Add UPNP acc_test and perf_test

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, SOLVEPNP_ITERATIVE, SOLVEPNP_EPNP, SOLVEPNP_P3P, SOLVEPNP_DLS)
+CV_ENUM(pnpAlgo, SOLVEPNP_ITERATIVE, SOLVEPNP_EPNP, SOLVEPNP_P3P, SOLVEPNP_DLS, SOLVEPNP_UPNP)
 
 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)
+                testing::Values((int)SOLVEPNP_ITERATIVE, (int)SOLVEPNP_EPNP, (int)SOLVEPNP_UPNP)
                 )
             )
 {

modules/calib3d/test/test_solvepnp_ransac.cpp

@@ -58,6 +58,7 @@ public:
         eps[SOLVEPNP_EPNP] = 1.0e-2;
         eps[SOLVEPNP_P3P] = 1.0e-2;
         eps[SOLVEPNP_DLS] = 1.0e-2;
+        eps[SOLVEPNP_UPNP] = 1.0e-2;
         totalTestsCount = 10;
     }
     ~CV_solvePnPRansac_Test() {}
@@ -118,6 +119,7 @@ protected:
         Mat trueRvec, trueTvec;
         Mat intrinsics, distCoeffs;
         generateCameraMatrix(intrinsics, rng);
+        if (method == 4) intrinsics.at<double>(1,1) = intrinsics.at<double>(0,0);
         if (mode == 0)
             distCoeffs = Mat::zeros(4, 1, CV_64FC1);
         else
@@ -159,7 +161,7 @@ protected:
         points.resize(pointsCount);
         generate3DPointCloud(points);
 
-        const int methodsCount = 4;
+        const int methodsCount = 5;
         RNG rng = ts->get_rng();
 
 
@@ -184,7 +186,7 @@ protected:
             }
         }
     }
-    double eps[4];
+    double eps[5];
     int totalTestsCount;
 };
 
@@ -197,6 +199,7 @@ public:
         eps[SOLVEPNP_EPNP] = 1.0e-6;
         eps[SOLVEPNP_P3P] = 1.0e-4;
         eps[SOLVEPNP_DLS] = 1.0e-4;
+        eps[SOLVEPNP_UPNP] = 1.0e-4;
         totalTestsCount = 1000;
     }
 
@@ -208,6 +211,7 @@ protected:
         Mat trueRvec, trueTvec;
         Mat intrinsics, distCoeffs;
         generateCameraMatrix(intrinsics, rng);
+        if (method == 4) intrinsics.at<double>(1,1) = intrinsics.at<double>(0,0);
         if (mode == 0)
             distCoeffs = Mat::zeros(4, 1, CV_64FC1);
         else