mirror of https://github.com/opencv/opencv.git
Alexander Shishkov
14 years ago
parent
c3b05cf398
commit
04461a53f1
5 changed files with 508 additions and 22 deletions
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
|
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// By downloading, copying, installing or using the software you agree to this license.
|
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// If you do not agree to this license, do not download, install,
|
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// copy or use the software.
|
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//
|
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//
|
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// License Agreement
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// For Open Source Computer Vision Library
|
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//
|
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
|
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
|
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// Third party copyrights are property of their respective owners.
|
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//
|
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// Redistribution and use in source and binary forms, with or without modification,
|
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// are permitted provided that the following conditions are met:
|
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//
|
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// * Redistribution's of source code must retain the above copyright notice,
|
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// this list of conditions and the following disclaimer.
|
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//
|
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// * Redistribution's in binary form must reproduce the above copyright notice,
|
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// this list of conditions and the following disclaimer in the documentation
|
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// and/or other materials provided with the distribution.
|
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//
|
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// * The name of the copyright holders may not be used to endorse or promote products
|
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// derived from this software without specific prior written permission.
|
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//
|
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// This software is provided by the copyright holders and contributors "as is" and
|
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// any express or implied warranties, including, but not limited to, the implied
|
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
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// In no event shall the Intel Corporation or contributors be liable for any direct,
|
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// indirect, incidental, special, exemplary, or consequential damages
|
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// (including, but not limited to, procurement of substitute goods or services;
|
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// loss of use, data, or profits; or business interruption) however caused
|
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// and on any theory of liability, whether in contract, strict liability,
|
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp" |
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using namespace cv; |
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void cv::solvePnP( const Mat& opoints, const Mat& ipoints, |
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const Mat& cameraMatrix, const Mat& distCoeffs, |
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Mat& rvec, Mat& tvec, bool useExtrinsicGuess ) |
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{ |
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CV_Assert(opoints.isContinuous() && opoints.depth() == CV_32F && |
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((opoints.rows == 1 && opoints.channels() == 3) || |
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opoints.cols*opoints.channels() == 3) && |
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ipoints.isContinuous() && ipoints.depth() == CV_32F && |
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((ipoints.rows == 1 && ipoints.channels() == 2) || |
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ipoints.cols*ipoints.channels() == 2)); |
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rvec.create(3, 1, CV_64F); |
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tvec.create(3, 1, CV_64F); |
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CvMat _objectPoints = opoints, _imagePoints = ipoints; |
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CvMat _cameraMatrix = cameraMatrix, _distCoeffs = distCoeffs; |
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CvMat _rvec = rvec, _tvec = tvec; |
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cvFindExtrinsicCameraParams2(&_objectPoints, &_imagePoints, &_cameraMatrix, |
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distCoeffs.data ? &_distCoeffs : 0, |
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&_rvec, &_tvec, useExtrinsicGuess ); |
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} |
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namespace cv |
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{ |
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namespace pnpransac |
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{ |
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const int MIN_POINTS_COUNT = 4; |
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void project3dPoints(const Mat& points, const Mat& rvec, const Mat& tvec, Mat& modif_points) |
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{ |
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modif_points.create(1, points.cols, CV_32FC3); |
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Mat R(3, 3, CV_64FC1); |
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Rodrigues(rvec, R); |
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Mat transformation(3, 4, CV_64F); |
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Mat r = transformation.colRange(0, 2); |
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R.copyTo(r); |
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Mat t = transformation.colRange(3, 4); |
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tvec.copyTo(t); |
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transform(points, modif_points, transformation); |
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} |
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class Mutex |
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{ |
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public: |
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Mutex() {} |
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void lock() |
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{ |
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#ifdef HAVE_TBB |
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slock.acquire(resultsMutex); |
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#endif |
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} |
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void unlock() |
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{ |
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#ifdef HAVE_TBB |
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slock.release(); |
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#endif |
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} |
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private: |
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#ifdef HAVE_TBB |
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tbb::mutex resultsMutex; |
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tbb::mutex::scoped_lock slock; |
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#endif |
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}; |
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struct CameraParameters |
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{ |
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void init(Mat _intrinsics, Mat _distCoeffs) |
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{ |
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_intrinsics.copyTo(intrinsics); |
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_distCoeffs.copyTo(distortion); |
