 1.0e-2;
|
||||
eps[SOLVEPNP_P3P] = 1.0e-2;
|
||||
eps[SOLVEPNP_AP3P] = 1.0e-2;
|
||||
eps[SOLVEPNP_DLS] = 1.0e-2;
|
||||
eps[SOLVEPNP_UPNP] = 1.0e-2;
|
||||
totalTestsCount = 10;
|
||||
@ -161,7 +162,7 @@ protected:
|
||||
points.resize(pointsCount);
|
||||
generate3DPointCloud(points);
|
||||
|
||||
const int methodsCount = 5;
|
||||
const int methodsCount = 6;
|
||||
RNG rng = ts->get_rng();
|
||||
|
||||
|
||||
@ -189,7 +190,7 @@ protected:
|
||||
}
|
||||
}
|
||||
}
|
||||
double eps[5];
|
||||
double eps[6];
|
||||
int totalTestsCount;
|
||||
};
|
||||
|
||||
@ -201,6 +202,7 @@ public:
|
||||
eps[SOLVEPNP_ITERATIVE] = 1.0e-6;
|
||||
eps[SOLVEPNP_EPNP] = 1.0e-6;
|
||||
eps[SOLVEPNP_P3P] = 1.0e-4;
|
||||
eps[SOLVEPNP_AP3P] = 1.0e-4;
|
||||
eps[SOLVEPNP_DLS] = 1.0e-4;
|
||||
eps[SOLVEPNP_UPNP] = 1.0e-4;
|
||||
totalTestsCount = 1000;
|
||||
@ -222,7 +224,7 @@ protected:
|
||||
generatePose(trueRvec, trueTvec, rng);
|
||||
|
||||
std::vector<Point3f> opoints;
|
||||
if (method == 2)
|
||||
if (method == 2 || method == 5)
|
||||
{
|
||||
opoints = std::vector<Point3f>(points.begin(), points.begin()+4);
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user