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Merge branch 4.x

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This commit is contained in:
Alexander Smorkalov
2024-02-16 18:45:22 +03:00
parent d4fd5157fa 12aa0fe898
commit f084a229b4
26 changed files with 441 additions and 89 deletions
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modules/3d/test/test_fisheye.cpp
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@@ -129,6 +129,34 @@ TEST_F(fisheyeTest, distortUndistortPoints)
}
}
TEST_F(fisheyeTest, solvePnP)
{
const int n = 16;
const cv::Matx33d R_mat ( 9.9756700084424932e-01, 6.9698277640183867e-02, 1.4929569991321144e-03,
-6.9711825162322980e-02, 9.9748249845531767e-01, 1.2997180766418455e-02,
-5.8331736398316541e-04,-1.3069635393884985e-02, 9.9991441852366736e-01);
const cv::Vec3d T(-9.9217369356044638e-02, 3.1741831972356663e-03, 1.8551007952921010e-04);
cv::Mat obj_points(1, n, CV_64FC3);
theRNG().fill(obj_points, cv::RNG::NORMAL, 2, 1);
obj_points = cv::abs(obj_points) * 10;
cv::Mat R;
cv::Rodrigues(R_mat, R);
cv::Mat img_points;
cv::fisheye::projectPoints(obj_points, img_points, R, T, this->K, this->D);
cv::Mat rvec_pred;
cv::Mat tvec_pred;
bool converged = cv::fisheye::solvePnP(obj_points, img_points, this->K, this->D, rvec_pred, tvec_pred);
EXPECT_MAT_NEAR(R, rvec_pred, 1e-6);
EXPECT_MAT_NEAR(T, tvec_pred, 1e-6);
ASSERT_TRUE(converged);
}
TEST_F(fisheyeTest, undistortImage)
{
// we use it to reduce patch size for images in testdata