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} |
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Mat intrinsics; |
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Mat distortion; |
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}; |
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struct Parameters |
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{ |
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int iterationsCount; |
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float reprojectionError; |
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int minInliersCount; |
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bool useExtrinsicGuess; |
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CameraParameters camera; |
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}; |
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void pnpTask(const vector<char>& pointsMask, const Mat& objectPoints, const Mat& imagePoints, |
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const Parameters& params, vector<int>& inliers, Mat& rvec, Mat& tvec, |
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const Mat& rvecInit, const Mat& tvecInit, Mutex& resultsMutex) |
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{ |
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Mat modelObjectPoints(1, MIN_POINTS_COUNT, CV_32FC3), modelImagePoints(1, MIN_POINTS_COUNT, CV_32FC2); |
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for (size_t i = 0, colIndex = 0; i < pointsMask.size(); i++) |
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{ |
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if (pointsMask[i]) |
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{ |
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Mat colModelImagePoints = modelImagePoints(Rect(colIndex, 0, 1, 1)); |
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imagePoints.col(i).copyTo(colModelImagePoints); |
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Mat colModelObjectPoints = modelObjectPoints(Rect(colIndex, 0, 1, 1)); |
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objectPoints.col(i).copyTo(colModelObjectPoints); |
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colIndex = colIndex+1; |
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} |
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} |
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//filter same 3d points, hang in solvePnP
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double eps = 1e-10; |
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int num_same_points = 0; |
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for (int i = 0; i < MIN_POINTS_COUNT; i++) |
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for (int j = i + 1; j < MIN_POINTS_COUNT; j++) |
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{ |
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if (norm(modelObjectPoints.at<Vec3f>(0, i) - modelObjectPoints.at<Vec3f>(0, j)) < eps) |
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num_same_points++; |
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} |
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if (num_same_points > 0) |
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return; |
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Mat localRvec, localTvec; |
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rvecInit.copyTo(localRvec); |
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tvecInit.copyTo(localTvec); |
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solvePnP(modelObjectPoints, modelImagePoints, params.camera.intrinsics, params.camera.distortion, localRvec, localTvec, params.useExtrinsicGuess); |
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vector<Point2f> projected_points; |
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projected_points.resize(objectPoints.cols); |
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projectPoints(objectPoints, localRvec, localTvec, params.camera.intrinsics, params.camera.distortion, projected_points); |
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Mat rotatedPoints; |
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project3dPoints(objectPoints, localRvec, localTvec, rotatedPoints); |
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vector<int> localInliers; |
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for (size_t i = 0; i < objectPoints.cols; i++) |
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{ |
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Point2f p(imagePoints.at<Vec2f>(0, i)[0], imagePoints.at<Vec2f>(0, i)[1]); |
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if ((norm(p - projected_points[i]) < params.reprojectionError) |
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&& (rotatedPoints.at<Vec3f>(0, i)[2] > 0)) //hack
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{ |
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localInliers.push_back(i); |
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} |
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} |
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if (localInliers.size() > inliers.size()) |
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{ |
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resultsMutex.lock(); |
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inliers.clear(); |
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inliers.resize(localInliers.size()); |
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memcpy(&inliers[0], &localInliers[0], sizeof(int) * localInliers.size()); |
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localRvec.copyTo(rvec); |
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localTvec.copyTo(tvec); |
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resultsMutex.unlock(); |
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} |
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} |
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class PnPSolver |
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{ |
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public: |
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void operator()( const BlockedRange& r ) const |
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{ |
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vector<char> pointsMask(objectPoints.cols, 0); |
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memset(&pointsMask[0], 1, MIN_POINTS_COUNT ); |
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for( size_t i=r.begin(); i!=r.end(); ++i ) |
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{ |
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generateVar(pointsMask); |
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pnpTask(pointsMask, objectPoints, imagePoints, parameters, |
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inliers, rvec, tvec, initRvec, initTvec, syncMutex); |
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if ((int)inliers.size() > parameters.minInliersCount) |
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{ |
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#ifdef HAVE_TBB |
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tbb::task::self().cancel_group_execution(); |
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#else |
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break; |
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#endif |
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} |
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} |
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} |
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PnPSolver(const Mat& objectPoints, const Mat& imagePoints, const Parameters& parameters, |
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Mat& rvec, Mat& tvec, vector<int>& inliers): |
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objectPoints(objectPoints), imagePoints(imagePoints), parameters(parameters), |
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rvec(rvec), tvec(tvec), inliers(inliers) |
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{ |
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rvec.copyTo(initRvec); |
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tvec.copyTo(initTvec); |
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} |
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private: |
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const Mat& objectPoints; |
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const Mat& imagePoints; |
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const Parameters& parameters; |
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vector<int>& inliers; |
