SOLVEPNP_* flags

diff --git a/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst b/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
index 53b2241..f706572 100644 (file)
--- a/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
+++ b/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
@@ -562,7 +562,7 @@ solvePnP
 ------------
 Finds an object pose from 3D-2D point correspondences.
 
-.. ocv:function:: bool solvePnP( InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int flags=ITERATIVE )
+.. ocv:function:: bool solvePnP( InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int flags=SOLVEPNP_ITERATIVE )
 
 .. ocv:pyfunction:: cv2.solvePnP(objectPoints, imagePoints, cameraMatrix, distCoeffs[, rvec[, tvec[, useExtrinsicGuess[, flags]]]]) -> retval, rvec, tvec
 
@@ -584,10 +584,10 @@ Finds an object pose from 3D-2D point correspondences.
 
     :param flags: Method for solving a PnP problem:
 
-            *  **ITERATIVE** Iterative method is based on Levenberg-Marquardt optimization. In this case the function finds such a pose that minimizes reprojection error, that is the sum of squared distances between the observed projections ``imagePoints`` and the projected (using :ocv:func:`projectPoints` ) ``objectPoints`` .
-            *  **P3P**  Method is based on the paper of X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang "Complete Solution Classification for the Perspective-Three-Point Problem". In this case the function requires exactly four object and image points.
-            *  **EPNP** Method has been introduced by F.Moreno-Noguer, V.Lepetit and P.Fua in the paper "EPnP: Efficient Perspective-n-Point Camera Pose Estimation".
-            *  **DLS**  Method is based on the paper of Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP".
+            *  **SOLVEPNP_ITERATIVE** Iterative method is based on Levenberg-Marquardt optimization. In this case the function finds such a pose that minimizes reprojection error, that is the sum of squared distances between the observed projections ``imagePoints`` and the projected (using :ocv:func:`projectPoints` ) ``objectPoints`` .
+            *  **SOLVEPNP_P3P**  Method is based on the paper of X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang "Complete Solution Classification for the Perspective-Three-Point Problem". In this case the function requires exactly four object and image points.
+            *  **SOLVEPNP_EPNP** Method has been introduced by F.Moreno-Noguer, V.Lepetit and P.Fua in the paper "EPnP: Efficient Perspective-n-Point Camera Pose Estimation".
+            *  **SOLVEPNP_DLS**  Method is based on the paper of Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP".
 
 The function estimates the object pose given a set of object points, their corresponding image projections, as well as the camera matrix and the distortion coefficients.
 
@@ -599,7 +599,7 @@ solvePnPRansac
 ------------------
 Finds an object pose from 3D-2D point correspondences using the RANSAC scheme.
 
-.. ocv:function:: bool 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 = ITERATIVE )
+.. ocv:function:: bool 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 )
 
 .. ocv:pyfunction:: cv2.solvePnPRansac(objectPoints, imagePoints, cameraMatrix, distCoeffs[, rvec[, tvec[, useExtrinsicGuess[, iterationsCount[, reprojectionError[, minInliersCount[, inliers[, flags]]]]]]]]) -> rvec, tvec, inliers
 

diff --git a/modules/calib3d/include/opencv2/calib3d.hpp b/modules/calib3d/include/opencv2/calib3d.hpp
index f42afad..59e033f 100644 (file)
--- a/modules/calib3d/include/opencv2/calib3d.hpp
+++ b/modules/calib3d/include/opencv2/calib3d.hpp
@@ -55,10 +55,10 @@ enum { LMEDS  = 4, //!< least-median algorithm
        RANSAC = 8  //!< RANSAC algorithm
      };
 
-enum { ITERATIVE = 0,
-       EPNP      = 1, // F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation"
-       P3P       = 2, // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem"
-       DLS       = 3  // Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP"
+enum { SOLVEPNP_ITERATIVE = 0,
+          SOLVEPNP_EPNP      = 1, // F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation"
+          SOLVEPNP_P3P       = 2, // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem"
+          SOLVEPNP_DLS       = 3  // Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP"
 };
 
 enum { CALIB_CB_ADAPTIVE_THRESH = 1,
@@ -152,7 +152,7 @@ CV_EXPORTS_W void projectPoints( InputArray objectPoints,
 CV_EXPORTS_W bool solvePnP( InputArray objectPoints, InputArray imagePoints,
                             InputArray cameraMatrix, InputArray distCoeffs,
                             OutputArray rvec, OutputArray tvec,
-                            bool useExtrinsicGuess = false, int flags = ITERATIVE );
+                            bool useExtrinsicGuess = false, int flags = SOLVEPNP_ITERATIVE );
 
