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submodule
opencv
Commits
620387fb
Commit
620387fb
authored
Aug 18, 2014
by
edgarriba
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Update perf_pnp && ransac model points
parent
3c3d695d
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2 changed files
with
17 additions
and
8 deletions
+17
-8
perf_pnp.cpp
modules/calib3d/perf/perf_pnp.cpp
+13
-7
solvepnp.cpp
modules/calib3d/src/solvepnp.cpp
+4
-1
No files found.
modules/calib3d/perf/perf_pnp.cpp
View file @
620387fb
...
...
@@ -10,7 +10,7 @@ using namespace perf;
using
std
::
tr1
::
make_tuple
;
using
std
::
tr1
::
get
;
CV_ENUM
(
pnpAlgo
,
SOLVEPNP_ITERATIVE
,
SOLVEPNP_EPNP
,
SOLVEPNP_
DLS
/*, P3P*/
)
CV_ENUM
(
pnpAlgo
,
SOLVEPNP_ITERATIVE
,
SOLVEPNP_EPNP
,
SOLVEPNP_
P3P
,
SOLVEPNP_DLS
)
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
)
SOLVEPNP_ITERATIVE
,
(
int
)
SOLVEPNP_EPNP
,
(
int
)
SOLVEPNP_DLS
)
testing
::
Values
((
int
)
SOLVEPNP_ITERATIVE
,
(
int
)
SOLVEPNP_EPNP
)
)
)
{
...
...
@@ -62,9 +62,15 @@ PERF_TEST_P(PointsNum_Algo, solvePnP,
SANITY_CHECK
(
tvec
,
1e-6
);
}
PERF_TEST
(
PointsNum_Algo
,
solveP3P
)
PERF_TEST_P
(
PointsNum_Algo
,
solvePnPSmallPoints
,
testing
::
Combine
(
testing
::
Values
(
4
),
//TODO: find why results on 4 points are too unstable
testing
::
Values
((
int
)
SOLVEPNP_P3P
,
(
int
)
SOLVEPNP_DLS
)
)
)
{
int
pointsNum
=
4
;
int
pointsNum
=
get
<
0
>
(
GetParam
());
pnpAlgo
algo
=
get
<
1
>
(
GetParam
());
vector
<
Point2f
>
points2d
(
pointsNum
);
vector
<
Point3f
>
points3d
(
pointsNum
);
...
...
@@ -94,11 +100,11 @@ PERF_TEST(PointsNum_Algo, solveP3P)
TEST_CYCLE_N
(
1000
)
{
solvePnP
(
points3d
,
points2d
,
intrinsics
,
distortion
,
rvec
,
tvec
,
false
,
SOLVEPNP_P3P
);
solvePnP
(
points3d
,
points2d
,
intrinsics
,
distortion
,
rvec
,
tvec
,
false
,
algo
);
}
SANITY_CHECK
(
rvec
,
1e-
6
);
SANITY_CHECK
(
tvec
,
1e-
6
);
SANITY_CHECK
(
rvec
,
1e-
4
);
SANITY_CHECK
(
tvec
,
1e-
4
);
}
PERF_TEST_P
(
PointsNum
,
DISABLED_SolvePnPRansac
,
testing
::
Values
(
4
,
3
*
9
,
7
*
13
))
...
...
modules/calib3d/src/solvepnp.cpp
View file @
620387fb
...
...
@@ -203,7 +203,10 @@ 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
==
SOLVEPNP_P3P
?
4
:
6
;
// minimum of number of model points
int
model_points
=
4
;
// minimum of number of model points
if
(
flags
==
cv
::
SOLVEPNP_ITERATIVE
)
model_points
=
6
;
else
if
(
flags
==
cv
::
SOLVEPNP_EPNP
)
model_points
=
5
;
double
param1
=
reprojectionError
;
// reprojection error
double
param2
=
confidence
;
// confidence
int
param3
=
iterationsCount
;
// number maximum iterations
...
...
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