mirror/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2025-08-06 14:36:36 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Merge pull request #18171 from catree:fix_pnp_doc

Browse Source
This commit is contained in:
Alexander Alekhin 2020-08-25 18:24:30 +00:00
commit c7422e4d90
2 changed files with 23 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
modules/calib3d/include/opencv2/calib3d.hpp
View File

@ -450,8 +450,10 @@ enum SolvePnPMethod {
SOLVEPNP_ITERATIVE = 0, SOLVEPNP_ITERATIVE = 0,
SOLVEPNP_EPNP = 1, //!< EPnP: Efficient Perspective-n-Point Camera Pose Estimation @cite lepetit2009epnp SOLVEPNP_EPNP = 1, //!< EPnP: Efficient Perspective-n-Point Camera Pose Estimation @cite lepetit2009epnp
SOLVEPNP_P3P = 2, //!< Complete Solution Classification for the Perspective-Three-Point Problem @cite gao2003complete SOLVEPNP_P3P = 2, //!< Complete Solution Classification for the Perspective-Three-Point Problem @cite gao2003complete
SOLVEPNP_DLS = 3, //!< A Direct Least-Squares (DLS) Method for PnP @cite hesch2011direct SOLVEPNP_DLS = 3, //!< **Broken implementation. Using this flag will fallback to EPnP.** \n
SOLVEPNP_UPNP = 4, //!< Exhaustive Linearization for Robust Camera Pose and Focal Length Estimation @cite penate2013exhaustive //!< A Direct Least-Squares (DLS) Method for PnP @cite hesch2011direct
SOLVEPNP_UPNP = 4, //!< **Broken implementation. Using this flag will fallback to EPnP.** \n
//!< Exhaustive Linearization for Robust Camera Pose and Focal Length Estimation @cite penate2013exhaustive
SOLVEPNP_AP3P = 5, //!< An Efficient Algebraic Solution to the Perspective-Three-Point Problem @cite Ke17 SOLVEPNP_AP3P = 5, //!< An Efficient Algebraic Solution to the Perspective-Three-Point Problem @cite Ke17
SOLVEPNP_IPPE = 6, //!< Infinitesimal Plane-Based Pose Estimation @cite Collins14 \n SOLVEPNP_IPPE = 6, //!< Infinitesimal Plane-Based Pose Estimation @cite Collins14 \n
//!< Object points must be coplanar. //!< Object points must be coplanar.
@ -806,7 +808,7 @@ vectors, respectively, and further optimizes them.
- **SOLVEPNP_ITERATIVE** Iterative method is based on a Levenberg-Marquardt optimization. In - **SOLVEPNP_ITERATIVE** Iterative method is based on a Levenberg-Marquardt optimization. In
this case the function finds such a pose that minimizes reprojection error, that is the sum this case the function finds such a pose that minimizes reprojection error, that is the sum
of squared distances between the observed projections imagePoints and the projected (using of squared distances between the observed projections imagePoints and the projected (using
projectPoints ) objectPoints . @ref projectPoints ) objectPoints .
- **SOLVEPNP_P3P** Method is based on the paper of X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang - **SOLVEPNP_P3P** Method is based on the paper of X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang
"Complete Solution Classification for the Perspective-Three-Point Problem" (@cite gao2003complete). "Complete Solution Classification for the Perspective-Three-Point Problem" (@cite gao2003complete).
In this case the function requires exactly four object and image points. In this case the function requires exactly four object and image points.
@ -815,9 +817,11 @@ In this case the function requires exactly four object and image points.
In this case the function requires exactly four object and image points. In this case the function requires exactly four object and image points.
- **SOLVEPNP_EPNP** Method has been introduced by F. Moreno-Noguer, V. Lepetit and P. Fua in the - **SOLVEPNP_EPNP** Method has been introduced by F. Moreno-Noguer, V. Lepetit and P. Fua in the
paper "EPnP: Efficient Perspective-n-Point Camera Pose Estimation" (@cite lepetit2009epnp). paper "EPnP: Efficient Perspective-n-Point Camera Pose Estimation" (@cite lepetit2009epnp).
- **SOLVEPNP_DLS** Method is based on the paper of J. Hesch and S. Roumeliotis. - **SOLVEPNP_DLS** **Broken implementation. Using this flag will fallback to EPnP.** \n
Method is based on the paper of J. Hesch and S. Roumeliotis.
"A Direct Least-Squares (DLS) Method for PnP" (@cite hesch2011direct). "A Direct Least-Squares (DLS) Method for PnP" (@cite hesch2011direct).
- **SOLVEPNP_UPNP** Method is based on the paper of A. Penate-Sanchez, J. Andrade-Cetto, - **SOLVEPNP_UPNP** **Broken implementation. Using this flag will fallback to EPnP.** \n
Method is based on the paper of A. Penate-Sanchez, J. Andrade-Cetto,
F. Moreno-Noguer. "Exhaustive Linearization for Robust Camera Pose and Focal Length F. Moreno-Noguer. "Exhaustive Linearization for Robust Camera Pose and Focal Length
Estimation" (@cite penate2013exhaustive). In this case the function also estimates the parameters \f$f_x\f$ and \f$f_y\f$ Estimation" (@cite penate2013exhaustive). In this case the function also estimates the parameters \f$f_x\f$ and \f$f_y\f$
assuming that both have the same value. Then the cameraMatrix is updated with the estimated assuming that both have the same value. Then the cameraMatrix is updated with the estimated
@ -1136,9 +1140,11 @@ In this case the function requires exactly four object and image points.
In this case the function requires exactly four object and image points. In this case the function requires exactly four object and image points.
- **SOLVEPNP_EPNP** Method has been introduced by F.Moreno-Noguer, V.Lepetit and P.Fua in the - **SOLVEPNP_EPNP** Method has been introduced by F.Moreno-Noguer, V.Lepetit and P.Fua in the
paper "EPnP: Efficient Perspective-n-Point Camera Pose Estimation" (@cite lepetit2009epnp). paper "EPnP: Efficient Perspective-n-Point Camera Pose Estimation" (@cite lepetit2009epnp).
- **SOLVEPNP_DLS** Method is based on the paper of Joel A. Hesch and Stergios I. Roumeliotis. - **SOLVEPNP_DLS** **Broken implementation. Using this flag will fallback to EPnP.** \n
Method is based on the paper of Joel A. Hesch and Stergios I. Roumeliotis.
"A Direct Least-Squares (DLS) Method for PnP" (@cite hesch2011direct). "A Direct Least-Squares (DLS) Method for PnP" (@cite hesch2011direct).
- **SOLVEPNP_UPNP** Method is based on the paper of A.Penate-Sanchez, J.Andrade-Cetto, - **SOLVEPNP_UPNP** **Broken implementation. Using this flag will fallback to EPnP.** \n
Method is based on the paper of A.Penate-Sanchez, J.Andrade-Cetto,
F.Moreno-Noguer. "Exhaustive Linearization for Robust Camera Pose and Focal Length F.Moreno-Noguer. "Exhaustive Linearization for Robust Camera Pose and Focal Length
Estimation" (@cite penate2013exhaustive). In this case the function also estimates the parameters \f$f_x\f$ and \f$f_y\f$ Estimation" (@cite penate2013exhaustive). In this case the function also estimates the parameters \f$f_x\f$ and \f$f_y\f$
assuming that both have the same value. Then the cameraMatrix is updated with the estimated assuming that both have the same value. Then the cameraMatrix is updated with the estimated