 //! computes the camera pose from a few 3D points and the corresponding projections. The outliers are possible.
 CV_EXPORTS_W bool solvePnPRansac( InputArray objectPoints, InputArray imagePoints,
@@ -160,7 +160,7 @@ CV_EXPORTS_W bool solvePnPRansac( InputArray objectPoints, InputArray imagePoint
                                   OutputArray rvec, OutputArray tvec,
                                   bool useExtrinsicGuess = false, int iterationsCount = 100,
                                   float reprojectionError = 8.0, double confidence = 0.99,
-                                  OutputArray inliers = noArray(), int flags = ITERATIVE );
+                                  OutputArray inliers = noArray(), int flags = SOLVEPNP_ITERATIVE );
 
 //! initializes camera matrix from a few 3D points and the corresponding projections.
 CV_EXPORTS_W Mat initCameraMatrix2D( InputArrayOfArrays objectPoints,

diff --git a/modules/calib3d/perf/perf_pnp.cpp b/modules/calib3d/perf/perf_pnp.cpp
index 668a524..f12c263 100644 (file)
--- a/modules/calib3d/perf/perf_pnp.cpp
+++ b/modules/calib3d/perf/perf_pnp.cpp
@@ -10,7 +10,7 @@ using namespace perf;
 using std::tr1::make_tuple;
 using std::tr1::get;
 
-CV_ENUM(pnpAlgo, ITERATIVE, EPNP /*, P3P*/)
+CV_ENUM(pnpAlgo, SOLVEPNP_ITERATIVE, SOLVEPNP_EPNP /*, P3P*/)
 
 typedef std::tr1::tuple<int, pnpAlgo> PointsNum_Algo_t;
 typedef perf::TestBaseWithParam<PointsNum_Algo_t> PointsNum_Algo;
@@ -20,7 +20,7 @@ typedef perf::TestBaseWithParam<int> PointsNum;
 PERF_TEST_P(PointsNum_Algo, solvePnP,
             testing::Combine(
                 testing::Values(/*4,*/ 3*9, 7*13), //TODO: find why results on 4 points are too unstable
-                testing::Values((int)ITERATIVE, (int)EPNP)
+                testing::Values((int)SOLVEPNP_ITERATIVE, (int)SOLVEPNP_EPNP)
                 )
             )
 {
@@ -93,7 +93,7 @@ PERF_TEST(PointsNum_Algo, solveP3P)
 
     TEST_CYCLE_N(1000)
     {
-        solvePnP(points3d, points2d, intrinsics, distortion, rvec, tvec, false, P3P);
+        solvePnP(points3d, points2d, intrinsics, distortion, rvec, tvec, false, SOLVEPNP_P3P);
     }
 
     SANITY_CHECK(rvec, 1e-6);

diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index be2b761..c4cacb4 100644 (file)
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -60,7 +60,7 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
     _tvec.create(3, 1, CV_64F);
     Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat();
 
-    if (flags == EPNP)
+    if (flags == SOLVEPNP_EPNP)
     {
         cv::Mat undistortedPoints;
         cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
@@ -71,7 +71,7 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
         cv::Rodrigues(R, rvec);
         return true;
     }
-    else if (flags == P3P)
+    else if (flags == SOLVEPNP_P3P)
     {
         CV_Assert( npoints == 4);
         cv::Mat undistortedPoints;
@@ -84,7 +84,7 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
             cv::Rodrigues(R, rvec);
         return result;
     }
-    else if (flags == ITERATIVE)
+    else if (flags == SOLVEPNP_ITERATIVE)
     {
         CvMat c_objectPoints = opoints, c_imagePoints = ipoints;
         CvMat c_cameraMatrix = cameraMatrix, c_distCoeffs = distCoeffs;
@@ -94,7 +94,7 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
                                      &c_rvec, &c_tvec, useExtrinsicGuess );
         return true;
     }
-    else if (flags == DLS)
+    else if (flags == SOLVEPNP_DLS)
     {
         cv::Mat undistortedPoints;
         cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
@@ -117,7 +117,7 @@ class PnPRansacCallback : public PointSetRegistrator::Callback
 
 public:
 
