SolvePnPRansac是PnP位姿估計魯棒算法的一種,下面是Opencv 接口函數的描述
/* max 注釋
* 函數功能:用ransac的方式求解PnP問題
*
* 參數:
* [in] _opoints 參考點在世界坐标系下的點集;float or double
* [in] _ipoints 參考點在相機像平面的坐标;float or double
* [in] _cameraMatrix 相機内參
* [in] _distCoeffs 相機畸變系數
* [out] _rvec 旋轉矩陣
* [out] _tvec 平移向量
* [in] useExtrinsicGuess 若果求解PnP使用疊代算法,初始值可以使用猜測的初始值(true),也可以使用解析求解的結果作為初始值(false)。
* [in] iterationsCount Ransac算法的疊代次數,這隻是初始值,根據估計外點的機率,可以進一步縮小疊代次數;(此值函數内部是會不斷改變的),是以一開始可以賦一個大的值。
* [in] reprojectionErrr Ransac篩選内點和外點的距離門檻值,這個根據估計内點的機率和每個點的均方差(假設誤差按照高斯分布)可以計算出此門檻值。
* [in] confidence 此值與計算采樣(疊代)次數有關。此值代表從n個樣本中取s個點,N次采樣可以使s個點全為内點的機率。
* [out] _inliers 傳回内點的序列。為矩陣形式
* [in] flags 最小子集的計算模型;
* SOLVEPNP_ITERATIVE(此方案,最小模型用的EPNP,内點選出之後用了一個疊代);
* SOLVE_P3P(P3P隻用在最小模型上,内點選出之後用了一個EPNP)
* SOLVE_AP3P(AP3P隻用在最小模型上,内點選出之後用了一個EPNP)
* SOLVE_EPnP(最小模型上&内點選出之後都采用了EPNP)
* 傳回值:
* 成功傳回true,失敗傳回false;
*/
bool solvePnPRansac(InputArray _opoints, InputArray _ipoints,
InputArray _cameraMatrix, InputArray _distCoeffs,
OutputArray _rvec, OutputArray _tvec, bool useExtrinsicGuess,
int iterationsCount, float reprojectionError, double confidence,
OutputArray _inliers, int flags)
下面是使用例程:
// 自己測試 p3p測位姿算法
#if 1
#include "test_precomp.hpp"
void generate3DPointCloud(std::vector<cv::Point3f>& points, cv::Point3f pmin = cv::Point3f(-1, -1, 5), cv::Point3f pmax = cv::Point3f(1, 1, 10))
{
cv::RNG rng = cv::theRNG(); // fix the seed to use "fixed" input 3D points
for (size_t i = 0; i < points.size(); i++)
{
float _x = rng.uniform(pmin.x, pmax.x);
float _y = rng.uniform(pmin.y, pmax.y);
float _z = rng.uniform(pmin.z, pmax.z);
points[i] = cv::Point3f(_x, _y, _z);
}
}
void generateCameraMatrix(cv::Mat& cameraMatrix, cv::RNG& rng)
{
const double fcMinVal = 1e-3;
const double fcMaxVal = 100;
cameraMatrix.create(3, 3, CV_64FC1);
cameraMatrix.setTo(cv::Scalar(0));
cameraMatrix.at<double>(0, 0) = rng.uniform(fcMinVal, fcMaxVal);
cameraMatrix.at<double>(1, 1) = rng.uniform(fcMinVal, fcMaxVal);
cameraMatrix.at<double>(0, 2) = rng.uniform(fcMinVal, fcMaxVal);
cameraMatrix.at<double>(1, 2) = rng.uniform(fcMinVal, fcMaxVal);
cameraMatrix.at<double>(2, 2) = 1;
}
void generateDistCoeffs(cv::Mat& distCoeffs, cv::RNG& rng)
{
distCoeffs = cv::Mat::zeros(4, 1, CV_64FC1);
for (int i = 0; i < 3; i++)
distCoeffs.at<double>(i, 0) = rng.uniform(0.0, 1.0e-6);
}
void generatePose(cv::Mat& rvec, cv::Mat& tvec, cv::RNG& rng)
{
const double minVal = 1.0e-3;
const double maxVal = 1.0;
rvec.create(3, 1, CV_64FC1);
tvec.create(3, 1, CV_64FC1);
for (int i = 0; i < 3; i++)
{
rvec.at<double>(i, 0) = rng.uniform(minVal, maxVal);
tvec.at<double>(i, 0) = rng.uniform(minVal, maxVal / 10);
}
}
int main_p3p()
{
std::vector<cv::Point3f> points;
points.resize(500);
generate3DPointCloud(points);
std::vector<cv::Mat> rvecs, tvecs;
cv::Mat trueRvec, trueTvec;
cv::Mat intrinsics, distCoeffs;
generateCameraMatrix(intrinsics, cv::RNG());
generateDistCoeffs(distCoeffs, cv::RNG());
generatePose(trueRvec, trueTvec, cv::RNG());
std::vector<cv::Point3f> opoints;
opoints = std::vector<cv::Point3f>(points.begin(), points.begin() + 3);
