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opencv
Commit 0d2bc9b0 authored by edgarriba's avatar edgarriba
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modules/calib3d/src/dls.cpp
View file @ 0d2bc9b0
...@@ -17,7 +17,6 @@ using namespace std; ...@@ -17,7 +17,6 @@ using namespace std;
dls::dls(const cv::Mat& opoints, const cv::Mat& ipoints) dls::dls(const cv::Mat& opoints, const cv::Mat& ipoints)
{ {
N = std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F)); N = std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F));
p = cv::Mat(3, N, CV_64F); p = cv::Mat(3, N, CV_64F);
z = cv::Mat(3, N, CV_64F); z = cv::Mat(3, N, CV_64F);
......
modules/calib3d/src/solvepnp.cpp
View file @ 0d2bc9b0
...@@ -112,181 +112,6 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints, ...@@ -112,181 +112,6 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
return false; return false;
} }
/*namespace cv
{
namespace pnpransac
{
const int MIN_POINTS_COUNT = 4;
static void project3dPoints(const Mat& points, const Mat& rvec, const Mat& tvec, Mat& modif_points)
{
modif_points.create(1, points.cols, CV_32FC3);
Mat R(3, 3, CV_64FC1);
Rodrigues(rvec, R);
Mat transformation(3, 4, CV_64F);
Mat r = transformation.colRange(0, 3);
R.copyTo(r);
Mat t = transformation.colRange(3, 4);
tvec.copyTo(t);
transform(points, modif_points, transformation);
}
struct CameraParameters
{
void init(Mat _intrinsics, Mat _distCoeffs)
{
_intrinsics.copyTo(intrinsics);
_distCoeffs.copyTo(distortion);
}
Mat intrinsics;
Mat distortion;
};
struct Parameters
{
int iterationsCount;
float reprojectionError;
int minInliersCount;
bool useExtrinsicGuess;
int flags;
CameraParameters camera;
};
static void pnpTask(const std::vector<char>& pointsMask, const Mat& objectPoints, const Mat& imagePoints,
const Parameters& params, std::vector<int>& inliers, Mat& rvec, Mat& tvec,
const Mat& rvecInit, const Mat& tvecInit, Mutex& resultsMutex)
{
Mat modelObjectPoints(1, MIN_POINTS_COUNT, CV_32FC3), modelImagePoints(1, MIN_POINTS_COUNT, CV_32FC2);
for (int i = 0, colIndex = 0; i < (int)pointsMask.size(); i++)
{
if (pointsMask[i])
{
Mat colModelImagePoints = modelImagePoints(Rect(colIndex, 0, 1, 1));
imagePoints.col(i).copyTo(colModelImagePoints);
Mat colModelObjectPoints = modelObjectPoints(Rect(colIndex, 0, 1, 1));
objectPoints.col(i).copyTo(colModelObjectPoints);
colIndex = colIndex+1;
}
}
//filter same 3d points, hang in solvePnP
double eps = 1e-10;
int num_same_points = 0;
for (int i = 0; i < MIN_POINTS_COUNT; i++)
for (int j = i + 1; j < MIN_POINTS_COUNT; j++)
{
if (norm(modelObjectPoints.at<Vec3f>(0, i) - modelObjectPoints.at<Vec3f>(0, j)) < eps)
num_same_points++;
}
if (num_same_points > 0)
return;
Mat localRvec, localTvec;
rvecInit.copyTo(localRvec);
tvecInit.copyTo(localTvec);
solvePnP(modelObjectPoints, modelImagePoints, params.camera.intrinsics, params.camera.distortion, localRvec, localTvec,
params.useExtrinsicGuess, params.flags);
std::vector<Point2f> projected_points;
projected_points.resize(objectPoints.cols);
projectPoints(objectPoints, localRvec, localTvec, params.camera.intrinsics, params.camera.distortion, projected_points);
Mat rotatedPoints;
project3dPoints(objectPoints, localRvec, localTvec, rotatedPoints);
std::vector<int> localInliers;
for (int i = 0; i < objectPoints.cols; i++)
{
Point2f p(imagePoints.at<Vec2f>(0, i)[0], imagePoints.at<Vec2f>(0, i)[1]);
if ((norm(p - projected_points[i]) < params.reprojectionError)
