Set lambda twist p3p solver (ECCV 2018) as default p3p solver #1500

- add resection::SolverType::P3P_NORDBERG_ECCV18 to the SfM_Localizer - set resection::SolverType::P3P_NORDBERG_ECCV18 as the default p3p solver for sequential SfM v1, v2 and the image localization client.
openMVG · May 7, 2019 · 0a4faee · 0a4faee
1 parent b09174a
commit 0a4faee
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Showing 4 changed files with 36 additions and 6 deletions.
diff --git a/src/openMVG/sfm/pipelines/localization/SfM_Localizer.cpp b/src/openMVG/sfm/pipelines/localization/SfM_Localizer.cpp
@@ -166,6 +166,36 @@ namespace sfm {
         resection_data.error_max = ACRansacOut.first;
       }
       break;
+      case resection::SolverType::P3P_NORDBERG_ECCV18:
+      {
+        if (!optional_intrinsics)
+        {
+          std::cerr << "Intrinsic data is required for P3P solvers." << std::endl;
+          return false;
+        }
+        //--
+        // Since the intrinsic data is known, compute only the pose
+        using SolverType = openMVG::euclidean_resection::P3PSolver_Nordberg;
+        MINIMUM_SAMPLES = SolverType::MINIMUM_SAMPLES;
+
+        using KernelType =
+          ACKernelAdaptorResection_Intrinsics<
+            SolverType,
+            Mat34>;
+
+        KernelType kernel(resection_data.pt2D, resection_data.pt3D, optional_intrinsics);
+        // Robust estimation of the pose matrix and its precision
+        const auto ACRansacOut =
+          openMVG::robust::ACRANSAC(kernel,
+                                    resection_data.vec_inliers,
+                                    resection_data.max_iteration,
+                                    &P,
+                                    dPrecision,
+                                    true);
+        // Update the upper bound precision of the model found by AC-RANSAC
+        resection_data.error_max = ACRansacOut.first;
+      }
+      break;
       case resection::SolverType::P3P_KE_CVPR17:
       {
         if (!optional_intrinsics)

diff --git a/src/openMVG/sfm/pipelines/sequential/sequential_SfM.cpp b/src/openMVG/sfm/pipelines/sequential/sequential_SfM.cpp
@@ -439,7 +439,7 @@ bool SequentialSfMReconstructionEngine::AutomaticInitialPairChoice(Pair & initia
               tracks::submapTrack::const_iterator iter = iterT->second.begin();
               const Vec2 featI = features_provider_->feats_per_view[I][iter->second].coords().cast<double>();
               const Vec2 featJ = features_provider_->feats_per_view[J][(++iter)->second].coords().cast<double>();
-              vec_angles.push_back(AngleBetweenRay(pose_I, cam_I, pose_J, cam_J, 
+              vec_angles.push_back(AngleBetweenRay(pose_I, cam_I, pose_J, cam_J,
                 cam_I->get_ud_pixel(featI), cam_J->get_ud_pixel(featJ)));
             }
             // Compute the median triangulation angle
@@ -944,7 +944,7 @@ bool SequentialSfMReconstructionEngine::Resection(const uint32_t viewIndex)
   geometry::Pose3 pose;
   const bool bResection = sfm::SfM_Localizer::Localize
   (
-    optional_intrinsic ? resection::SolverType::P3P_KE_CVPR17 : resection::SolverType::DLT_6POINTS,
+    optional_intrinsic ? resection::SolverType::P3P_NORDBERG_ECCV18 : resection::SolverType::DLT_6POINTS,
     {view_I->ui_width, view_I->ui_height},
     optional_intrinsic.get(),
     resection_data,

diff --git a/src/openMVG/sfm/pipelines/sequential/sequential_SfM2.cpp b/src/openMVG/sfm/pipelines/sequential/sequential_SfM2.cpp
@@ -151,7 +151,7 @@ bool SequentialSfMReconstructionEngine2::Process() {
   // First the camera with the most of 2D-3D overlap are added then we add
   // ones with lower confidence.
   const std::array<float, 2> track_inlier_ratios = {0.2, 0.0};
-  for (auto track_inlier_ratio = track_inlier_ratios.cbegin(); 
+  for (auto track_inlier_ratio = track_inlier_ratios.cbegin();
     track_inlier_ratio < track_inlier_ratios.cend(); ++track_inlier_ratio)
   {
     IndexT pose_before = sfm_data_.GetPoses().size();
@@ -177,7 +177,7 @@ bool SequentialSfMReconstructionEngine2::Process() {
       if (pose_before >= pose_after)
         break;
       pose_before = sfm_data_.GetPoses().size();
-      // Since we have augmented our set of poses we can reset our track inlier ratio iterator 
+      // Since we have augmented our set of poses we can reset our track inlier ratio iterator
       track_inlier_ratio = track_inlier_ratios.cbegin();
     }
   }
@@ -395,7 +395,7 @@ bool SequentialSfMReconstructionEngine2::AddingMissingView
         geometry::Pose3 pose;
         const bool bResection = sfm::SfM_Localizer::Localize
         (
-          intrinsic ? resection::SolverType::P3P_KE_CVPR17 : resection::SolverType::DLT_6POINTS,
+          intrinsic ? resection::SolverType::P3P_NORDBERG_ECCV18 : resection::SolverType::DLT_6POINTS,
           {view->ui_width, view->ui_height},
           intrinsic ? intrinsic.get() : nullptr,
           resection_data,

diff --git a/src/software/Localization/main_SfM_Localization.cpp b/src/software/Localization/main_SfM_Localization.cpp
@@ -382,7 +382,7 @@ int main(int argc, char **argv)
 
     // Try to localize the image in the database thanks to its regions
     if (!localizer.Localize(
-      optional_intrinsic ? resection::SolverType::P3P_KE_CVPR17 : resection::SolverType::DLT_6POINTS,
+      optional_intrinsic ? resection::SolverType::P3P_NORDBERG_ECCV18 : resection::SolverType::DLT_6POINTS,
       {imageGray.Width(), imageGray.Height()},
       optional_intrinsic.get(),
       *(query_regions.get()),