std::vector<cv::Point2f> projectedPoints;
projectedPoints.resize(opoints.size());
projectPoints(cv::Mat(opoints), trueRvec, trueTvec, intrinsics, distCoeffs, projectedPoints);
std::cout << "intrinsics: " << intrinsics << std::endl;
std::cout << "distcoeffs: " << distCoeffs << std::endl;
std::cout << "trueRvec: " << trueRvec << std::endl;
std::cout << "trueTvec: " << trueTvec << std::endl;
std::cout << "oPoint: " << opoints << std::endl;
std::cout << "projectedPoints: " << projectedPoints << std::endl;
std::cout<<"result numbers A: :"<<solveP3P(opoints, projectedPoints, intrinsics, distCoeffs, rvecs, tvecs, cv::SOLVEPNP_AP3P)<<std::endl;
//std::cout << "result numbers: :" << solveP3P(opoints, projectedPoints, intrinsics, distCoeffs, rvecs, tvecs, cv::SOLVEPNP_P3P) << std::endl;
bool isTestSuccess = false;
double error = DBL_MAX;
for (unsigned int i = 0; i < rvecs.size() /*&& !isTestSuccess*/; ++i)
{
double rvecDiff = cvtest::norm(rvecs[i], trueRvec, cv::NORM_L2);
double tvecDiff = cvtest::norm(tvecs[i], trueTvec, cv::NORM_L2);
isTestSuccess = rvecDiff < 1.0e-4 && tvecDiff < 1.0e-4;
error = std::min(error, std::max(rvecDiff, tvecDiff));
std::cout << "i: " << i << std::endl;
std::cout << "error: " << error << std::endl;
std::cout << "rvec: " << rvecs[i] << std::endl;
}
system("pause");
return 0;
}
int main()
{
std::vector<cv::Point3f> points;
points.resize(500);
generate3DPointCloud(points);
std::vector<cv::Mat> rvecs, tvecs;
cv::Mat trueRvec, trueTvec;
cv::Mat intrinsics, distCoeffs;
generateCameraMatrix(intrinsics, cv::RNG());
generateDistCoeffs(distCoeffs, cv::RNG());
generatePose(trueRvec, trueTvec, cv::RNG());
std::vector<cv::Point3f> opoints;
//opoints = std::vector<cv::Point3f>(points.begin(), points.begin() + 4);
opoints = std::vector<cv::Point3f>(points.begin(), points.end());
std::vector<cv::Point2f> projectedPoints;
projectedPoints.resize(opoints.size());
projectPoints(cv::Mat(opoints), trueRvec, trueTvec, intrinsics, distCoeffs, projectedPoints);
cv::RNG rng = cv::RNG();
for (size_t i = 0; i < projectedPoints.size(); i++)
{
if (i % 100 == 0)
{
projectedPoints[i] = projectedPoints[rng.uniform(0, (int)points.size() - 1)];
}
}
std::cout << "intrinsics: " << intrinsics << std::endl;
std::cout << "distcoeffs: " << distCoeffs << std::endl;
std::cout << "trueRvec: " << trueRvec << std::endl;
std::cout << "trueTvec: " << trueTvec << std::endl;
//std::cout << "oPoint: " << opoints << std::endl;
//std::cout << "projectedPoints: " << projectedPoints << std::endl;
//solveP3P(opoints, projectedPoints, intrinsics, distCoeffs, rvecs, tvecs, cv::SOLVEPNP_AP3P);
cv::Mat rvec, tvec;
solvePnP(opoints, projectedPoints, intrinsics, distCoeffs, rvec, tvec, false,cv::SOLVEPNP_EPNP);
std::cout << rvec <<"---" <<norm(rvec-trueRvec)<<std::endl;
std::cout << tvec << std::endl;
std::cout << "---------------Ransac--------------------"<< std::endl;
solvePnPRansac(opoints, projectedPoints, intrinsics, distCoeffs, rvec, tvec,false,100,2);
std::cout << rvec << "---" << norm(rvec - trueRvec) << std::endl;
std::cout << tvec << std::endl;
system("pause");
}
#endif