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Using solvePnPRansac() of OpenCV2.4 in OpenCV3 (for some reasons RANSAC is better in OpenCV2.4, tested on Mac OS X). Updated default 3D->3D estimation parameters

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This commit is contained in:
matlabbe
2015-10-01 21:00:16 -04:00
parent 0c8309bb28
commit ee76a02117
4 changed files with 410 additions and 73 deletions
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8
guilib/src/DatabaseViewer.cpp
View File

@@ -421,6 +421,8 @@ void DatabaseViewer::readSettings()
// Visual parameters
settings.beginGroup("visual");
ui_->comboBox_estimationType->setCurrentIndex(settings.value("estimationType", ui_->comboBox_estimationType->currentIndex()).toInt());
ui_->comboBox_pnpFlags->setCurrentIndex(settings.value("pnpFlags", ui_->comboBox_pnpFlags->currentIndex()).toInt());
ui_->groupBox_visual_recomputeFeatures->setChecked(settings.value("reextract", ui_->groupBox_visual_recomputeFeatures->isChecked()).toBool());
ui_->comboBox_featureType->setCurrentIndex(settings.value("featureType", ui_->comboBox_featureType->currentIndex()).toInt());
ui_->comboBox_nnType->setCurrentIndex(settings.value("nnType", ui_->comboBox_nnType->currentIndex()).toInt());
@@ -517,6 +519,8 @@ void DatabaseViewer::writeSettings()
// save Visual parameters
settings.beginGroup("visual");
settings.setValue("estimationType", ui_->comboBox_estimationType->currentIndex());
settings.setValue("pnpFlags", ui_->comboBox_pnpFlags->currentIndex());
settings.setValue("reextract", ui_->groupBox_visual_recomputeFeatures->isChecked());
settings.setValue("featureType", ui_->comboBox_featureType->currentIndex());
settings.setValue("nnType", ui_->comboBox_nnType->currentIndex());
@@ -3173,6 +3177,7 @@ void DatabaseViewer::refineConstraintVisually(int from, int to, bool silent, boo
parameters.insert(ParametersPair(Parameters::kLccBowIterations(), uNumber2Str(ui_->spinBox_visual_iteration->value())));
parameters.insert(ParametersPair(Parameters::kLccBowMinInliers(), uNumber2Str(ui_->spinBox_visual_minCorrespondences->value())));
parameters.insert(ParametersPair(Parameters::kLccBowEstimationType(), uNumber2Str(ui_->comboBox_estimationType->currentIndex())));
parameters.insert(ParametersPair(Parameters::kLccBowPnPFlags(), uNumber2Str(ui_->comboBox_pnpFlags->currentIndex())));
parameters.insert(ParametersPair(Parameters::kMemGenerateIds(), "false"));
parameters.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0"));
parameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), "0"));
@@ -3203,6 +3208,7 @@ void DatabaseViewer::refineConstraintVisually(int from, int to, bool silent, boo
parameters.insert(ParametersPair(Parameters::kLccBowIterations(), uNumber2Str(ui_->spinBox_visual_iteration->value())));
parameters.insert(ParametersPair(Parameters::kLccBowMinInliers(), uNumber2Str(ui_->spinBox_visual_minCorrespondences->value())));
parameters.insert(ParametersPair(Parameters::kLccBowEstimationType(), uNumber2Str(ui_->comboBox_estimationType->currentIndex())));
parameters.insert(ParametersPair(Parameters::kLccBowPnPFlags(), uNumber2Str(ui_->comboBox_pnpFlags->currentIndex())));
memory_->parseParameters(parameters);
t = memory_->computeVisualTransform(to, from, &rejectedMsg, &inliers, &variance);
}
@@ -3292,6 +3298,7 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
parameters.insert(ParametersPair(Parameters::kLccBowIterations(), uNumber2Str(ui_->spinBox_visual_iteration->value())));
parameters.insert(ParametersPair(Parameters::kLccBowMinInliers(), uNumber2Str(ui_->spinBox_visual_minCorrespondences->value())));
parameters.insert(ParametersPair(Parameters::kLccBowEstimationType(), uNumber2Str(ui_->comboBox_estimationType->currentIndex())));
parameters.insert(ParametersPair(Parameters::kLccBowPnPFlags(), uNumber2Str(ui_->comboBox_pnpFlags->currentIndex())));
parameters.insert(ParametersPair(Parameters::kMemGenerateIds(), "false"));
parameters.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0"));
parameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), "0"));
@@ -3329,6 +3336,7 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
parameters.insert(ParametersPair(Parameters::kLccBowIterations(), uNumber2Str(ui_->spinBox_visual_iteration->value())));
parameters.insert(ParametersPair(Parameters::kLccBowMinInliers(), uNumber2Str(ui_->spinBox_visual_minCorrespondences->value())));
parameters.insert(ParametersPair(Parameters::kLccBowEstimationType(), uNumber2Str(ui_->comboBox_estimationType->currentIndex())));
parameters.insert(ParametersPair(Parameters::kLccBowPnPFlags(), uNumber2Str(ui_->comboBox_pnpFlags->currentIndex())));
memory_->parseParameters(parameters);
t = memory_->computeVisualTransform(to, from, &rejectedMsg, &inliers, &variance);
}

