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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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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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guilib/src/DatabaseViewer.cpp
+8
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@@ -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);
}