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Alexander Smorkalov
fc3803c67b
Dedicated pointcloud module #29224 OpenCV contrib: https://github.com/opencv/opencv_contrib/pull/4134 ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [ ] The PR is proposed to the proper branch - [ ] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [ ] The feature is well documented and sample code can be built with the project CMake
65 lines
2.3 KiB
Python
65 lines
2.3 KiB
Python
#!/usr/bin/env python
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# Python 2/3 compatibility
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from __future__ import print_function
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import numpy as np
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import cv2 as cv
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from tests_common import NewOpenCVTests
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class solvepnp_test(NewOpenCVTests):
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def test_regression_16040(self):
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obj_points = np.array([[0, 0, 0], [0, 1, 0], [1, 1, 0], [1, 0, 0]], dtype=np.float32)
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img_points = np.array(
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[[700, 400], [700, 600], [900, 600], [900, 400]], dtype=np.float32
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)
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cameraMatrix = np.array(
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[[712.0634, 0, 800], [0, 712.540, 500], [0, 0, 1]], dtype=np.float32
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)
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distCoeffs = np.array([[0, 0, 0, 0]], dtype=np.float32)
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r = np.array([], dtype=np.float32)
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x, r, t, e = cv.solvePnPGeneric(
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obj_points, img_points, cameraMatrix, distCoeffs, reprojectionError=r
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)
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def test_regression_16040_2(self):
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obj_points = np.array([[0, 0, 0], [0, 1, 0], [1, 1, 0], [1, 0, 0]], dtype=np.float32)
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img_points = np.array(
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[[[700, 400], [700, 600], [900, 600], [900, 400]]], dtype=np.float32
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)
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cameraMatrix = np.array(
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[[712.0634, 0, 800], [0, 712.540, 500], [0, 0, 1]], dtype=np.float32
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)
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distCoeffs = np.array([[0, 0, 0, 0]], dtype=np.float32)
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r = np.array([], dtype=np.float32)
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x, r, t, e = cv.solvePnPGeneric(
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obj_points, img_points, cameraMatrix, distCoeffs, reprojectionError=r
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)
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def test_regression_16049(self):
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obj_points = np.array([[0, 0, 0], [0, 1, 0], [1, 1, 0], [1, 0, 0]], dtype=np.float32)
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img_points = np.array(
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[[[700, 400], [700, 600], [900, 600], [900, 400]]], dtype=np.float32
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)
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cameraMatrix = np.array(
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[[712.0634, 0, 800], [0, 712.540, 500], [0, 0, 1]], dtype=np.float32
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)
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distCoeffs = np.array([[0, 0, 0, 0]], dtype=np.float32)
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x, r, t, e = cv.solvePnPGeneric(
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obj_points, img_points, cameraMatrix, distCoeffs
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)
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if e is None:
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# noArray() is supported, see https://github.com/opencv/opencv/issues/16049
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pass
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else:
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eDump = cv.utils.dumpInputArray(e)
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self.assertEqual(eDump, "InputArray: empty()=false kind=0x00010000 flags=0x01010000 total(-1)=1 dims(-1)=2 size(-1)=1x1 type(-1)=CV_32FC1")
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if __name__ == '__main__':
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NewOpenCVTests.bootstrap()
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