From 710506e9e220880423ebda5cc5d6d8d72df29a29 Mon Sep 17 00:00:00 2001 From: Vladislav Sovrasov Date: Mon, 27 Feb 2017 12:12:10 +0300 Subject: [PATCH] calib3d: add a new overload for recoverPose --- modules/calib3d/include/opencv2/calib3d.hpp | 22 +++++++++++ modules/calib3d/src/five-point.cpp | 42 +++++++++++++++------ 2 files changed, 53 insertions(+), 11 deletions(-) diff --git a/modules/calib3d/include/opencv2/calib3d.hpp b/modules/calib3d/include/opencv2/calib3d.hpp index 5a0e020d31..1114818e85 100644 --- a/modules/calib3d/include/opencv2/calib3d.hpp +++ b/modules/calib3d/include/opencv2/calib3d.hpp @@ -1433,6 +1433,28 @@ CV_EXPORTS_W int recoverPose( InputArray E, InputArray points1, InputArray point double focal = 1.0, Point2d pp = Point2d(0, 0), InputOutputArray mask = noArray() ); +/** @overload +@param E The input essential matrix. +@param points1 Array of N 2D points from the first image. The point coordinates should be +floating-point (single or double precision). +@param points2 Array of the second image points of the same size and format as points1. +@param cameraMatrix Camera matrix \f$K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$ . +Note that this function assumes that points1 and points2 are feature points from cameras with the +same camera matrix. +@param R Recovered relative rotation. +@param t Recoverd relative translation. +@param distanceThresh threshold distance which is used to filter out far away points (i.e. infinite points). +@param mask Input/output mask for inliers in points1 and points2. +: If it is not empty, then it marks inliers in points1 and points2 for then given essential +matrix E. Only these inliers will be used to recover pose. In the output mask only inliers +which pass the cheirality check. +@param triangulatedPoints 3d points which were reconstructed by triangulation. + */ + +CV_EXPORTS_W int recoverPose( InputArray E, InputArray points1, InputArray points2, + InputArray cameraMatrix, OutputArray R, OutputArray t, double distanceThresh, InputOutputArray mask = noArray(), + OutputArray triangulatedPoints = noArray()); + /** @brief For points in an image of a stereo pair, computes the corresponding epilines in the other image. @param points Input points. \f$N \times 1\f$ or \f$1 \times N\f$ matrix of type CV_32FC2 or diff --git a/modules/calib3d/src/five-point.cpp b/modules/calib3d/src/five-point.cpp index 1d39e20f87..ecc1cfcf6f 100644 --- a/modules/calib3d/src/five-point.cpp +++ b/modules/calib3d/src/five-point.cpp @@ -458,8 +458,9 @@ cv::Mat cv::findEssentialMat( InputArray _points1, InputArray _points2, double f return cv::findEssentialMat(_points1, _points2, cameraMatrix, method, prob, threshold, _mask); } -int cv::recoverPose( InputArray E, InputArray _points1, InputArray _points2, InputArray _cameraMatrix, - OutputArray _R, OutputArray _t, InputOutputArray _mask) +int cv::recoverPose( InputArray E, InputArray _points1, InputArray _points2, + InputArray _cameraMatrix, OutputArray _R, OutputArray _t, double distanceThresh, + InputOutputArray _mask, OutputArray triangulatedPoints) { CV_INSTRUMENT_REGION() @@ -506,51 +507,60 @@ int cv::recoverPose( InputArray E, InputArray _points1, InputArray _points2, Inp // Notice here a threshold dist is used to filter // out far away points (i.e. infinite points) since // there depth may vary between postive and negtive. - double dist = 50.0; + std::vector allTriangulations(4); Mat