Different inliers convention with solvePnPRansac and USAC option #20008
Description
System information (version)
- OpenCV =>>= 4.5.0
- Operating System / Platform => N/A
- Compiler => N/A
Detailed description
Inliers convention with solvePnPRansac and USAC option (from this GSoC work #17683) is different from default solvePnPRansac methods:
- with USAC, it is a vector of
0/1for the input points - with classical methods, it is a vector of inlier indexes
I think using the same convention than before would be ok.
/cc @ivashmak
Steps to reproduce
const size_t nbPoints = 10;
std::vector<cv::Point3d> objectPoints;
std::vector<cv::Point2d> imagePoints;
cv::RNG rng(0x123456789);
for (size_t i = 0; i < nbPoints; i++) {
objectPoints.push_back(cv::Point3d(rng.uniform(0.0, 0.1), rng.uniform(0.0, 0.1), rng.uniform(0.0, 0.1)));
}
cv::Matx31d rvec(0.1, 0.2, 0.3), tvec(0.1, 0.2, 1);
cv::Matx33d cameraMatrix(600, 0, 320,
0, 600, 240,
0, 0, 1);
cv::projectPoints(objectPoints, rvec, tvec, cameraMatrix, cv::noArray(), imagePoints);
imagePoints[0].x += 10;
imagePoints[1].y += 10;
imagePoints[2].x += 10;
cv::Matx31d rvec_est, tvec_est;
std::vector<int> inlierIndex;
cv::solvePnPRansac(objectPoints, imagePoints, cameraMatrix, cv::noArray(), rvec_est, tvec_est, false, 1000, 2.0, 0.99, inlierIndex, cv::SOLVEPNP_ITERATIVE);
std::vector<int> inlierIndex_usac;
cv::Matx31d rvec_est_usac, tvec_est_usac;
cv::solvePnPRansac(objectPoints, imagePoints, cameraMatrix, cv::noArray(), rvec_est_usac, tvec_est_usac, false, 1000, 2.0, 0.99, inlierIndex_usac, cv::USAC_ACCURATE);
std::vector<int> inlierIndex_usac2;
cv::Matx31d rvec_est_usac2, tvec_est_usac2;
cv::solvePnPRansac(objectPoints, imagePoints, cameraMatrix, cv::noArray(), rvec_est_usac2, tvec_est_usac2, inlierIndex_usac2);
std::cout << "\nNORMAL:" << std::endl;
std::cout << "rvec: " << rvec.t() << std::endl;
std::cout << "rvec_est: " << rvec_est.t() << std::endl;
std::cout << "tvec: " << tvec.t() << std::endl;
std::cout << "tvec_est: " << tvec_est.t() << std::endl;
std::cout << "Inlier index:" << std::endl;
for (auto idx : inlierIndex) {
std::cout << idx << std::endl;
}
std::cout << "\nUSAC:" << std::endl;
std::cout << "rvec: " << rvec.t() << std::endl;
std::cout << "rvec_est_usac: " << rvec_est_usac.t() << std::endl;
std::cout << "tvec: " << tvec.t() << std::endl;
std::cout << "tvec_est_usac: " << tvec_est_usac.t() << std::endl;
std::cout << "Inlier index:" << std::endl;
for (auto idx : inlierIndex_usac) {
std::cout << idx << std::endl;
}
std::cout << "\nUSAC 2:" << std::endl;
std::cout << "rvec: " << rvec.t() << std::endl;
std::cout << "rvec_est_usac2: " << rvec_est_usac2.t() << std::endl;
std::cout << "tvec: " << tvec.t() << std::endl;
std::cout << "tvec_est_usac2: " << tvec_est_usac2.t() << std::endl;
std::cout << "Inlier index:" << std::endl;
for (auto idx : inlierIndex_usac2) {
std::cout << idx << std::endl;
}Output:
NORMAL:
rvec: [0.1, 0.2, 0.3]
rvec_est: [0.1000001115198924, 0.2000000619071916, 0.2999998504321869]
tvec: [0.1, 0.2, 1]
tvec_est: [0.0999999851190521, 0.2000000191436395, 1.000000038294651]
Inlier index:
3
4
5
6
7
8
9
USAC:
rvec: [0.1, 0.2, 0.3]
rvec_est_usac: [0.0999956768017629, 0.1999999513689168, 0.3000022343620654]
tvec: [0.1, 0.2, 1]
tvec_est_usac: [0.1000017130274078, 0.200002461007063, 1.000010978690636]
Inlier index:
0
0
0
1
1
1
1
1
1
1
USAC 2:
rvec: [0.1, 0.2, 0.3]
rvec_est_usac2: [0.0999956768017629, 0.1999999513689168, 0.3000022343620654]
tvec: [0.1, 0.2, 1]
tvec_est_usac2: [0.1000017130274078, 0.200002461007063, 1.000010978690636]
Inlier index:
0
0
0
1
1
1
1
1
1
1
Issue submission checklist
- I report the issue, it's not a question
- I checked the problem with documentation, FAQ, open issues,
forum.opencv.org, Stack Overflow, etc and have not found solution - I updated to latest OpenCV version and the issue is still there
- There is reproducer code and related data files: videos, images, onnx, etc