using std::tr1::make_tuple;
using std::tr1::get;
-CV_ENUM(pnpAlgo, SOLVEPNP_ITERATIVE, SOLVEPNP_EPNP, SOLVEPNP_DLS /*, P3P*/)
+CV_ENUM(pnpAlgo, SOLVEPNP_ITERATIVE, SOLVEPNP_EPNP, SOLVEPNP_P3P, SOLVEPNP_DLS)
typedef std::tr1::tuple<int, pnpAlgo> PointsNum_Algo_t;
typedef perf::TestBaseWithParam<PointsNum_Algo_t> PointsNum_Algo;
PERF_TEST_P(PointsNum_Algo, solvePnP,
testing::Combine(
testing::Values(4, 3*9, 7*13), //TODO: find why results on 4 points are too unstable
- testing::Values((int)SOLVEPNP_ITERATIVE, (int)SOLVEPNP_EPNP, (int)SOLVEPNP_DLS)
+ testing::Values((int)SOLVEPNP_ITERATIVE, (int)SOLVEPNP_EPNP)
)
)
{
SANITY_CHECK(tvec, 1e-6);
}
-PERF_TEST(PointsNum_Algo, solveP3P)
+PERF_TEST_P(PointsNum_Algo, solvePnPSmallPoints,
+ testing::Combine(
+ testing::Values(4), //TODO: find why results on 4 points are too unstable
+ testing::Values((int)SOLVEPNP_P3P, (int)SOLVEPNP_DLS)
+ )
+ )
{
- int pointsNum = 4;
+ int pointsNum = get<0>(GetParam());
+ pnpAlgo algo = get<1>(GetParam());
vector<Point2f> points2d(pointsNum);
vector<Point3f> points3d(pointsNum);
TEST_CYCLE_N(1000)
{
- solvePnP(points3d, points2d, intrinsics, distortion, rvec, tvec, false, SOLVEPNP_P3P);
+ solvePnP(points3d, points2d, intrinsics, distortion, rvec, tvec, false, algo);
}
- SANITY_CHECK(rvec, 1e-6);
- SANITY_CHECK(tvec, 1e-6);
+ SANITY_CHECK(rvec, 1e-4);
+ SANITY_CHECK(tvec, 1e-4);
}
PERF_TEST_P(PointsNum, DISABLED_SolvePnPRansac, testing::Values(4, 3*9, 7*13))
Ptr<PointSetRegistrator::Callback> cb; // pointer to callback
cb = makePtr<PnPRansacCallback>( cameraMatrix, distCoeffs, flags, useExtrinsicGuess, rvec, tvec);
- int model_points = flags == SOLVEPNP_P3P ? 4 : 6; // minimum of number of model points
+ int model_points = 4; // minimum of number of model points
+ if( flags == cv::SOLVEPNP_ITERATIVE ) model_points = 6;
+ else if( flags == cv::SOLVEPNP_EPNP ) model_points = 5;
+
double param1 = reprojectionError; // reprojection error
double param2 = confidence; // confidence
int param3 = iterationsCount; // number maximum iterations