Q; + triangulatePoints(P0, P1, points1, points2, Q); + if(triangulatedPoints.needed()) + Q.copyTo(allTriangulations[0]); Mat mask1 = Q.row(2).mul(Q.row(3)) > 0; Q.row(0) /= Q.row(3); Q.row(1) /= Q.row(3); Q.row(2) /= Q.row(3); Q.row(3) /= Q.row(3); - mask1 = (Q.row(2) < dist) & mask1; + mask1 = (Q.row(2) < distanceThresh) & mask1; Q = P1 * Q; mask1 = (Q.row(2) > 0) & mask1; - mask1 = (Q.row(2) < dist) & mask1; + mask1 = (Q.row(2) < distanceThresh) & mask1; triangulatePoints(P0, P2, points1, points2, Q); + if(triangulatedPoints.needed()) + Q.copyTo(allTriangulations[1]); Mat mask2 = Q.row(2).mul(Q.row(3)) > 0; Q.row(0) /= Q.row(3); Q.row(1) /= Q.row(3); Q.row(2) /= Q.row(3); Q.row(3) /= Q.row(3); - mask2 = (Q.row(2) < dist) & mask2; + mask2 = (Q.row(2) < distanceThresh) & mask2; Q = P2 * Q; mask2 = (Q.row(2) > 0) & mask2; - mask2 = (Q.row(2) < dist) & mask2; + mask2 = (Q.row(2) < distanceThresh) & mask2; triangulatePoints(P0, P3, points1, points2, Q); + if(triangulatedPoints.needed()) + Q.copyTo(allTriangulations[2]); Mat mask3 = Q.row(2).mul(Q.row(3)) > 0; Q.row(0) /= Q.row(3); Q.row(1) /= Q.row(3); Q.row(2) /= Q.row(3); Q.row(3) /= Q.row(3); - mask3 = (Q.row(2) < dist) & mask3; + mask3 = (Q.row(2) < distanceThresh) & mask3; Q = P3 * Q; mask3 = (Q.row(2) > 0) & mask3; - mask3 = (Q.row(2) < dist) & mask3; + mask3 = (Q.row(2) < distanceThresh) & mask3; triangulatePoints(P0, P4, points1, points2, Q); + if(triangulatedPoints.needed()) + Q.copyTo(allTriangulations[3]); Mat mask4 = Q.row(2).mul(Q.row(3)) > 0; Q.row(0) /= Q.row(3); Q.row(1) /= Q.row(3); Q.row(2) /= Q.row(3); Q.row(3) /= Q.row(3); - mask4 = (Q.row(2) < dist) & mask4; + mask4 = (Q.row(2) < distanceThresh) & mask4; Q = P4 * Q; mask4 = (Q.row(2) > 0) & mask4; - mask4 = (Q.row(2) < dist) & mask4; + mask4 = (Q.row(2) < distanceThresh) & mask4; mask1 = mask1.t(); mask2 = mask2.t(); @@ -583,6 +593,7 @@ int cv::recoverPose( InputArray E, InputArray _points1, InputArray _points2, Inp if (good1 >= good2 && good1 >= good3 && good1 >= good4) { + if(triangulatedPoints.needed()) allTriangulations[0].copyTo(triangulatedPoints); R1.copyTo(_R); t.copyTo(_t); if (_mask.needed()) mask1.copyTo(_mask); @@ -590,6 +601,7 @@ int cv::recoverPose( InputArray E, InputArray _points1, InputArray _points2, Inp } else if (good2 >= good1 && good2 >= good3 && good2 >= good4) { + if(triangulatedPoints.needed()) allTriangulations[1].copyTo(triangulatedPoints); R2.copyTo(_R); t.copyTo(_t); if (_mask.needed()) mask2.copyTo(_mask); @@ -597,6 +609,7 @@ int cv::recoverPose( InputArray E, InputArray _points1, InputArray _points2, Inp } else if (good3 >= good1 && good3 >= good2 && good3 >= good4) { + if(triangulatedPoints.needed()) allTriangulations[2].copyTo(triangulatedPoints); t = -t; R1.copyTo(_R); t.copyTo(_t); @@ -605,6 +618,7 @@ int cv::recoverPose( InputArray E, InputArray _points1, InputArray _points2, Inp } else { + if(triangulatedPoints.needed()) allTriangulations[3].copyTo(triangulatedPoints); t = -t; R2.copyTo(_R); t.copyTo(_t); @@ -613,6 +627,12 @@ int cv::recoverPose( InputArray E, InputArray _points1, InputArray _points2, Inp } } +int cv::recoverPose( InputArray E, InputArray _points1, InputArray _points2, InputArray _cameraMatrix, + OutputArray _R, OutputArray _t, InputOutputArray _mask) +{ + return cv::recoverPose(E, _points1, _points2, _cameraMatrix, _R, _t, 50, _mask); +} + int cv::recoverPose( InputArray E, InputArray _points1, InputArray _points2, OutputArray _R, OutputArray _t, double focal, Point2d pp, InputOutputArray _mask) {