&& (rotatedPoints.at<Vec3f>(0, i)[2] > 0)) //hack
{
localInliers.push_back(i);
}
}
if (localInliers.size() > inliers.size())
{
resultsMutex.lock();
inliers.clear();
inliers.resize(localInliers.size());
memcpy(&inliers[0], &localInliers[0], sizeof(int) * localInliers.size());
localRvec.copyTo(rvec);
localTvec.copyTo(tvec);
resultsMutex.unlock();
}
}
class PnPSolver
{
public:
void operator()( const BlockedRange& r ) const
{
std::vector<char> pointsMask(objectPoints.cols, 0);
memset(&pointsMask[0], 1, MIN_POINTS_COUNT );
for( int i=r.begin(); i!=r.end(); ++i )
{
generateVar(pointsMask);
pnpTask(pointsMask, objectPoints, imagePoints, parameters,
inliers, rvec, tvec, initRvec, initTvec, syncMutex);
if ((int)inliers.size() >= parameters.minInliersCount)
{
#ifdef HAVE_TBB
tbb::task::self().cancel_group_execution();
#else
break;
#endif
}
}
}
PnPSolver(const Mat& _objectPoints, const Mat& _imagePoints, const Parameters& _parameters,
Mat& _rvec, Mat& _tvec, std::vector<int>& _inliers):
objectPoints(_objectPoints), imagePoints(_imagePoints), parameters(_parameters),
rvec(_rvec), tvec(_tvec), inliers(_inliers)
{
rvec.copyTo(initRvec);
tvec.copyTo(initTvec);
generator.state = theRNG().state; //to control it somehow...
}
private:
PnPSolver& operator=(const PnPSolver&);
const Mat& objectPoints;
const Mat& imagePoints;
const Parameters& parameters;
Mat &rvec, &tvec;
std::vector<int>& inliers;
Mat initRvec, initTvec;
static RNG generator;
static Mutex syncMutex;
void generateVar(std::vector<char>& mask) const
{
int size = (int)mask.size();
for (int i = 0; i < size; i++)
{
int i1 = generator.uniform(0, size);
int i2 = generator.uniform(0, size);
char curr = mask[i1];
mask[i1] = mask[i2];
mask[i2] = curr;
}
}
};
Mutex PnPSolver::syncMutex;
RNG PnPSolver::generator;
}
}*/
class PnPRansacCallback : public PointSetRegistrator::Callback class PnPRansacCallback : public PointSetRegistrator::Callback
{ {
public: public:
...@@ -416,48 +241,5 @@ bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints, ...@@ -416,48 +241,5 @@ bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
} }
_local_inliers.copyTo(_inliers); _local_inliers.copyTo(_inliers);
} }
// OLD IMPLEMENTATION
/*std::vector<int> localInliers;
Mat localRvec, localTvec;
rvec.copyTo(localRvec);
tvec.copyTo(localTvec);
if (objectPoints.cols >= pnpransac::MIN_POINTS_COUNT)
{
parallel_for(BlockedRange(0,iterationsCount), cv::pnpransac::PnPSolver(objectPoints, imagePoints, params,
localRvec, localTvec, localInliers));
}
if (localInliers.size() >= (size_t)pnpransac::MIN_POINTS_COUNT)
{
if (flags != P3P)
{
int i, pointsCount = (int)localInliers.size();
Mat inlierObjectPoints(1, pointsCount, CV_32FC3), inlierImagePoints(1, pointsCount, CV_32FC2);
for (i = 0; i < pointsCount; i++)
{
int index = localInliers[i];
Mat colInlierImagePoints = inlierImagePoints(Rect(i, 0, 1, 1));
imagePoints.col(index).copyTo(colInlierImagePoints);
Mat colInlierObjectPoints = inlierObjectPoints(Rect(i, 0, 1, 1));
objectPoints.col(index).copyTo(colInlierObjectPoints);
}
solvePnP(inlierObjectPoints, inlierImagePoints, params.camera.intrinsics, params.camera.distortion, localRvec, localTvec, true, flags);
}
localRvec.copyTo(rvec);
localTvec.copyTo(tvec);
if (_inliers.needed())
Mat(localInliers).copyTo(_inliers);
}
else
{
tvec.setTo(Scalar(0));
Mat R = Mat::eye(3, 3, CV_64F);
Rodrigues(R, rvec);
if( _inliers.needed() )
_inliers.release();
}*/
return true; return true;
} }
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