mirror/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2024-11-25 03:30:34 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Merge pull request #19253 from mightbxg:bugfix_PnPRansac

Browse Source 
* fix unexpected Exception in solvePnPRansac caused by input points

* calib3d: solvePnPRansac - keep minimal changes to handle DLT 6 points requirement

Co-authored-by: Alexander Alekhin <alexander.a.alekhin@gmail.com>
This commit is contained in:
Xinguang Bian 2021-03-12 05:53:06 +08:00 committed by GitHub
parent 825dadfbdd
commit b995de4ff3
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 66 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
modules/calib3d/src/solvepnp.cpp
View File

@ -311,9 +311,32 @@ bool solvePnPRansac(InputArray _opoints, InputArray _ipoints,
opoints_inliers.resize(npoints1);
ipoints_inliers.resize(npoints1);
try
{
result = solvePnP(opoints_inliers, ipoints_inliers, cameraMatrix,
distCoeffs, rvec, tvec, useExtrinsicGuess,
(flags == SOLVEPNP_P3P || flags == SOLVEPNP_AP3P) ? SOLVEPNP_EPNP : flags) ? 1 : -1;
}
catch (const cv::Exception& e)
{
if (flags == SOLVEPNP_ITERATIVE &&
npoints1 == 5 &&
e.what() &&
std::string(e.what()).find("DLT algorithm needs at least 6 points") != std::string::npos
)
{
CV_LOG_INFO(NULL, "solvePnPRansac(): solvePnP stage to compute the final pose using points "
"in the consensus set raised DLT 6 points exception, use result from MSS (Minimal Sample Sets) stage instead.");
rvec = _local_model.col(0); // output rotation vector
tvec = _local_model.col(1); // output translation vector
result = 1;
}
else
{
// raise other exceptions
throw;
}
}
if (result <= 0)
{
@ -323,6 +346,7 @@ bool solvePnPRansac(InputArray _opoints, InputArray _ipoints,
if (_inliers.needed())
_inliers.release();
CV_LOG_DEBUG(NULL, "solvePnPRansac(): solvePnP stage to compute the final pose using points in the consensus set failed. Return false");
return false;
}
else

37
modules/calib3d/test/test_solvepnp_ransac.cpp
View File

@ -837,6 +837,43 @@ TEST(Calib3d_SolvePnPRansac, double_support)
EXPECT_LE(cvtest::norm(t, Mat_<double>(tF), NORM_INF), 1e-3);
}
TEST(Calib3d_SolvePnPRansac, bad_input_points_19253)
{
// with this specific data
// when computing the final pose using points in the consensus set with SOLVEPNP_ITERATIVE and solvePnP()
// an exception is thrown from solvePnP because there are 5 non-coplanar 3D points and the DLT algorithm needs at least 6 non-coplanar 3D points
// with PR #19253 we choose to return true, with the pose estimated from the MSS stage instead of throwing the exception
float pts2d_[] = {
-5.38358629e-01f, -5.09638414e-02f,
-5.07192254e-01f, -2.20743284e-01f,
-5.43107152e-01f, -4.90474701e-02f,
-5.54325163e-01f, -1.86715424e-01f,
-5.59334219e-01f, -4.01909500e-02f,
-5.43504596e-01f, -4.61776406e-02f
};
Mat pts2d(6, 2, CV_32FC1, pts2d_);
float pts3d_[] = {
-3.01153604e-02f, -1.55665115e-01f, 4.50000018e-01f,
4.27827090e-01f, 4.28645730e-01f, 1.08600008e+00f,
-3.14165242e-02f, -1.52656138e-01f, 4.50000018e-01f,
-1.46217480e-01f, 5.57961613e-02f, 7.17000008e-01f,
-4.89348806e-02f, -1.38795510e-01f, 4.47000027e-01f,
-3.13065052e-02f, -1.52636901e-01f, 4.51000035e-01f
};
Mat pts3d(6, 3, CV_32FC1, pts3d_);
Mat camera_mat = Mat::eye(3, 3, CV_64FC1);
Mat rvec, tvec;
vector<int> inliers;
// solvePnPRansac will return true with 5 inliers, which means the result is from MSS stage.
bool result = solvePnPRansac(pts3d, pts2d, camera_mat, noArray(), rvec, tvec, false, 100, 4.f / 460.f, 0.99, inliers);
EXPECT_EQ(inliers.size(), size_t(5));
EXPECT_TRUE(result);
}
TEST(Calib3d_SolvePnP, input_type)
{
Matx33d intrinsics(5.4794130238156129e+002, 0., 2.9835545700043139e+002, 0.,