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Mat &rvec, &tvec; |
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Mat initRvec, initTvec; |
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static RNG generator; |
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static Mutex syncMutex; |
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void generateVar(vector<char>& mask) const |
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{ |
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size_t size = mask.size(); |
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for (size_t i = 0; i < size; i++) |
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{ |
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int i1 = generator.uniform(0, size); |
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int i2 = generator.uniform(0, size); |
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char curr = mask[i1]; |
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mask[i1] = mask[i2]; |
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mask[i2] = curr; |
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} |
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} |
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}; |
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Mutex PnPSolver::syncMutex; |
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RNG PnPSolver::generator; |
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} |
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} |
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void cv::solvePnPRansac(const Mat& opoints, const Mat& ipoints, |
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const Mat& cameraMatrix, const Mat& distCoeffs, Mat& rvec, Mat& tvec, bool useExtrinsicGuess, |
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int iterationsCount, float reprojectionError, int minInliersCount, vector<int>* inliers) |
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{ |
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CV_Assert(opoints.isContinuous()); |
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CV_Assert(opoints.depth() == CV_32F); |
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CV_Assert((opoints.rows == 1 && opoints.channels() == 3) || opoints.cols*opoints.channels() == 3); |
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CV_Assert(ipoints.isContinuous()); |
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CV_Assert(ipoints.depth() == CV_32F); |
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CV_Assert((ipoints.rows == 1 && ipoints.channels() == 2) || ipoints.cols*ipoints.channels() == 2); |
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rvec.create(3, 1, CV_64FC1); |
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tvec.create(3, 1, CV_64FC1); |
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Mat objectPoints = opoints.reshape(3, 1), imagePoints = ipoints.reshape(2, 1); |
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if (minInliersCount <= 0) |
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minInliersCount = objectPoints.cols; |
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cv::pnpransac::Parameters params; |
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params.iterationsCount = iterationsCount; |
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params.minInliersCount = minInliersCount; |
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params.reprojectionError = reprojectionError; |
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params.useExtrinsicGuess = useExtrinsicGuess; |
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params.camera.init(cameraMatrix, distCoeffs); |
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vector<int> localInliers; |
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Mat localRvec, localTvec; |
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rvec.copyTo(localRvec); |
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tvec.copyTo(localTvec); |
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if (objectPoints.cols >= pnpransac::MIN_POINTS_COUNT) |
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{ |
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parallel_for(BlockedRange(0,iterationsCount), cv::pnpransac::PnPSolver(objectPoints, imagePoints, params, |
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localRvec, localTvec, localInliers)); |
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} |
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if (localInliers.size() >= pnpransac::MIN_POINTS_COUNT) |
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{ |
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size_t pointsCount = localInliers.size(); |
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Mat inlierObjectPoints(1, pointsCount, CV_32FC3), inlierImagePoints(1, pointsCount, CV_32FC2); |
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int index; |
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for (size_t i = 0; i < localInliers.size(); i++) |
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{ |
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index = localInliers[i]; |
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Mat colInlierImagePoints = inlierImagePoints(Rect(i, 0, 1, 1)); |
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imagePoints.col(index).copyTo(colInlierImagePoints); |
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Mat colInlierObjectPoints = inlierObjectPoints(Rect(i, 0, 1, 1)); |
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objectPoints.col(index).copyTo(colInlierObjectPoints); |
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} |
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solvePnP(inlierObjectPoints, inlierImagePoints, params.camera.intrinsics, params.camera.distortion, localRvec, localTvec, true); |
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localRvec.copyTo(rvec); |
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localTvec.copyTo(tvec); |
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if (inliers) |
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*inliers = localInliers; |
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} |
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else |
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{ |
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tvec.setTo(Scalar(0)); |
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Mat R = Mat::ones(3, 3, CV_64F); |
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Rodrigues(R, rvec); |
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} |
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return; |
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} |
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@ -0,0 +1,139 @@ |
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
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//
|
||||
// By downloading, copying, installing or using the software you agree to this license.
|
||||
// If you do not agree to this license, do not download, install,
|
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// copy or use the software.
|
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//
|
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//
|
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// License Agreement
|
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// For Open Source Computer Vision Library
|
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//
|
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
|
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
|
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// Third party copyrights are property of their respective owners.
|
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//
|
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// Redistribution and use in source and binary forms, with or without modification,
|
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// are permitted provided that the following conditions are met:
|
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//
|
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// * Redistribution's of source code must retain the above copyright notice,
|
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// this list of conditions and the following disclaimer.
|
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//
|
||||
// * Redistribution's in binary form must reproduce the above copyright notice,
|
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// this list of conditions and the following disclaimer in the documentation
|
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// and/or other materials provided with the distribution.
