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Merge pull request #17977 from paroj:hervec

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* calib3d: calibrateHandEye - allow using Rodrigues vectors for rotation

* calib3d: calibrateHandEye - test rvec representation
This commit is contained in:
Pavel Rojtberg 2020-07-30 21:59:15 +02:00 committed by GitHub
parent a218cf3c61
commit 3c3e131c38
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 12 additions and 3 deletions
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10
modules/calib3d/src/calibration_handeye.cpp
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@ -712,7 +712,10 @@ void calibrateHandEye(InputArrayOfArrays R_gripper2base, InputArrayOfArrays t_gr
{
Mat m = Mat::eye(4, 4, CV_64FC1);
Mat R = m(Rect(0, 0, 3, 3));
R_gripper2base_[i].convertTo(R, CV_64F);
if(R_gripper2base_[i].size() == Size(3, 3))
R_gripper2base_[i].convertTo(R, CV_64F);
else
Rodrigues(R_gripper2base_[i], R);
Mat t = m(Rect(3, 0, 1, 3));
t_gripper2base_[i].convertTo(t, CV_64F);
@ -727,7 +730,10 @@ void calibrateHandEye(InputArrayOfArrays R_gripper2base, InputArrayOfArrays t_gr
{
Mat m = Mat::eye(4, 4, CV_64FC1);
Mat R = m(Rect(0, 0, 3, 3));
R_target2cam_[i].convertTo(R, CV_64F);
if(R_target2cam_[i].size() == Size(3, 3))
R_target2cam_[i].convertTo(R, CV_64F);
else
Rodrigues(R_target2cam_[i], R);
Mat t = m(Rect(3, 0, 1, 3));
t_target2cam_[i].convertTo(t, CV_64F);

5
modules/calib3d/test/test_calibration_hand_eye.cpp
View File

@ -317,7 +317,10 @@ void CV_CalibrateHandEyeTest::simulateData(RNG& rng, int nPoses,
t_gripper2base_noise.at<double>(2,0) += rng.gaussian(0.001);
}
R_target2cam.push_back(T_target2cam(Rect(0, 0, 3, 3)));
// test rvec represenation
Mat rvec_target2cam;
cv::Rodrigues(T_target2cam(Rect(0, 0, 3, 3)), rvec_target2cam);
R_target2cam.push_back(rvec_target2cam);
t_target2cam.push_back(T_target2cam(Rect(3, 0, 1, 3)));
}
}