SolvePnP
bool solvePnP( InputArray objectPoints, InputArray imagePoints,
InputArray cameraMatrix, InputArray distCoeffs,
OutputArray rvec, OutputArray tvec,
bool useExtrinsicGuess = false, int flags = SOLVEPNP_ITERATIVE );
参数说明:
- objectPoints:std::vector<cv::Point3d> 特征点物理坐标
- imagePoints: std::vector<cv::Point2d> 特征点图像坐标,点对个数必须大于4
- cameraMatrix : cv::Mat(3, 3, CV_32FC1) 相机内参:3*3的float矩阵
- distCoeffs: cv::Mat(1, 5, CV_32FC1) 相机畸变参数
- rvec : 输出的旋转向量
- tvec: 输出的平移向量
- useExtrinsicGuess: 0
- flags: 计算方法
重点flags参数选择选择如下所示:
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
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
SOLVEPNP_AP3P = 5, //!< An Efficient Algebraic Solution to the Perspective-Three-Point Problem
SOLVEPNP_MAX_COUNT //!< Used for count
基于同一平面上的标准特征点,主要用SOLVEPNP_ITERATIVE 方法。
切记,虽然Opencv的参数偏爱float类型,但是solvepnp中除了相机内参和畸变参数矩阵是用float类型外,其余的矩阵都是double类型,不然出出现计算结果不正确的情况。
solvePnPRansac函数
solvePnP的一个缺点是对异常值不够鲁棒,当我们用相机定位真实世界的点,可能存在错配
bool cv::solvePnPRansac ( InputArray objectPoints,
InputArray imagePoints,
InputArray cameraMatrix,
InputArray distCoeffs,
OutputArray rvec,
OutputArray tvec,
bool useExtrinsicGuess = false,
int iterationsCount = 100,
float reprojectionError = 8.0,
double confidence = 0.99,
OutputArray inliers = noArray(),
int flags = SOLVEPNP_ITERATIVE
)
solvePnPRansac函数参数与solvePnP参数基本形同:
- [in] _opoints 参考点在世界坐标系下的点集;float or double
- [in] _ipoints 参考点在相机像平面的坐标;float or double
- [in] _cameraMatrix 相机内参
- [in] _distCoeffs 相机畸变系数
- [out] _rvec 旋转矩阵
- [out] _tvec 平移向量
- [in] useExtrinsicGuess 若果求解PnP使用迭代算法,初始值可以使用猜测的初始值(true),也可以使用解析求解的结果作为初始值(false)。
- [in] iterationsCount Ransac算法的迭代次数,这只是初始值,根据估计外点的概率,可以进一步缩小迭代次数;(此值函数内部是会不断改变的),所以一开始可以赋一个大的值。
- [in] reprojectionErrr Ransac筛选内点和外点的距离阈值,这个根据估计内点的概率和每个点的均方差(假设误差按照高斯分布)可以计算出此阈值。
- [in] confidence 此值与计算采样(迭代)次数有关。此值代表从n个样本中取s个点,N次采样可以使s个点全为内点的概率。
- [out] _inliers 返回内点的序列。为矩阵形式
- [in] flags 最小子集的计算模型;
* SOLVEPNP_ITERATIVE(此方案,最小模型用的EPNP,内点选出之后用了一个迭代);
* SOLVE_P3P(P3P只用在最小模型上,内点选出之后用了一个EPNP)
* SOLVE_AP3P(AP3P只用在最小模型上,内点选出之后用了一个EPNP)
* SOLVE_EPnP(最小模型上&内点选出之后都采用了EPNP)
实例:
//测试 p3p测位姿算法
#include <iostream>
#include <stdio.h>
#include <fstream>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/highgui/highgui.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 = norm(rvecs[i], trueRvec, cv::NORM_L2);
double tvecDiff = 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_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");
}
代码from:https://blog.csdn.net/xuelangwin/article/details/80847337做适当修改。