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Merge pull request #20012 from ivashmak:bugfix_solvepnp

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* fix inliers in solvePnPRansac

* fix inliers in test_usac

* fix inliers in test_usac
This commit is contained in:
Maksym Ivashechkin 2021-05-19 10:09:46 +01:00 committed by GitHub
parent 7d66f1e391
commit 527d86a93d
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 34 additions and 11 deletions
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9
modules/calib3d/src/solvepnp.cpp
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@ -402,7 +402,14 @@ bool solvePnPRansac( InputArray objectPoints, InputArray imagePoints,
Ptr<usac::RansacOutput> ransac_output;
if (usac::run(model_params, imagePoints, objectPoints, model_params->getRandomGeneratorState(),
ransac_output, cameraMatrix, noArray(), distCoeffs, noArray())) {
usac::saveMask(inliers, ransac_output->getInliersMask());
if (inliers.needed()) {
const auto &inliers_mask = ransac_output->getInliersMask();
Mat inliers_;
for (int i = 0; i < (int)inliers_mask.size(); i++)
if (inliers_mask[i])
inliers_.push_back(i);
inliers_.copyTo(inliers);
}
const Mat &model = ransac_output->getModel();
model.col(0).copyTo(rvec);
model.col(1).copyTo(tvec);

17
modules/calib3d/src/usac/ransac_solvers.cpp
View File

@ -539,23 +539,26 @@ Mat findEssentialMat (InputArray points1, InputArray points2, InputArray cameraM
bool solvePnPRansac( InputArray objectPoints, InputArray imagePoints,
InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec,
bool /*useExtrinsicGuess*/, int max_iters, float thr, double conf,
OutputArray mask, int method) {
OutputArray inliers, int method) {
Ptr<Model> params;
setParameters(method, params, cameraMatrix.empty() ? EstimationMethod ::P6P : EstimationMethod ::P3P,
thr, max_iters, conf, mask.needed());
thr, max_iters, conf, inliers.needed());
Ptr<RansacOutput> ransac_output;
if (run(params, imagePoints, objectPoints, params->getRandomGeneratorState(),
ransac_output, cameraMatrix, noArray(), distCoeffs, noArray())) {
saveMask(mask, ransac_output->getInliersMask());
if (inliers.needed()) {
const auto &inliers_mask = ransac_output->getInliersMask();
Mat inliers_;
for (int i = 0; i < (int)inliers_mask.size(); i++)
if (inliers_mask[i])
inliers_.push_back(i);
inliers_.copyTo(inliers);
}
const Mat &model = ransac_output->getModel();
model.col(0).copyTo(rvec);
model.col(1).copyTo(tvec);
return true;
}
if (mask.needed()){
mask.create(std::max(objectPoints.getMat().rows, objectPoints.getMat().cols), 1, CV_8U);
mask.setTo(Scalar::all(0));
}
return false;
}

19
modules/calib3d/test/test_usac.cpp
View File

@ -345,11 +345,16 @@ TEST(usac_P3P, accuracy) {
log(1 - pow(inl_ratio, 3 /* sample size */));
for (auto flag : flags) {
std::vector<int> inliers;
cv::Mat rvec, tvec, mask, R, P;
CV_Assert(cv::solvePnPRansac(obj_pts, img_pts, K1, cv::noArray(), rvec, tvec,
false, (int)max_iters, (float)thr, conf, mask, flag));
false, (int)max_iters, (float)thr, conf, inliers, flag));
cv::Rodrigues(rvec, R);
cv::hconcat(K1 * R, K1 * tvec, P);
mask.create(pts_size, 1, CV_8U);
mask.setTo(Scalar::all(0));
for (auto inl : inliers)
mask.at<uchar>(inl) = true;
checkInliersMask(TestSolver ::PnP, inl_size, thr, img_pts, obj_pts, P, mask);
}
}
@ -416,19 +421,27 @@ TEST(usac_testUsacParams, accuracy) {
// CV_Error(cv::Error::StsError, "Essential matrix estimation failed!");
}
std::vector<int> inliers(pts_size);
// P3P
inl_size = generatePoints(rng, pts1, pts2, K1, K2, false, pts_size, TestSolver::PnP,
getInlierRatio(usac_params.maxIterations, 3, usac_params.confidence), 0.01, gt_inliers);
CV_Assert(cv::solvePnPRansac(pts2, pts1, K1, dist_coeff, rvec, tvec, mask, usac_params));
CV_Assert(cv::solvePnPRansac(pts2, pts1, K1, dist_coeff, rvec, tvec, inliers, usac_params));
cv::Rodrigues(rvec, R); cv::hconcat(K1 * R, K1 * tvec, model);
mask.create(pts_size, 1, CV_8U);
mask.setTo(Scalar::all(0));
for (auto inl : inliers)
mask.at<uchar>(inl) = true;
checkInliersMask(TestSolver::PnP, inl_size, usac_params.threshold, pts1, pts2, model, mask);
// P6P
inl_size = generatePoints(rng, pts1, pts2, K1, K2, false, pts_size, TestSolver::PnP,
getInlierRatio(usac_params.maxIterations, 6, usac_params.confidence), 0.1, gt_inliers);
cv::Mat K_est;
CV_Assert(cv::solvePnPRansac(pts2, pts1, K_est, dist_coeff, rvec, tvec, mask, usac_params));
CV_Assert(cv::solvePnPRansac(pts2, pts1, K_est, dist_coeff, rvec, tvec, inliers, usac_params));
cv::Rodrigues(rvec, R); cv::hconcat(K_est * R, K_est * tvec, model);
mask.setTo(Scalar::all(0));
for (auto inl : inliers)
mask.at<uchar>(inl) = true;
checkInliersMask(TestSolver::PnP, inl_size, usac_params.threshold, pts1, pts2, model, mask);
// Affine2D