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Merge branch 4.x

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This commit is contained in:
Alexander Alekhin
2021-06-04 11:51:43 +00:00
parent b754406352 3e513ee6ab
commit b91e0dca90
253 changed files with 13923 additions and 3300 deletions
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modules/3d/test/test_usac.cpp
+16 -3
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@@ -345,11 +345,16 @@ TEST(usac_P3P, accuracy) {
log(1 - pow(inl_ratio, 3 /* sample size */));
for (auto flag : flags) {
std::vector<int> inliers;
cv::Mat rvec, tvec, mask, R, P;
CV_Assert(cv::solvePnPRansac(obj_pts, img_pts, K1, cv::noArray(), rvec, tvec,
false, (int)max_iters, (float)thr, conf, mask, flag));
false, (int)max_iters, (float)thr, conf, inliers, flag));
cv::Rodrigues(rvec, R);
cv::hconcat(K1 * R, K1 * tvec, P);
mask.create(pts_size, 1, CV_8U);
mask.setTo(Scalar::all(0));
for (auto inl : inliers)
mask.at<uchar>(inl) = true;
checkInliersMask(TestSolver ::PnP, inl_size, thr, img_pts, obj_pts, P, mask);
}
}
@@ -416,19 +421,27 @@ TEST(usac_testUsacParams, accuracy) {
// CV_Error(cv::Error::StsError, "Essential matrix estimation failed!");
}
std::vector<int> inliers(pts_size);
// P3P
inl_size = generatePoints(rng, pts1, pts2, K1, K2, false, pts_size, TestSolver::PnP,
getInlierRatio(usac_params.maxIterations, 3, usac_params.confidence), 0.01, gt_inliers);
CV_Assert(cv::solvePnPRansac(pts2, pts1, K1, dist_coeff, rvec, tvec, mask, usac_params));
CV_Assert(cv::solvePnPRansac(pts2, pts1, K1, dist_coeff, rvec, tvec, inliers, usac_params));
cv::Rodrigues(rvec, R); cv::hconcat(K1 * R, K1 * tvec, model);
mask.create(pts_size, 1, CV_8U);
mask.setTo(Scalar::all(0));
for (auto inl : inliers)
mask.at<uchar>(inl) = true;
checkInliersMask(TestSolver::PnP, inl_size, usac_params.threshold, pts1, pts2, model, mask);
// P6P
inl_size = generatePoints(rng, pts1, pts2, K1, K2, false, pts_size, TestSolver::PnP,
getInlierRatio(usac_params.maxIterations, 6, usac_params.confidence), 0.1, gt_inliers);
cv::Mat K_est;
CV_Assert(cv::solvePnPRansac(pts2, pts1, K_est, dist_coeff, rvec, tvec, mask, usac_params));
CV_Assert(cv::solvePnPRansac(pts2, pts1, K_est, dist_coeff, rvec, tvec, inliers, usac_params));
cv::Rodrigues(rvec, R); cv::hconcat(K_est * R, K_est * tvec, model);
mask.setTo(Scalar::all(0));
for (auto inl : inliers)
mask.at<uchar>(inl) = true;
checkInliersMask(TestSolver::PnP, inl_size, usac_params.threshold, pts1, pts2, model, mask);
// Affine2D