From 620387fbe11426229dab4d1f5f13399407d5ee26 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Mon, 18 Aug 2014 21:46:16 +0200
Subject: [PATCH] Update perf_pnp && ransac model points

---
 modules/calib3d/perf/perf_pnp.cpp | 20 +++++++++++++-------
 modules/calib3d/src/solvepnp.cpp  |  5 ++++-
 2 files changed, 17 insertions(+), 8 deletions(-)

diff --git a/modules/calib3d/perf/perf_pnp.cpp b/modules/calib3d/perf/perf_pnp.cpp
index c957932..3eb30cc 100644
--- a/modules/calib3d/perf/perf_pnp.cpp
+++ b/modules/calib3d/perf/perf_pnp.cpp
@@ -10,7 +10,7 @@ using namespace perf;
 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;
@@ -20,7 +20,7 @@ typedef perf::TestBaseWithParam<int> PointsNum;
 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)
                 )
             )
 {
@@ -62,9 +62,15 @@ PERF_TEST_P(PointsNum_Algo, solvePnP,
     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);
@@ -94,11 +100,11 @@ PERF_TEST(PointsNum_Algo, solveP3P)
 
     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))
diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index f319284..9ed7779 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -203,7 +203,10 @@ bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
     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
-- 
2.7.4