calib3d: normalize Rodrigues vector in perf test

bbe75fe1 · Alexander Alekhin · 0726c4d4 · bbe75fe1
Commit bbe75fe1 authored 9 years ago by Alexander Alekhin
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perf_pnp.cpp modules/calib3d/perf/perf_pnp.cpp +5 -0

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--- a/modules/calib3d/perf/perf_pnp.cpp
+++ b/modules/calib3d/perf/perf_pnp.cpp
@@ -90,6 +90,11 @@ PERF_TEST_P(PointsNum_Algo, solvePnPSmallPoints,
    warmup(rvec, WARMUP_RNG);
    warmup(tvec, WARMUP_RNG);

+    // normalize Rodrigues vector
+    Mat rvec_tmp = Mat::eye(3, 3, CV_32F);
+    Rodrigues(rvec, rvec_tmp);
+    Rodrigues(rvec_tmp, rvec);
+
    projectPoints(points3d, rvec, tvec, intrinsics, distortion, points2d);

    //add noise