10
modules/calib3d/src/solvepnp.cpp
View File

@ -48,6 +48,7 @@
#include "ap3p.h" #include "ap3p.h"
#include "ippe.hpp" #include "ippe.hpp"
#include "opencv2/calib3d/calib3d_c.h" #include "opencv2/calib3d/calib3d_c.h"
#include <opencv2/core/utils/logger.hpp>
namespace cv namespace cv
{ {
@ -780,6 +781,15 @@ int solvePnPGeneric( InputArray _opoints, InputArray _ipoints,
vector<Mat> vec_rvecs, vec_tvecs; vector<Mat> vec_rvecs, vec_tvecs;
if (flags == SOLVEPNP_EPNP || flags == SOLVEPNP_DLS || flags == SOLVEPNP_UPNP) if (flags == SOLVEPNP_EPNP || flags == SOLVEPNP_DLS || flags == SOLVEPNP_UPNP)
{ {
if (flags == SOLVEPNP_DLS)
{
CV_LOG_DEBUG(NULL, "Broken implementation for SOLVEPNP_DLS. Fallback to EPnP.");
}
else if (flags == SOLVEPNP_UPNP)
{
CV_LOG_DEBUG(NULL, "Broken implementation for SOLVEPNP_UPNP. Fallback to EPnP.");
}
Mat undistortedPoints; Mat undistortedPoints;
undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs); undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
epnp PnP(cameraMatrix, opoints, undistortedPoints); epnp PnP(cameraMatrix, opoints, undistortedPoints);