OSSForks/opencv
1
0
Fork 0
mirror of https://github.com/zebrajr/opencv.git synced 2025-12-06 00:19:46 +01:00
Code Issues Actions Packages Projects Releases Wiki Activity

More elegant skipping SOLVEPNP_IPPE* methods in non-planar accuracy tests for solvePnP*

Browse Source
This commit is contained in:
MaximSmolskiy 2025-03-30 17:00:11 +03:00
parent 42a132088c
commit 289884adc5
1 changed files with 16 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
modules/calib3d/test/test_solvepnp_ransac.cpp
View File

@ -308,11 +308,6 @@ protected:
virtual bool runTest(RNG& rng, int mode, int method, const vector<Point3f>& points, double& errorTrans, double& errorRot)
{
if ((!planar && method == SOLVEPNP_IPPE) || method == SOLVEPNP_IPPE_SQUARE)
{
return true;
}
Mat rvec, tvec;
vector<int> inliers;
Mat trueRvec, trueTvec;
@ -383,6 +378,22 @@ protected:
{
for (int method = 0; method < SOLVEPNP_MAX_COUNT; method++)
{
// SOLVEPNP_IPPE need planar object
if (!planar && method == SOLVEPNP_IPPE)
{
cout << "mode: " << printMode(mode) << ", method: " << printMethod(method) << " -> "
<< "Skip for non-planar object" << endl;
continue;
}
// SOLVEPNP_IPPE_SQUARE need planar tag object
if (!planarTag && method == SOLVEPNP_IPPE_SQUARE)
{
cout << "mode: " << printMode(mode) << ", method: " << printMethod(method) << " -> "
<< "Skip for non-planar tag object" << endl;
continue;
}
//To get the same input for each methods
RNG rngCopy = rng;
std::vector<double> vec_errorTrans, vec_errorRot;
@ -486,15 +497,6 @@ public:
protected:
virtual bool runTest(RNG& rng, int mode, int method, const vector<Point3f>& points, double& errorTrans, double& errorRot)
{
if ((!planar && (method == SOLVEPNP_IPPE || method == SOLVEPNP_IPPE_SQUARE)) ||
(!planarTag && method == SOLVEPNP_IPPE_SQUARE))
{
errorTrans = -1;
errorRot = -1;
//SOLVEPNP_IPPE and SOLVEPNP_IPPE_SQUARE need planar object
return true;
}
//Tune thresholds...
double epsilon_trans[SOLVEPNP_MAX_COUNT];
memcpy(epsilon_trans, eps, SOLVEPNP_MAX_COUNT * sizeof(*epsilon_trans));