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Fix cameracalibration test

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* Remove transpose for rvec after calibration
* Change compare threshold from 110% to 10% for perViewErrors
* Add transpose to goodRotMatrs load
This commit is contained in:
Kataev Victor 2022-05-23 14:06:41 +03:00
parent 7e845a3b87
commit 50bf0e10f5
1 changed files with 3 additions and 3 deletions
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6
modules/calib3d/test/test_cameracalibration.cpp
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@ -484,7 +484,8 @@ void CV_CameraCalibrationTest::run( int start_from )
for( i = 0; i < 3; i++ ) for( i = 0; i < 3; i++ )
for( j = 0; j < 3; j++ ) for( j = 0; j < 3; j++ )
{ {
values_read = fscanf(file, "%lf", &goodRotMatrs[currImage].val[i*3+j]); // Yes, load with transpose
values_read = fscanf(file, "%lf", &goodRotMatrs[currImage].val[j*3+i]);
CV_Assert(values_read == 1); CV_Assert(values_read == 1);
} }
} }
@ -661,7 +662,7 @@ void CV_CameraCalibrationTest::run( int start_from )
/* ----- Compare per view re-projection errors ----- */ /* ----- Compare per view re-projection errors ----- */
CV_Assert(perViewErrors.size() == (size_t)numImages); CV_Assert(perViewErrors.size() == (size_t)numImages);
code = compare(&perViewErrors[0], &goodPerViewErrors[0], numImages, 1.1, "per view errors vector"); code = compare(&perViewErrors[0], &goodPerViewErrors[0], numImages, 0.1, "per view errors vector");
if( code < 0 ) if( code < 0 )
break; break;
@ -792,7 +793,6 @@ void CV_CameraCalibrationTest_CPP::calibrate(Size imageSize,
{ {
Mat r9; Mat r9;
cvtest::Rodrigues( rvecs[i], r9 ); cvtest::Rodrigues( rvecs[i], r9 );
cv::transpose(r9, r9);
r9.convertTo(rotationMatrices[i], CV_64F); r9.convertTo(rotationMatrices[i], CV_64F);
tvecs[i].convertTo(translationVectors[i], CV_64F); tvecs[i].convertTo(translationVectors[i], CV_64F);
} }