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Merge pull request #27132 from MaximSmolskiy:add_planar_accuracy_tests_for_solvePnPRansac

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Add planar accuracy tests for solvePnPRansac
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Alexander Smorkalov 2025-03-24 10:46:08 +03:00 committed by GitHub
commit 7d87f3cda6
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1 changed files with 27 additions and 4 deletions
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31
modules/calib3d/test/test_solvepnp_ransac.cpp
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@ -209,9 +209,27 @@ public:
eps[SOLVEPNP_AP3P] = 1.0e-2;
eps[SOLVEPNP_DLS] = 1.0e-2;
eps[SOLVEPNP_UPNP] = 1.0e-2;
eps[SOLVEPNP_IPPE] = 1.0e-2;
eps[SOLVEPNP_IPPE_SQUARE] = 1.0e-2;
eps[SOLVEPNP_SQPNP] = 1.0e-2;
totalTestsCount = 10;
pointsCount = 500;
totalTestsCount = 1000;
if (planar || planarTag)
{
if (planarTag)
{
pointsCount = 4;
}
else
{
pointsCount = 30;
}
}
else
{
pointsCount = 500;
}
}
~CV_solvePnPRansac_Test() {}
protected:
@ -320,17 +338,20 @@ protected:
vector<Point2f> projectedPoints;
projectedPoints.resize(points.size());
projectPoints(points, trueRvec, trueTvec, intrinsics, distCoeffs, projectedPoints);
size_t numOutliers = 0;
for (size_t i = 0; i < projectedPoints.size(); i++)
{
if (i % 20 == 0)
if (!planarTag && rng.uniform(0., 1.) > 0.95)
{
projectedPoints[i] = projectedPoints[rng.uniform(0,(int)points.size()-1)];
numOutliers++;
}
}
solvePnPRansac(points, projectedPoints, intrinsics, distCoeffs, rvec, tvec, false, pointsCount, 0.5f, 0.99, inliers, method);
bool isTestSuccess = inliers.size() >= points.size()*0.95;
bool isTestSuccess = inliers.size() + numOutliers >= points.size();
double rvecDiff = cvtest::norm(rvec, trueRvec, NORM_L2), tvecDiff = cvtest::norm(tvec, trueTvec, NORM_L2);
isTestSuccess = isTestSuccess && rvecDiff < eps[method] && tvecDiff < eps[method];
@ -703,6 +724,8 @@ protected:
TEST(Calib3d_SolveP3P, accuracy) { CV_solveP3P_Test test; test.safe_run();}
TEST(Calib3d_SolvePnPRansac, accuracy) { CV_solvePnPRansac_Test test; test.safe_run(); }
TEST(Calib3d_SolvePnPRansac, accuracy_planar) { CV_solvePnPRansac_Test test(true); test.safe_run(); }
TEST(Calib3d_SolvePnPRansac, accuracy_planar_tag) { CV_solvePnPRansac_Test test(true, true); test.safe_run(); }
TEST(Calib3d_SolvePnP, accuracy) { CV_solvePnP_Test test; test.safe_run(); }
TEST(Calib3d_SolvePnP, accuracy_planar) { CV_solvePnP_Test test(true); test.safe_run(); }
TEST(Calib3d_SolvePnP, accuracy_planar_tag) { CV_solvePnP_Test test(true, true); test.safe_run(); }