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Add broken implementation note for DLS and UPnP.

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Add CV_LOG_DEBUG.
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catree 2020-08-22 23:27:39 +02:00
parent f53ff0d01c
commit dda1bf1887
2 changed files with 23 additions and 7 deletions
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20
modules/calib3d/include/opencv2/calib3d.hpp
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@ -450,8 +450,10 @@ enum SolvePnPMethod {
SOLVEPNP_ITERATIVE = 0,
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_DLS = 3, //!< A Direct Least-Squares (DLS) Method for PnP @cite hesch2011direct
SOLVEPNP_UPNP = 4, //!< Exhaustive Linearization for Robust Camera Pose and Focal Length Estimation @cite penate2013exhaustive
SOLVEPNP_DLS = 3, //!< **Broken implementation. Using this flag will fallback to EPnP.** \n
//!< 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_IPPE = 6, //!< Infinitesimal Plane-Based Pose Estimation @cite Collins14 \n
//!< Object points must be coplanar.
@ -808,7 +810,7 @@ vectors, respectively, and further optimizes them.
- **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
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
"Complete Solution Classification for the Perspective-Three-Point Problem" (@cite gao2003complete).
In this case the function requires exactly four object and image points.
@ -817,9 +819,11 @@ In this case the function requires exactly four object and image points.
In this case the function requires exactly four object and image points.
- **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).
- **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).
- **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
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
@ -1143,9 +1147,11 @@ In this case the function requires exactly four object and image points.
In this case the function requires exactly four object and image points.
- **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).
- **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).
- **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
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

10
modules/calib3d/src/solvepnp.cpp
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@ -48,6 +48,7 @@
#include "ap3p.h"
#include "ippe.hpp"
#include "opencv2/calib3d/calib3d_c.h"
#include <opencv2/core/utils/logger.hpp>
namespace cv
{
@ -780,6 +781,15 @@ int solvePnPGeneric( InputArray _opoints, InputArray _ipoints,
vector<Mat> vec_rvecs, vec_tvecs;
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;
undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
epnp PnP(cameraMatrix, opoints, undistortedPoints);