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Merge branch 4.x

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Alexander Alekhin
2021-12-30 16:23:27 +00:00
parent 80c5d18f9c 5f249a3e67
commit a0d5277e0d
951 changed files with 158314 additions and 152668 deletions
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modules/3d/test/test_usac.cpp
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@@ -452,5 +452,32 @@ TEST(usac_testUsacParams, accuracy) {
checkInliersMask(TestSolver::Homogr, inl_size, usac_params.threshold, pts1, pts2, model, mask);
}
TEST(usac_solvePnPRansac, regression_21105) {
std::vector<int> gt_inliers;
const int pts_size = 100;
double inl_ratio = 0.1;
cv::Mat img_pts, obj_pts, K1, K2;
cv::RNG &rng = cv::theRNG();
generatePoints(rng, img_pts, obj_pts, K1, K2, false /*two calib*/,
pts_size, TestSolver ::PnP, inl_ratio, 0.15 /*noise std*/, gt_inliers);
const double conf = 0.99, thr = 2., max_iters = 1.3 * log(1 - conf) /
log(1 - pow(inl_ratio, 3 /* sample size */));
const int flag = USAC_DEFAULT;
std::vector<int> inliers;
cv::Matx31d rvec, tvec;
CV_Assert(cv::solvePnPRansac(obj_pts, img_pts, K1, cv::noArray(), rvec, tvec,
false, (int)max_iters, (float)thr, conf, inliers, flag));
cv::Mat zero_column = cv::Mat::zeros(3, 1, K1.type());
cv::hconcat(K1, zero_column, K1);
cv::Mat K1_copy = K1.colRange(0, 3);
std::vector<int> inliers_copy;
cv::Matx31d rvec_copy, tvec_copy;
CV_Assert(cv::solvePnPRansac(obj_pts, img_pts, K1_copy, cv::noArray(), rvec_copy, tvec_copy,
false, (int)max_iters, (float)thr, conf, inliers_copy, flag));
EXPECT_EQ(rvec, rvec_copy);
EXPECT_EQ(tvec, tvec_copy);
EXPECT_EQ(inliers, inliers_copy);
}
}} // namespace