|
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//
|
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// * The name of the copyright holders may not be used to endorse or promote products
|
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// derived from this software without specific prior written permission.
|
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//
|
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// This software is provided by the copyright holders and contributors "as is" and
|
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// any express or implied warranties, including, but not limited to, the implied
|
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
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// In no event shall the Intel Corporation or contributors be liable for any direct,
|
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// indirect, incidental, special, exemplary, or consequential damages
|
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// (including, but not limited to, procurement of substitute goods or services;
|
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// loss of use, data, or profits; or business interruption) however caused
|
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// and on any theory of liability, whether in contract, strict liability,
|
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "test_precomp.hpp" |
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using namespace cv; |
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using namespace std; |
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class CV_solvePnPRansac_Test : public cvtest::BaseTest |
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{ |
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public: |
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CV_solvePnPRansac_Test() {} |
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~CV_solvePnPRansac_Test() {} |
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protected: |
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void generate3DPointCloud(vector<Point3f>& points, Point3f pmin = Point3f(-1, |
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-1, 5), Point3f pmax = Point3f(1, 1, 10)) |
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{ |
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const Point3f delta = pmax - pmin; |
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for (size_t i = 0; i < points.size(); i++) |
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{ |
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Point3f p(float(rand()) / RAND_MAX, float(rand()) / RAND_MAX, |
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float(rand()) / RAND_MAX); |
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p.x *= delta.x; |
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p.y *= delta.y; |
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p.z *= delta.z; |
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p = p + pmin; |
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points[i] = p; |
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} |
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} |
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void run(int) |
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{ |
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cvtest::TS& ts = *this->ts; |
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ts.set_failed_test_info(cvtest::TS::OK); |
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Mat intrinsics = Mat::eye(3, 3, CV_32FC1); |
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intrinsics.at<float> (0, 0) = 400.0; |
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intrinsics.at<float> (1, 1) = 400.0; |
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intrinsics.at<float> (0, 2) = 640 / 2; |
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intrinsics.at<float> (1, 2) = 480 / 2; |
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Mat dist_coeffs = Mat::zeros(5, 1, CV_32FC1); |
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Mat rvec1 = Mat::zeros(3, 1, CV_64FC1); |
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Mat tvec1 = Mat::zeros(3, 1, CV_64FC1); |
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rvec1.at<double> (0, 0) = 1.0f; |
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tvec1.at<double> (0, 0) = 1.0f; |
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tvec1.at<double> (1, 0) = 1.0f; |
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vector<Point3f> points; |
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points.resize(500); |
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generate3DPointCloud(points); |
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vector<Point2f> points1; |
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points1.resize(points.size()); |
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projectPoints(Mat(points), rvec1, tvec1, intrinsics, dist_coeffs, points1); |
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for (size_t i = 0; i < points1.size(); i++) |
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{ |
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if (i % 20 == 0) |
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{ |
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points1[i] = points1[rand() % points.size()]; |
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} |
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} |
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double eps = 1.0e-7; |
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for (int testIndex = 0; testIndex< 10; testIndex++) |
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{ |
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try |
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{ |
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Mat rvec, tvec; |
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vector<int> inliers; |
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solvePnPRansac(Mat(points), Mat(points1), intrinsics, dist_coeffs, rvec, tvec, |
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false, 1000, 2.0, -1, &inliers); |
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bool isTestSuccess = inliers.size() == 475; |
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isTestSuccess = isTestSuccess |
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&& (abs(rvec.at<double> (0, 0) - 1) < eps); |
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isTestSuccess = isTestSuccess && (abs(rvec.at<double> (1, 0)) < eps); |
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isTestSuccess = isTestSuccess && (abs(rvec.at<double> (2, 0)) < eps); |
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isTestSuccess = isTestSuccess |
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&& (abs(tvec.at<double> (0, 0) - 1) < eps); |
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isTestSuccess = isTestSuccess |
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&& (abs(tvec.at<double> (1, 0) - 1) < eps); |
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isTestSuccess = isTestSuccess && (abs(tvec.at<double> (2, 0)) < eps); |
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if (!isTestSuccess) |
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{ |
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ts.printf( cvtest::TS::LOG, "Invalid accuracy, inliers.size = %d\n", inliers.size()); |
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ts.set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY); |
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break; |
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} |
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} |
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catch(...) |
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{ |
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ts.printf(cvtest::TS::LOG, "Exception in solvePnPRansac\n"); |
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ts.set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY); |
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} |
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} |
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} |
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}; |
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TEST(Calib3d_SolvePnPRansac, accuracy) { CV_solvePnPRansac_Test test; test.safe_run(); } |
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