157
guilib/src/ui/DatabaseViewer.ui
View File

@@ -50,8 +50,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>175</width>
<height>173</height>
<width>154</width>
<height>184</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
@@ -236,8 +236,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>174</width>
<height>173</height>
<width>154</width>
<height>184</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
@@ -418,7 +418,7 @@
<x>0</x>
<y>0</y>
<width>1285</width>
<height>25</height>
<height>22</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -829,15 +829,15 @@
<item>
<widget class="QToolBox" name="toolBox">
<property name="currentIndex">
<number>3</number>
<number>1</number>
</property>
<widget class="QWidget" name="page">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>314</width>
<height>303</height>
<width>312</width>
<height>314</height>
</rect>
</property>
<attribute name="label">
@@ -1056,8 +1056,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>351</width>
<height>347</height>
<width>366</width>
<height>391</height>
</rect>
</property>
<attribute name="label">
@@ -1066,7 +1066,7 @@
<layout class="QVBoxLayout" name="verticalLayout_15">
<item>
<layout class="QGridLayout" name="gridLayout_3" columnstretch="0,1">
<item row="5" column="0">
<item row="6" column="0">
<widget class="QSpinBox" name="spinBox_visual_iteration">
<property name="minimum">
<number>1</number>
@@ -1086,57 +1086,14 @@
</property>
</widget>
</item>
<item row="4" column="1">
<item row="5" column="1">
<widget class="QLabel" name="label_22">
<property name="text">
<string>Max correspondence distance</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_23">
<property name="text">
<string>Iteration</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_visual_nndr">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.100000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.600000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_26">
<property name="text">
<string>NNDR</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_21">
<property name="text">
<string>Min correspondences</string>
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<widget class="QSpinBox" name="spinBox_visual_minCorrespondences">
<property name="minimum">
<number>3</number>
@@ -1156,7 +1113,7 @@
</property>
</widget>
</item>
<item row="4" column="0">
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_visual_maxCorrespDistance">
<property name="suffix">
<string> m</string>
@@ -1196,6 +1153,78 @@
</item>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_23">
<property name="text">
<string>Iteration</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_visual_nndr">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.100000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.600000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_26">
<property name="text">
<string>NNDR</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_21">
<property name="text">
<string>Min correspondences</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_65">
<property name="text">
<string>PnP flags.</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QComboBox" name="comboBox_pnpFlags">
<property name="currentIndex">
<number>1</number>
</property>
<item>
<property name="text">
<string>Iterative</string>
</property>
</item>
<item>
<property name="text">
<string>EPNP</string>
</property>
</item>
<item>
<property name="text">
<string>P3P</string>
</property>
</item>
</widget>
</item>
</layout>
</item>
<item>
@@ -1346,8 +1375,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>333</width>
<height>333</height>
<width>338</width>
<height>330</height>
</rect>
</property>
<attribute name="label">
@@ -1585,8 +1614,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>320</width>
<height>311</height>
<width>248</width>
<height>343</height>
</rect>
</property>
<attribute name="label">
@@ -1794,7 +1823,7 @@
<x>0</x>
<y>0</y>
<width>201</width>
<height>117</height>
<height>126</height>
</rect>
</property>
<attribute name="label">
@@ -1893,8 +1922,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>285</width>
<height>309</height>
<width>283</width>
<height>322</height>
</rect>
</property>
<attribute name="label">