third_party/opencv
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge pull request #16052 from alalek:issue_16040

Browse Source 
* calib3d: use normalized input in solvePnPGeneric()

* calib3d: java regression test for solvePnPGeneric

* calib3d: python regression test for solvePnPGeneric
This commit is contained in:
Alexander Alekhin
2019-12-05 15:36:39 +03:00
committed by GitHub
parent f21bde4d9f
commit 72f35e0626
4 changed files with 101 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
modules/calib3d/misc/java/test/Calib3dTest.java
+43
View File
@@ -1,5 +1,7 @@
package org.opencv.test.calib3d;
import java.util.ArrayList;
import org.opencv.calib3d.Calib3d;
import org.opencv.core.CvType;
import org.opencv.core.Mat;
@@ -639,4 +641,45 @@ public class Calib3dTest extends OpenCVTestCase {
assertEquals((1 << 17), Calib3d.CALIB_USE_LU);
assertEquals((1 << 22), Calib3d.CALIB_USE_EXTRINSIC_GUESS);
}
public void testSolvePnPGeneric_regression_16040() {
Mat intrinsics = Mat.eye(3, 3, CvType.CV_64F);
intrinsics.put(0, 0, 400);
intrinsics.put(1, 1, 400);
intrinsics.put(0, 2, 640 / 2);
intrinsics.put(1, 2, 480 / 2);
final int minPnpPointsNum = 4;
MatOfPoint3f points3d = new MatOfPoint3f();
points3d.alloc(minPnpPointsNum);
MatOfPoint2f points2d = new MatOfPoint2f();
points2d.alloc(minPnpPointsNum);
for (int i = 0; i < minPnpPointsNum; i++) {
double x = Math.random() * 100 - 50;
double y = Math.random() * 100 - 50;
points2d.put(i, 0, x, y); //add(new Point(x, y));
points3d.put(i, 0, 0, y, x); // add(new Point3(0, y, x));
}
ArrayList<Mat> rvecs = new ArrayList<Mat>();
ArrayList<Mat> tvecs = new ArrayList<Mat>();
Mat rvec = new Mat();
Mat tvec = new Mat();
Mat reprojectionError = new Mat(2, 1, CvType.CV_64FC1);
Calib3d.solvePnPGeneric(points3d, points2d, intrinsics, new MatOfDouble(), rvecs, tvecs, false, Calib3d.SOLVEPNP_IPPE, rvec, tvec, reprojectionError);
Mat truth_rvec = new Mat(3, 1, CvType.CV_64F);
truth_rvec.put(0, 0, 0, Math.PI / 2, 0);
Mat truth_tvec = new Mat(3, 1, CvType.CV_64F);
truth_tvec.put(0, 0, -320, -240, 400);
assertMatEqual(truth_rvec, rvecs.get(0), 10 * EPS);
assertMatEqual(truth_tvec, tvecs.get(0), 1000 * EPS);
}
}