-    PnPRansacCallback(Mat _cameraMatrix=Mat(3,3,CV_64F), Mat _distCoeffs=Mat(4,1,CV_64F), int _flags=cv::ITERATIVE,
+    PnPRansacCallback(Mat _cameraMatrix=Mat(3,3,CV_64F), Mat _distCoeffs=Mat(4,1,CV_64F), int _flags=cv::SOLVEPNP_ITERATIVE,
             bool _useExtrinsicGuess=false, Mat _rvec=Mat(), Mat _tvec=Mat() )
         : cameraMatrix(_cameraMatrix), distCoeffs(_distCoeffs), flags(_flags), useExtrinsicGuess(_useExtrinsicGuess),
           rvec(_rvec), tvec(_tvec) {}
@@ -203,7 +203,7 @@ bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
     Ptr<PointSetRegistrator::Callback> cb; // pointer to callback
     cb = makePtr<PnPRansacCallback>( cameraMatrix, distCoeffs, flags, useExtrinsicGuess, rvec, tvec);
 
-    int model_points = flags == P3P ? 4 : 6;          // minimum of number of model points
+    int model_points = flags == SOLVEPNP_P3P ? 4 : 6;          // minimum of number of model points
     double param1 = reprojectionError;                // reprojection error
     double param2 = confidence;                       // confidence
     int param3 = iterationsCount;                     // number maximum iterations

diff --git a/modules/calib3d/test/test_solvepnp_ransac.cpp b/modules/calib3d/test/test_solvepnp_ransac.cpp
index c8765a0..167415e 100644 (file)
--- a/modules/calib3d/test/test_solvepnp_ransac.cpp
+++ b/modules/calib3d/test/test_solvepnp_ransac.cpp
@@ -54,10 +54,10 @@ class CV_solvePnPRansac_Test : public cvtest::BaseTest
 public:
     CV_solvePnPRansac_Test()
     {
-        eps[ITERATIVE] = 1.0e-2;
-        eps[EPNP] = 1.0e-2;
-        eps[P3P] = 1.0e-2;
-        eps[DLS] = 1.0e-2;
+        eps[SOLVEPNP_ITERATIVE] = 1.0e-2;
+        eps[SOLVEPNP_EPNP] = 1.0e-2;
+        eps[SOLVEPNP_P3P] = 1.0e-2;
+        eps[SOLVEPNP_DLS] = 1.0e-2;
         totalTestsCount = 10;
     }
     ~CV_solvePnPRansac_Test() {}
@@ -193,10 +193,10 @@ class CV_solvePnP_Test : public CV_solvePnPRansac_Test
 public:
     CV_solvePnP_Test()
     {
-        eps[ITERATIVE] = 1.0e-6;
-        eps[EPNP] = 1.0e-6;
-        eps[P3P] = 1.0e-4;
-        eps[DLS] = 1.0e-6;
+        eps[SOLVEPNP_ITERATIVE] = 1.0e-6;
+        eps[SOLVEPNP_EPNP] = 1.0e-6;
+        eps[SOLVEPNP_P3P] = 1.0e-4;
+        eps[SOLVEPNP_DLS] = 1.0e-6;
         totalTestsCount = 1000;
     }
 

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
index 1be6715..f759e49 100644 (file)
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
@@ -55,7 +55,7 @@ double confidence = 0.95;        // ransac successful confidence.
 int minInliersKalman = 30;    // Kalman threshold updating
 
 // PnP parameters
-int pnpMethod = cv::ITERATIVE;
+int pnpMethod = cv::SOLVEPNP_ITERATIVE;
 
 
 /**  Functions headers  **/

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
index c796433..be85951 100644 (file)
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
@@ -166,7 +166,7 @@ int main()
   std::vector<cv::Point3f> list_points3d = registration.get_points3d();
 
   // Estimate pose given the registered points
-  bool is_correspondence = pnp_registration.estimatePose(list_points3d, list_points2d, cv::ITERATIVE);
+  bool is_correspondence = pnp_registration.estimatePose(list_points3d, list_points2d, cv::SOLVEPNP_ITERATIVE);
   if ( is_correspondence )
   {
     std::cout << "Correspondence found" << std::endl;