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added gpu::solvePnpRansac

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This commit is contained in:
Alexey Spizhevoy
2011-02-28 12:44:19 +00:00
parent 518ed29480
commit cae59a7caf
4 changed files with 260 additions and 0 deletions
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modules/gpu/test/test_project_points.cpp → modules/gpu/test/test_calib3d.cpp
+28
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@@ -105,3 +105,31 @@ TEST(transformPoints, accuracy)
ASSERT_LT(err.dot(err) / res_gold.dot(res_gold), 1e-3f);
}
}
TEST(solvePnpRansac, accuracy)
{
RNG& rng = TS::ptr()->get_rng();
const int num_points = 5000;
Mat object = randomMat(rng, Size(num_points, 1), CV_32FC3, 0, 100, false);
Mat camera_mat = randomMat(rng, Size(3, 3), CV_32F, 1, 1, false);
camera_mat.at<float>(0, 1) = 0.f;
camera_mat.at<float>(1, 0) = 0.f;
camera_mat.at<float>(2, 0) = 0.f;
camera_mat.at<float>(2, 1) = 0.f;
Mat rvec_gold = randomMat(rng, Size(3, 1), CV_32F, 0, 1, false);
Mat tvec_gold = randomMat(rng, Size(3, 1), CV_32F, 0, 1, false);
vector<Point2f> image_vec;
projectPoints(object, rvec_gold, tvec_gold, camera_mat, Mat(), image_vec);
Mat image(1, image_vec.size(), CV_32FC2, &image_vec[0]);
Mat rvec;
Mat tvec;
solvePnpRansac(object, image, camera_mat, Mat(), rvec, tvec, SolvePnpRansacParams());
ASSERT_LE(norm(rvec - rvec_gold), 1e-3f);
ASSERT_LE(norm(tvec - tvec_gold), 1e-3f);
}